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Commit 619bbafa authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Bug fix creating intrinsics structure when no yaml file was given.

parent 5f06169a
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...@@ -68,8 +68,14 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, // ...@@ -68,8 +68,14 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
const Eigen::VectorXs& _extrinsics, // const Eigen::VectorXs& _extrinsics, //
const std::string& _intrinsics_filename) const std::string& _intrinsics_filename)
{ {
IntrinsicsBasePtr intr_ptr = IntrinsicsFactory::get().create(_sen_type, _intrinsics_filename); if (_intrinsics_filename != "")
return installSensor(_sen_type, _unique_sensor_name, _extrinsics, intr_ptr); {
IntrinsicsBasePtr intr_ptr = IntrinsicsFactory::get().create(_sen_type, _intrinsics_filename);
return installSensor(_sen_type, _unique_sensor_name, _extrinsics, intr_ptr);
}
else
return installSensor(_sen_type, _unique_sensor_name, _extrinsics, nullptr);
} }
ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, // ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
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