Need to add rectification in the code and support for camera type: recitified for Kitti dataset

[Shivam7Sharma]

Hi,

I saw misalignment in the point cloud when I ran the Euroc dataset. The ground was not parallel to the xy plane, which should not be the case. I think this issue is because Euroc images are not rectified. From past experiences, I have noticed that rectification is probably the cause for this poor point cloud. I haven't added rectification logic in the code yet.

Also, when running on a rectified dataset such as the Kitti 002 sequence, it gives a seg fault because of the config file. I don't know what the problem is with the Kitti config file. I copied the yaml file from the official ORB Slam 3 repository for the stereo Kitti dataset.

The code also need to work with camera.type set to rectified. I am trying this mode with Kitti, but I get a seg fault.

Please confirm if you face the similar issues in the stereo branch I uploaded.