Leaving the depth format check to rtabmap library. Added warning on large baseline detected. Added "convert_depth_to_mm"=true argument to rgbd_mapping.launch

src/GuiWrapper.cpp

@@ -612,17 +612,6 @@ void GuiWrapper::commonDepthCallback(
 				}
 				cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
 				cv::Mat subDepth = ptrDepth->image;
-				if(subDepth.type() == CV_32FC1)
-				{
-					subDepth = util2d::cvtDepthFromFloat(subDepth);
-					static bool shown = false;
-					if(!shown)
-					{
-						ROS_WARN("Use depth image with \"unsigned short\" type to "
-								 "avoid conversion. This message is only printed once...");
-						shown = true;
-					}
-				}
 
 				// initialize
 				if(rgb.empty())
@@ -823,6 +812,19 @@ void GuiWrapper::commonStereoCallback(
 				model.baseline(),
 				localTransform);
 
+		if(model.baseline() > 10.0)
+		{
+			static bool shown = false;
+			if(!shown)
+			{
+				ROS_WARN("Detected baseline (%f m) is quite large! Is your "
+						 "right camera_info P(0,3) correctly set? Note that "
+						 "baseline=-P(0,3)/P(0,0). This warning is printed only once.",
+						 model.baseline());
+				shown = true;
+			}
+		}
+
 		// left
 		cv_bridge::CvImageConstPtr ptrImage;
 		cv::Mat left;