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orb_slam3_details
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electech6 2021-10-11 19:52:33 +08:00
parent 6117fcf244
commit 965140d945
2 changed files with 2 additions and 1 deletions
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src/Tracking.cc
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@ -957,7 +957,8 @@ bool Tracking::ParseCamParamFile(cv::FileStorage &fSettings)
std::cerr << "Check an example configuration file with the desired sensor" << std::endl;
}
if(mSensor==System::STEREO || mSensor==System::IMU_STEREO)
// if(mSensor==System::STEREO || mSensor==System::IMU_STEREO) !bug 忘记读取rgbd的mbf
if(mSensor==System::STEREO || mSensor==System::IMU_STEREO || mSensor==System::RGBD)
{
cv::FileNode node = fSettings["Camera.bf"];
if(!node.empty() && node.isReal())