ORB SLAM3 Stereo

Stereo Kitti

Yaml modification

修改 KITTI00-02.yaml 文件中的 Viewer.ViewpointY: -100 改为 Viewer.ViewpointY: -100.0

Settings

Orb slam3 在运行 stereo 时，输出第二个摄像头参数位置报 segment fault

//for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
//    output << " " << settings.originalCalib2_->getParameter(i);
//}
if (settings.cameraType_ == Settings::PinHole) {
    for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
        output << " " << settings.originalCalib2_->getParameter(i);
    }
} else if (settings.cameraType_ == Settings::Rectified) {
    for (size_t i = 0; i < settings.originalCalib1_->size(); i++) {
        output << " " << settings.originalCalib1_->getParameter(i);
    }
}