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Adding support for compressed input data and right color image. (#1463)

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matlabbe
2025-03-08 16:40:04 -08:00
committed by GitHub
parent d88353dc1b
commit a1b602dbe0
26 changed files with 359 additions and 123 deletions
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corelib/src/Odometry.cpp
+9
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@@ -337,6 +337,15 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
}
if((data.imageRaw().empty() && !data.imageCompressed().empty()) ||
(data.depthOrRightRaw().empty() && !data.depthOrRightCompressed().empty()) ||
(data.laserScanRaw().empty() && !data.laserScanCompressed().empty()))
{
UDEBUG("Received compressed data, uncompressing...");
data.uncompressData();
UDEBUG("Received compressed data, uncompressing...done!");
}
if(!data.imageRaw().empty())
{
UDEBUG("Processing image data %dx%d: rgbd models=%ld, stereo models=%ld",