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fixed MapCloud rviz plugin with rtabmap namespace property. rtabmap.launch.py: added "rviz" argument to start RVIZ with preconfigured displays. point_cloud_xyzrgb: added RGBA encoding support for stereo.

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matlabbe
2021-10-05 18:01:30 -04:00
parent fb1200c8f1
commit 16e1c581f4
11 changed files with 860 additions and 233 deletions
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src/nodelets/point_cloud_xyzrgb.cpp
+6 -2
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@@ -323,11 +323,15 @@ void PointCloudXYZRGB::stereoCallback(
if(!(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0) ||
!(imageRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0))
{
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
return;