修改rgbd下tum数据包与ros包不一样bug

2022-05-02 11:45:13 +08:00 · 2022-05-02 11:45:13 +08:00 · a58166a03d
parent 8d53ea57b4
commit a58166a03d
1 changed files with 1 additions and 1 deletions
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@ -1632,7 +1632,7 @@ Sophus::SE3f Tracking::GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, co
    }

    // Step 2 ：将深度相机的disparity转为Depth , 也就是转换成为真正尺度下的深度
-    if((fabs(mDepthMapFactor-1.0f)>1e-5) || imDepth.type()!=CV_32F)
+    if((fabs(mDepthMapFactor-1.0f)>1e-5) && imDepth.type()!=CV_32F)
        imDepth.convertTo(imDepth,CV_32F,mDepthMapFactor);

    // Step 3：构造Frame