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StereoOdometry: Added informative error when negative baseline is detected.

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This commit is contained in:
Mathieu Labbe
2015-03-03 12:01:50 -05:00
parent 9c1eb809c1
commit 03c6c8b4a8
1 changed files with 7 additions and 0 deletions
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src/StereoOdometryNode.cpp
+7
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@@ -160,6 +160,13 @@ public:
cv_bridge::CvImageConstPtr ptrImageLeft = cv_bridge::toCvShare(imageRectLeft, "mono8"); cv_bridge::CvImageConstPtr ptrImageLeft = cv_bridge::toCvShare(imageRectLeft, "mono8");
cv_bridge::CvImageConstPtr ptrImageRight = cv_bridge::toCvShare(imageRectRight, "mono8"); cv_bridge::CvImageConstPtr ptrImageRight = cv_bridge::toCvShare(imageRectRight, "mono8");
if(baseline <= 0)
{
ROS_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", baseline);
return;
}
UTimer stepTimer; UTimer stepTimer;
// //
UDEBUG("localTransform = %s", rtabmap_ros::transformFromTF(localTransform).prettyPrint().c_str()); UDEBUG("localTransform = %s", rtabmap_ros::transformFromTF(localTransform).prettyPrint().c_str());