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Fixed ORB_SLAM3 config for stereo mode

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matlabbe
2024-03-12 23:13:06 -07:00
parent 57b4954cb3
commit e299505a64
2 changed files with 56 additions and 38 deletions
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2
corelib/include/rtabmap/core/odometry/OdometryORBSLAM3.h
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@@ -49,7 +49,7 @@ public:
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
bool init(const rtabmap::CameraModel & model, double stamp, bool stereo, double baseline);
bool init(const rtabmap::CameraModel & model1, const rtabmap::CameraModel & model2, double stamp, bool stereo, double baseline);
private:
#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
ORB_SLAM3::System * orbslam_;