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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Stereo fisheye odometry #881

Open smileyenot983 opened 2 months ago

smileyenot983 commented 2 months ago

Is there any reason why for pinhole cameras images are undistorted and rectified, whereas for fisheye only keypoints are undistorted?

WFram commented 2 weeks ago

Rectification is done to transform images to the same image plane and required where there are more than one camera. Points from one fisheye to another can be converted using the relative pose between two lenses, which is done.