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Update OdometryORBSLAM.cpp (#991)

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Fix RGBD with ORB SLAM
This commit is contained in:
PonyPC
2023-03-21 09:35:39 +07:00
committed by GitHub
parent a406c37750
commit 50a0961f4e
1 changed files with 2 additions and 2 deletions
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4
corelib/src/odometry/OdometryORBSLAM.cpp
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@@ -1018,7 +1018,7 @@ Transform OdometryORBSLAM::computeTransform(
if(orbslam_->mpTracker == 0) if(orbslam_->mpTracker == 0)
{ {
CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModels()[0].left(); CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModels()[0].left();
if(!orbslam_->init(model, stereo, data.stereoCameraModels()[0].baseline(), imuLocalTransform_)) if(!orbslam_->init(model, stereo, data.cameraModels().size()==1?0.0f:data.stereoCameraModels()[0].baseline(), imuLocalTransform_))
{ {
return t; return t;
} }
@@ -1078,7 +1078,7 @@ Transform OdometryORBSLAM::computeTransform(
} }
else else
{ {
float baseline = data.stereoCameraModels()[0].baseline(); float baseline = data.cameraModels().size()==1?0.0f:data.stereoCameraModels()[0].baseline();
if(baseline <= 0.0f) if(baseline <= 0.0f)
{ {
baseline = rtabmap::Parameters::defaultOdomORBSLAMBf(); baseline = rtabmap::Parameters::defaultOdomORBSLAMBf();