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Fixed crash with odometryF2F by cloning input images, creating a new map when variance >=9999 is detected, implemented intermediate nodes in ROS

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matlabbe
2016-02-18 11:19:35 -05:00
parent b4c0224f06
commit 35639248b9
3 changed files with 40 additions and 9 deletions
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src/RGBDOdometryNode.cpp
+2 -2
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@@ -197,8 +197,8 @@ public:
model.cx(),
model.cy(),
localTransform);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
rtabmap::SensorData data(
ptrImage->image,