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Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images

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matlabbe
2020-03-02 16:57:14 -05:00
parent 3ea64fbfc3
commit c2dde973a6
4 changed files with 36 additions and 6 deletions
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corelib/include/rtabmap/core/CameraModel.h
+1 -1
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@@ -75,7 +75,7 @@ public:
virtual ~CameraModel() {}
void initRectificationMap();
bool isRectificationMapInitialized() {return !mapX_.empty() && !mapY_.empty();}
bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}