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Added error messages when subscribe_odom and odom_frame_id are both not set. rgb_sync: added option "fill_empty_depth" to add fake empty depth for monocular cameras. See also #1363

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matlabbe
2025-10-18 13:59:55 -07:00
parent bc5f0a7146
commit 3b5a4ed675
8 changed files with 82 additions and 220 deletions
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+4
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@@ -432,8 +432,10 @@ void RGBDOdometry::commonCallback(
{
UASSERT(rgbImages.size() > 0 && rgbImages.size() == depthImages.size() && rgbImages.size() == cameraInfos.size());
rclcpp::Time higherStamp;
UASSERT_MSG(rgbImages[0], "RGB image is null!");
int imageWidth = rgbImages[0]->image.cols;
int imageHeight = rgbImages[0]->image.rows;
UASSERT_MSG(depthImages[0], "Depth image is null!");
int depthWidth = depthImages[0]->image.cols;
int depthHeight = depthImages[0]->image.rows;
@@ -447,6 +449,8 @@ void RGBDOdometry::commonCallback(
std::vector<rtabmap::CameraModel> cameraModels;
for(unsigned int i=0; i<rgbImages.size(); ++i)
{
UASSERT_MSG(rgbImages[i], uFormat("RGB image is null for camera %d", i).c_str());
UASSERT_MSG(depthImages[i], uFormat("Depth image is null for camera %d", i).c_str());
if(!(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||