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Fixing duplicated code added from that merge commit https://github.com/introlab/rtabmap_ros/commit/c204ed61427475f028fe2cd435b31cd2cbcfc1fd

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matlabbe
2025-12-02 21:11:25 -08:00
parent 4b970c2ca0
commit 001ed0d512
1 changed files with 1 additions and 44 deletions
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rtabmap_odom/src/nodelets/stereo_odometry.cpp
+1 -44
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@@ -500,49 +500,6 @@ void StereoOdometry::commonCallback(
return; return;
} }
else else
{
stereoTransform = rtabmap_conversions::getTransform(
rightCameraInfos[i].header.frame_id,
leftCameraInfos[i].header.frame_id,
leftCameraInfos[i].header.stamp,
tfBuffer(),
waitForTransform());
if(stereoTransform.isNull())
{
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get TF between the two cameras! (between frames %s and %s)",
Parameters::kRtabmapImagesAlreadyRectified().c_str(),
rightCameraInfos[i].header.frame_id.c_str(),
leftCameraInfos[i].header.frame_id.c_str());
return;
}
else if(stereoTransform.isIdentity())
{
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! "
"Identity transform returned between left and right cameras. Verify that if TF between "
"the cameras is valid: \"rosrun tf tf_echo %s %s\".",
Parameters::kRtabmapImagesAlreadyRectified().c_str(),
rightCameraInfos[i].header.frame_id.c_str(),
leftCameraInfos[i].header.frame_id.c_str());
return;
}
}
}
rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform);
if( stereoModel.baseline() == 0 &&
alreadyRectified &&
!rightCameraInfos[i].header.frame_id.empty() &&
!leftCameraInfos[i].header.frame_id.empty())
{
stereoTransform = rtabmap_conversions::getTransform(
leftCameraInfos[i].header.frame_id,
rightCameraInfos[i].header.frame_id,
leftCameraInfos[i].header.stamp,
tfBuffer(),
waitForTransform());
if(!stereoTransform.isNull() && stereoTransform.x()>0)
{ {
static bool warned = false; static bool warned = false;
if(!warned) if(!warned)
@@ -576,7 +533,7 @@ void StereoOdometry::commonCallback(
{ {
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! " RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! "
"Identity transform returned between left and right cameras. Verify that if TF between " "Identity transform returned between left and right cameras. Verify that if TF between "
"the cameras is valid: \"rosrun tf tf_echo %s %s\".", "the cameras is valid: \"ros2 run tf2_ros tf_echo %s %s\".",
Parameters::kRtabmapImagesAlreadyRectified().c_str(), Parameters::kRtabmapImagesAlreadyRectified().c_str(),
rightCameraInfos[i].header.frame_id.c_str(), rightCameraInfos[i].header.frame_id.c_str(),
leftCameraInfos[i].header.frame_id.c_str()); leftCameraInfos[i].header.frame_id.c_str());