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Added multi-camera feature

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This commit is contained in:
Mathieu Labbe
2015-05-29 14:46:48 -04:00
parent e6923daf1c
commit c6d0d47b1c
51 changed files with 2833 additions and 2297 deletions
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corelib/src/OdometryThread.cpp
+5 -4
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@@ -97,8 +97,9 @@ void OdometryThread::mainLoop()
{
OdometryInfo info;
Transform pose = _odometry->process(data, &info);
data.setPose(pose, info.variance, info.variance); // a null pose notify that odometry could not be computed
this->post(new OdometryEvent(data, info));
// a null pose notify that odometry could not be computed
double variance = info.variance>0?info.variance:1;
this->post(new OdometryEvent(data, pose, variance, variance, info));
}
}
@@ -106,7 +107,7 @@ void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
{
if(data.image().empty() || data.depthOrRightImage().empty() || data.fx() == 0.0f || data.fyOrBaseline() == 0.0f)
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
ULOGGER_ERROR("Missing some information (images empty or missing calibration)!?");
return;
@@ -114,7 +115,7 @@ void OdometryThread::addData(const SensorData & data)
}
else
{
if(data.image().empty() || data.fx() == 0.0f || data.fyOrBaseline() == 0.0f)
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
return;