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Published 20 hours ago • verified publisher icon UZ-SLAMLab

Jf99 fix camera2DistortionCoef()

Open jf99 opened this issue 2 years ago • 2 comments

camera2DistortionCoef() was referencing vPinHoleDistorsion1_.data() which can lead to out-of-bounds reading and incorrect image processing.

jf99 avatar Jul 26 '23 10:07 jf99

Now I also initialized the member variables of Settings. Not doing so made valgrind complain about decision making based on uninitialized data (e.g. if IMU config is missing in the calibration.yml).

I tried to choose reasonable default values, but I don't feel confident for all of them. However, any defined value is better than an undefined value.

jf99 avatar Jul 26 '23 13:07 jf99

Disclaimer: I don't intend to create spam. If the ORB_SLAM3 developers wish me to stop posting, I will cease immediately.

ORB_SLAM3 seems to be inactive, but there are a number of community patches, including yours, which provide important bugfixes or improvements. Therefore I have created a new project ORB_SLAM_COMMUNITY (https://github.com/jeremysalwen/ORB_SLAM_COMMUNITY) to gather together these improvements and continue active development. I have already merged this PR in the ORB_SLAM_COMMUNITY version. We would welcome any other contributions you might have.

jeremysalwen avatar Jul 25 '24 22:07 jeremysalwen