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Commit 81d2699c authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Revert "Add check sensor type"

This reverts commit 63b8a705.
parent 998a5a5f
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1 merge request!24After 2nd RAL submission
......@@ -62,8 +62,7 @@ void ProcessorBundleAdjustment::configure(SensorBasePtr _sensor)
{
//TODO: Implement if needed
//Initialize camera sensor pointer
camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
assert(camera != nullptr && "Sensor is not of type Camera");
camera = std::static_pointer_cast<SensorCamera>(_sensor);
}
......
......@@ -44,8 +44,7 @@ ProcessorTrackerFeatureImage::~ProcessorTrackerFeatureImage()
void ProcessorTrackerFeatureImage::configure(SensorBasePtr _sensor)
{
SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
assert(camera != nullptr && "Sensor is not of type Camera");
SensorCameraPtr camera = std::static_pointer_cast<SensorCamera>(_sensor);
image_.width_ = camera->getImgWidth();
image_.height_ = camera->getImgHeight();
......
......@@ -448,8 +448,6 @@ void ProcessorTrackerFeatureTrifocal::setParams(const ParamsProcessorTrackerFeat
void ProcessorTrackerFeatureTrifocal::configure(SensorBasePtr _sensor)
{
SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
assert(camera != nullptr && "Sensor is not of type Camera");
_sensor->setNoiseStd(Vector2d::Ones() * params_tracker_feature_trifocal_->pixel_noise_std);
}
......
......@@ -58,10 +58,6 @@ ProcessorTrackerLandmarkImage::~ProcessorTrackerLandmarkImage()
void ProcessorTrackerLandmarkImage::configure(SensorBasePtr _sensor)
{
auto sensor = std::dynamic_pointer_cast<SensorCamera>(_sensor);
assert(sensor != nullptr && "Sensor is not of type Camera");
SensorCameraPtr camera(std::static_pointer_cast<SensorCamera>(_sensor));
image_.width_ = camera->getImgWidth();
image_.height_ = camera->getImgHeight();
......
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