Fixed #909

introlab · Sep 30, 2022 · 30bf589 · 30bf589
1 parent e0a2adc
commit 30bf589
Showing 1 changed file with 6 additions and 7 deletions.
diff --git a/corelib/src/odometry/OdometryORBSLAM.cpp b/corelib/src/odometry/OdometryORBSLAM.cpp
@@ -999,9 +999,8 @@ Transform OdometryORBSLAM::computeTransform(
 
 	if(!((data.cameraModels().size() == 1 &&
 			data.cameraModels()[0].isValidForReprojection()) ||
-		(data.stereoCameraModel().isValidForProjection() &&
-			data.stereoCameraModel().left().isValidForReprojection() &&
-			data.stereoCameraModel().right().isValidForReprojection())))
+		(data.stereoCameraModels().size() == 1 &&
+			data.stereoCameraModels()[0].isValidForProjection())))
 	{
 		UERROR("Invalid camera model!");
 		return t;
@@ -1018,8 +1017,8 @@ Transform OdometryORBSLAM::computeTransform(
 	cv::Mat covariance;
 	if(orbslam_->mpTracker == 0)
 	{
-		CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModel().left();
-		if(!orbslam_->init(model, stereo, data.stereoCameraModel().baseline(), imuLocalTransform_))
+		CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModels()[0].left();
+		if(!orbslam_->init(model, stereo, data.stereoCameraModels()[0].baseline(), imuLocalTransform_))
 		{
 			return t;
 		}
@@ -1029,7 +1028,7 @@ Transform OdometryORBSLAM::computeTransform(
 	Transform localTransform;
 	if(stereo)
 	{
-		localTransform = data.stereoCameraModel().localTransform();
+		localTransform = data.stereoCameraModels()[0].localTransform();
 		Tcw = ((Tracker*)orbslam_->mpTracker)->GrabImageStereo(data.imageRaw(), data.rightRaw(), data.stamp());
 	}
 	else
@@ -1079,7 +1078,7 @@ Transform OdometryORBSLAM::computeTransform(
 		}
 		else
 		{
-			float baseline = data.stereoCameraModel().baseline();
+			float baseline = data.stereoCameraModels()[0].baseline();
 			if(baseline <= 0.0f)
 			{
 				baseline = rtabmap::Parameters::defaultOdomORBSLAMBf();