Why needing stereo rectification instead of just using fisheye model_type?

xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework

https://openvslam.readthedocs.io/

2.97k stars 868 forks source link

Why needing stereo rectification instead of just using fisheye model_type? #513

Open oym1994 opened 3 years ago

oym1994 commented 3 years ago

Hi, Thanks for your contribution! I am confused about the usage of stereo fisheye . In TUM-VI example, the cameras are rectificated at first and the camera_model_type becomes perspective. My question is why not just set camera_model_type to be fisheye? Thank you!

Slamer.