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Added stereo support for TYPE_8UC1 encoding and "Kannala Brandt4" (fisheye) distortion model (OpenLORIS).

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This commit is contained in:
matlabbe
2021-04-02 19:08:58 -04:00
parent 56e1d6335e
commit 23c06875b9
4 changed files with 83 additions and 20 deletions
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src/nodelets/stereo_odometry.cpp
+17 -6
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@@ -168,13 +168,15 @@ private:
callbackCalled();
if(!this->isPaused())
{
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
@@ -268,7 +270,9 @@ private:
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8)==0?"":
keepColor_ && imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16)!=0?"bgr8":"mono8");
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight,
imageRectRight->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8)==0?"":"mono8");
UTimer stepTimer;
//
@@ -301,13 +305,15 @@ private:
cv_bridge::CvImageConstPtr imageRectLeft, imageRectRight;
rtabmap_ros::toCvShare(image, imageRectLeft, imageRectRight);
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
@@ -413,7 +419,12 @@ private:
ptrImageLeft = cv_bridge::cvtColor(imageRectLeft, "mono8");
}
}
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::cvtColor(imageRectRight, "mono8");
cv_bridge::CvImageConstPtr ptrImageRight = imageRectRight;
if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
{
ptrImageRight = cv_bridge::cvtColor(imageRectRight, "mono8");
}
UTimer stepTimer;
//