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Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.

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matlabbe
2021-06-01 14:33:17 -04:00
parent 12c46286f6
commit 630cb6a59f
4 changed files with 73 additions and 5 deletions
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2
corelib/include/rtabmap/core/CameraModel.h
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@@ -81,7 +81,7 @@ public:
virtual ~CameraModel() {}
void initRectificationMap();
bool initRectificationMap();
bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}

1
corelib/include/rtabmap/core/Odometry.h
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@@ -121,6 +121,7 @@ private:
std::vector<ParticleFilter *> particleFilters_;
cv::KalmanFilter kalmanFilter_;
StereoCameraModel stereoModel_;
std::vector<CameraModel> models_;
std::map<double, Transform> imus_;
protected: