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MsgConversion: fixed wrong right image output type. stereo_odometry: fixed rgbd_cameras param not initialized.

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matlabbe
2022-07-18 11:20:40 -04:00
parent ecf4d13984
commit 428091e4ca
3 changed files with 5 additions and 8 deletions
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src/CoreWrapper.cpp
+2
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@@ -1267,6 +1267,8 @@ void CoreWrapper::commonMultiCameraCallbackImpl(
NODELET_ERROR("Could not convert rgb/depth msgs! Aborting rtabmap update..."); NODELET_ERROR("Could not convert rgb/depth msgs! Aborting rtabmap update...");
return; return;
} }
UDEBUG("cameraModels=%ld stereoCameraModels=%ld", cameraModels.size(), stereoCameraModels.size());
UDEBUG("rgb=%dx%d(type=%d), depth/right=%dx%d(type=%d)", rgb.rows, rgb.cols, rgb.type(), depth.rows, depth.cols, depth.type());
if(stereoCameraModels.size() && stereoToDepth_) if(stereoCameraModels.size() && stereoToDepth_)
{ {
src/MsgConversion.cpp
+2 -7
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@@ -2025,18 +2025,13 @@ bool convertRGBDMsgs(
{ {
cv_bridge::CvImageConstPtr ptrImage = depthMsgs[i]; cv_bridge::CvImageConstPtr ptrImage = depthMsgs[i];
if( depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0 || if( depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 || depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0)
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0)
{ {
// do nothing // do nothing
} }
else if(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::cvtColor(depthMsgs[i], "mono8");
}
else else
{ {
ptrImage = cv_bridge::cvtColor(depthMsgs[i], "bgr8"); ptrImage = cv_bridge::cvtColor(depthMsgs[i], "mono8");
} }
// initialize // initialize
src/nodelets/stereo_odometry.cpp
+1 -1
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@@ -96,7 +96,7 @@ private:
bool approxSync = false; bool approxSync = false;
bool subscribeRGBD = false; bool subscribeRGBD = false;
double approxSyncMaxInterval = 0.0; double approxSyncMaxInterval = 0.0;
int rgbdCameras; int rgbdCameras = 1;
pnh.param("approx_sync", approxSync, approxSync); pnh.param("approx_sync", approxSync, approxSync);
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval); pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
pnh.param("queue_size", queueSize_, queueSize_); pnh.param("queue_size", queueSize_, queueSize_);