i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added check to set Vis/EstimationType to 0 if multi cameras is enabled (#187)

Browse Source
This commit is contained in:
matlabbe
2017-08-16 14:44:06 -04:00
parent 3e709d23fc
commit 03a5d2e96f
2 changed files with 37 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/rgbd_odometry.cpp
+18
View File
@@ -202,6 +202,24 @@ private:
ROS_WARN("RGBD odometry works only with \"Reg/Strategy\"=0. Ignoring value %s.", iter->second.c_str());
}
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "0"));
int estimationType = Parameters::defaultVisEstimationType();
Parameters::parse(parameters, Parameters::kVisEstimationType(), estimationType);
ros::NodeHandle & pnh = getPrivateNodeHandle();
int rgbdCameras = 1;
bool subscribeRGBD = false;
pnh.param("subscribe_rgbd", subscribeRGBD, subscribeRGBD);
pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
if(subscribeRGBD && rgbdCameras> 1 && estimationType>0)
{
NODELET_WARN("Setting \"%s\" parameter to 0 (%d is not supported "
"for multi-cameras) as \"subscribe_rgbd\" is "
"true and \"rgbd_cameras\">1. Set \"%s\" to 0 to suppress this warning.",
Parameters::kVisEstimationType().c_str(),
estimationType,
Parameters::kVisEstimationType().c_str());
uInsert(parameters, ParametersPair(Parameters::kVisEstimationType(), "0"));
}
}
void commonCallback(