From a11ca1ed8ec797b59bad7295bac010bdf70734eb Mon Sep 17 00:00:00 2001
From: lyc <email>
Date: Thu, 15 Sep 2022 20:17:45 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0rgbd=E6=A8=A1=E5=BC=8F?=
 =?UTF-8?q?=E4=B8=8B=E7=95=B8=E5=8F=98=E4=B8=8D=E7=94=9F=E6=95=88bug?=
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---
 src/Settings.cc | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/Settings.cc b/src/Settings.cc
index 603f369..9114299 100644
--- a/src/Settings.cc
+++ b/src/Settings.cc
@@ -255,7 +255,12 @@ void Settings::readCamera1(cv::FileStorage &fSettings)
         }
 
         // Check if we need to correct distortion from the images
-        if ((sensor_ == System::MONOCULAR || sensor_ == System::IMU_MONOCULAR) && vPinHoleDistorsion1_.size() != 0)
+        if (
+            (sensor_ == System::MONOCULAR ||
+                sensor_ == System::IMU_MONOCULAR ||
+                sensor_ == System::RGBD ||
+                sensor_ == System::IMU_RGBD) &&
+            vPinHoleDistorsion1_.size() != 0)
         {
             bNeedToUndistort_ = true;
         }