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Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.

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This commit is contained in:
matlabbe
2021-10-23 11:17:42 -04:00
parent 56c5622d20
commit 8682026396
6 changed files with 78 additions and 23 deletions
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2
corelib/src/camera/CameraImages.cpp
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@@ -862,7 +862,7 @@ SensorData CameraImages::captureImage(CameraInfo * info)
cv::cvtColor(img, out, CV_BGRA2BGR);
img = out;
}
else if(_bayerMode >= 0 && _bayerMode <=3)
else if(!img.empty() && _bayerMode >= 0 && _bayerMode <=3)
{
cv::Mat debayeredImg;
try

1
corelib/src/camera/CameraStereoImages.cpp
View File

@@ -166,6 +166,7 @@ SensorData CameraStereoImages::captureImage(CameraInfo * info)
{
if(camera2_)
{
camera2_->setBayerMode(this->getBayerMode());
right = camera2_->takeImage(info);
}
else