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cleanup

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matlabbe
2025-08-13 13:41:42 -07:00
parent c493116e14
commit 27568a8c9c
2 changed files with 1 additions and 6 deletions
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+1 -2
View File
@@ -555,8 +555,7 @@ private:
if(ptrDepth->image.type() == depth.type()) if(ptrDepth->image.type() == depth.type())
{ {
//if(i < 4) ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight)));
ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight)));
} }
else else
{ {
rtabmap_odom/src/nodelets/stereo_odometry.cpp
-4
View File
@@ -556,8 +556,6 @@ private:
rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform); rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform);
std::cout << i << " " << stereoModel << std::endl;
if( stereoModel.baseline() == 0 && if( stereoModel.baseline() == 0 &&
alreadyRectified && alreadyRectified &&
!rightCameraInfos[i].header.frame_id.empty() && !rightCameraInfos[i].header.frame_id.empty() &&
@@ -590,8 +588,6 @@ private:
stereoTransform.x(), stereoTransform.x(),
stereoModel.localTransform(), stereoModel.localTransform(),
stereoModel.left().imageSize()); stereoModel.left().imageSize());
std::cout << i << " B " << stereoModel << std::endl;
} }
} }