How to use libfovis for stereo camera such as Bumblebee

[GoogleCodeExporter]

I write my stereo odometry just like the fovis_ros stereo_odometer.cpp. I can 
compile my code, but it failed once i run. The error is:
"Assertion failed: FOVIS_IS_ALIGNED16(a) && FOVIS_IS_ALIGNED16(b), file 
...\fovis\refine_feature_match.cpp, line 25".


Here is my code:
//==============================================//

    fovis::CameraIntrinsicsParameters cameraParams(640,480,517.3,516.5,318.6,255.3);
fovis::Rectification rect(cameraParams);
fovis::VisualOdometryOptions options = getDefaultOptions();
fovis::VisualOdometry* odom = new fovis::VisualOdometry(&rect, options); // 
setup the visual odometry

fovis::StereoCalibrationParameters stereoParams;
stereoParams.left_parameters = stereoParams.right_parameters = cameraParams;
stereoParams.right_to_left_rotation[0] = 1;
stereoParams.right_to_left_rotation[1] = 0;
stereoParams.right_to_left_rotation[2] = stereoParams.right_to_left_rotation[3] 
= 0;
stereoParams.right_to_left_translation[0] = -0.12;
stereoParams.right_to_left_translation[1] = 0;
stereoParams.right_to_left_translation[2] = 0;
fovis::StereoCalibration stereoCalib(stereoParams);
fovis::StereoDepth* depth = new fovis::StereoDepth(&stereoCalib,options);

cv::Mat img_left,img_right;
for(int i=1;i<100;i++)
{
    img_left = cv::imread(data_dir+"l"+num2str(i)+".jpg",cv::IMREAD_GRAYSCALE);
    img_right = cv::imread(data_dir+"r"+num2str(i)+".jpg",cv::IMREAD_GRAYSCALE);

    depth->setRightImage(img_right.data);
    odom->processFrame(img_left.data,depth);
    cout<<odom->getMotionEstimateStatus()<<endl;
}
//==============================================//
Note that I am build my code in vs2008,windows 64bit and i build fovis code 
from source.

Original issue reported on code.google.com by [email protected] on 13 Jan 2015 at 12:39

[GoogleCodeExporter]

Hi there, How did you get a third party camera to work with FoVis? I am trying 
to port in cv::Mat images, with minimal luck. Thanks for your time!

Original comment by [email protected] on 8 Jun 2015 at 6:34