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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/StereoCameraModel.h
+1 -1
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@@ -86,7 +86,7 @@ public:
bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
bool isRectificationMapInitialized() {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
bool isRectificationMapInitialized() const {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
void setName(const std::string & name, const std::string & leftSuffix = "left", const std::string & rightSuffix = "right");
const std::string & name() const {return name_;}