i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory: fixed fisheye distortion index error when rectifying only features

Browse Source
This commit is contained in:
matlabbe
2020-03-24 11:46:16 -04:00
parent d201e25006
commit 5122d9ac02
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/src/Memory.cpp
View File

@@ -4292,7 +4292,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1);
D.at<double>(0,0) = decimatedData.cameraModels()[0].D_raw().at<double>(0,1);
D.at<double>(0,0) = decimatedData.cameraModels()[0].D_raw().at<double>(0,0);
D.at<double>(0,1) = decimatedData.cameraModels()[0].D_raw().at<double>(0,1);
D.at<double>(0,2) = decimatedData.cameraModels()[0].D_raw().at<double>(0,4);
D.at<double>(0,3) = decimatedData.cameraModels()[0].D_raw().at<double>(0,5);
@@ -4348,7 +4348,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1);
D.at<double>(0,0) = decimatedData.cameraModels()[cameraIndex].D_raw().at<double>(0,1);
D.at<double>(0,0) = decimatedData.cameraModels()[cameraIndex].D_raw().at<double>(0,0);
D.at<double>(0,1) = decimatedData.cameraModels()[cameraIndex].D_raw().at<double>(0,1);
D.at<double>(0,2) = decimatedData.cameraModels()[cameraIndex].D_raw().at<double>(0,4);
D.at<double>(0,3) = decimatedData.cameraModels()[cameraIndex].D_raw().at<double>(0,5);