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Fixed #909

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This commit is contained in:
matlabbe
2022-09-30 14:17:23 -07:00
parent e0a2adcb45
commit 30bf5895ca
1 changed files with 6 additions and 7 deletions
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13
corelib/src/odometry/OdometryORBSLAM.cpp
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@@ -999,9 +999,8 @@ Transform OdometryORBSLAM::computeTransform(
if(!((data.cameraModels().size() == 1 &&
data.cameraModels()[0].isValidForReprojection()) ||
(data.stereoCameraModel().isValidForProjection() &&
data.stereoCameraModel().left().isValidForReprojection() &&
data.stereoCameraModel().right().isValidForReprojection())))
(data.stereoCameraModels().size() == 1 &&
data.stereoCameraModels()[0].isValidForProjection())))
{
UERROR("Invalid camera model!");
return t;
@@ -1018,8 +1017,8 @@ Transform OdometryORBSLAM::computeTransform(
cv::Mat covariance;
if(orbslam_->mpTracker == 0)
{
CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModel().left();
if(!orbslam_->init(model, stereo, data.stereoCameraModel().baseline(), imuLocalTransform_))
CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModels()[0].left();
if(!orbslam_->init(model, stereo, data.stereoCameraModels()[0].baseline(), imuLocalTransform_))
{
return t;
}
@@ -1029,7 +1028,7 @@ Transform OdometryORBSLAM::computeTransform(
Transform localTransform;
if(stereo)
{
localTransform = data.stereoCameraModel().localTransform();
localTransform = data.stereoCameraModels()[0].localTransform();
Tcw = ((Tracker*)orbslam_->mpTracker)->GrabImageStereo(data.imageRaw(), data.rightRaw(), data.stamp());
}
else
@@ -1079,7 +1078,7 @@ Transform OdometryORBSLAM::computeTransform(
}
else
{
float baseline = data.stereoCameraModel().baseline();
float baseline = data.stereoCameraModels()[0].baseline();
if(baseline <= 0.0f)
{
baseline = rtabmap::Parameters::defaultOdomORBSLAMBf();