From 51e87a36e04001e74c0775b3c83227d64ebf8656 Mon Sep 17 00:00:00 2001 From: guanhaining Date: Wed, 18 Oct 2023 15:31:31 +0800 Subject: [PATCH] fix PinholeFullCamera Undistortion --- .../src/camodocal/camera_models/PinholeFullCamera.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/online_calib/vins_camera2imu/src/camodocal/camera_models/PinholeFullCamera.cc b/online_calib/vins_camera2imu/src/camodocal/camera_models/PinholeFullCamera.cc index 5365c064..1f066997 100755 --- a/online_calib/vins_camera2imu/src/camodocal/camera_models/PinholeFullCamera.cc +++ b/online_calib/vins_camera2imu/src/camodocal/camera_models/PinholeFullCamera.cc @@ -596,8 +596,8 @@ PinholeFullCamera::liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P xd0 = x * cdist * icdist2 + p1 * a1 + p2 * a2; yd0 = y * cdist * icdist2 + p1 * a3 + p2 * a1; - double x_proj = xd * fx + cx; - double y_proj = yd * fy + cy; + double x_proj = xd0 * fx + cx; + double y_proj = yd0 * fy + cy; error = sqrt( pow( x_proj - u, 2 ) + pow( y_proj - v, 2 ) ); }