From 81d2699c755a299218c0d7eb7f9b708bcb114642 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Fri, 24 Apr 2020 16:18:42 +0200
Subject: [PATCH] Revert "Add check sensor type"
This reverts commit 63b8a70501bd8860b597fd5e8877bf0e27067282.
---
src/processor/processor_bundle_adjustment.cpp | 3 +--
src/processor/processor_tracker_feature_image.cpp | 3 +--
src/processor/processor_tracker_feature_trifocal.cpp | 2 --
src/processor/processor_tracker_landmark_image.cpp | 4 ----
4 files changed, 2 insertions(+), 10 deletions(-)
diff --git a/src/processor/processor_bundle_adjustment.cpp b/src/processor/processor_bundle_adjustment.cpp
index cf879bebc..1734917fc 100644
--- a/src/processor/processor_bundle_adjustment.cpp
+++ b/src/processor/processor_bundle_adjustment.cpp
@@ -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);
}
diff --git a/src/processor/processor_tracker_feature_image.cpp b/src/processor/processor_tracker_feature_image.cpp
index 9a498f19f..b6228381d 100644
--- a/src/processor/processor_tracker_feature_image.cpp
+++ b/src/processor/processor_tracker_feature_image.cpp
@@ -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();
diff --git a/src/processor/processor_tracker_feature_trifocal.cpp b/src/processor/processor_tracker_feature_trifocal.cpp
index 6535924d0..34daf3b62 100644
--- a/src/processor/processor_tracker_feature_trifocal.cpp
+++ b/src/processor/processor_tracker_feature_trifocal.cpp
@@ -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);
}
diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp
index 0c5b2896d..b490a66b4 100644
--- a/src/processor/processor_tracker_landmark_image.cpp
+++ b/src/processor/processor_tracker_landmark_image.cpp
@@ -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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