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ORB_SLAM3: fixed error if left image is color. SensorCaptureThread: stop thread if data cannot be captured (e.g., end of dataset) instead of skipping indefinitly with error log.

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matlabbe
2024-05-26 18:04:07 -07:00
parent 03afb94d92
commit 32e03aaf68
2 changed files with 11 additions and 11 deletions
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8
corelib/src/odometry/OdometryORBSLAM3.cpp
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@@ -447,8 +447,12 @@ Transform OdometryORBSLAM3::computeTransform(
if(stereo)
{
localTransform = data.stereoCameraModels()[0].localTransform();
Tcw = orbslam_->TrackStereo(data.imageRaw(), data.rightRaw(), data.stamp(), orbslamImus_);
cv::Mat leftMono = data.imageRaw();
if(data.imageRaw().channels() == 3) {
leftMono = cv::Mat();
cv::cvtColor(data.imageRaw(), leftMono, CV_BGR2GRAY);
}
Tcw = orbslam_->TrackStereo(leftMono, data.rightRaw(), data.stamp(), orbslamImus_);
orbslamImus_.clear();
}
else