From 4aa3bc48898b1c76ac2ca9023a6fc204f04f243c Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 23 Apr 2022 22:59:42 +0200
Subject: [PATCH] Fix bug: remove distortion info from camera when using
rectified images
---
include/vision/sensor/sensor_camera.h | 2 ++
1 file changed, 2 insertions(+)
diff --git a/include/vision/sensor/sensor_camera.h b/include/vision/sensor/sensor_camera.h
index 42c11f801..f677c9bcc 100644
--- a/include/vision/sensor/sensor_camera.h
+++ b/include/vision/sensor/sensor_camera.h
@@ -179,6 +179,8 @@ inline bool SensorCamera::useRectifiedImages()
{
getIntrinsic()->setState(pinhole_model_rectified_);
K_ = setIntrinsicMatrix(pinhole_model_rectified_);
+ distortion_.resize(0); // remove distortion from model
+ correction_.resize(0);
using_raw_ = false;
return true;
--
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