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rtabmap: support rgbd_image without rgb/depth data (only features set).

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This commit is contained in:
matlabbe
2021-06-27 10:50:17 -04:00
parent ed2451c351
commit 4304bae9f6
2 changed files with 77 additions and 65 deletions
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src/CoreWrapper.cpp
+3 -3
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@@ -1167,7 +1167,7 @@ void CoreWrapper::commonDepthCallback(
return;
}
}
else if(imageMsgs.size() == 0 || imageMsgs[0].get() == 0 || !odomUpdate(odomMsg, imageMsgs[0]->header.stamp))
else if(cameraInfoMsgs.size() == 0 || !odomUpdate(odomMsg, cameraInfoMsgs[0].header.stamp))
{
return;
}
@@ -1186,7 +1186,7 @@ void CoreWrapper::commonDepthCallback(
return;
}
}
else if(imageMsgs.size() == 0 || imageMsgs[0].get() == 0 || !odomTFUpdate(imageMsgs[0]->header.stamp))
else if(cameraInfoMsgs.size() == 0 || !odomTFUpdate(cameraInfoMsgs[0].header.stamp))
{
return;
}
@@ -1382,7 +1382,7 @@ void CoreWrapper::commonDepthCallbackImpl(
rgb,
depth,
cameraModels,
lastPoseIntermediate_?-1:imageMsgs[0]->header.seq,
lastPoseIntermediate_?-1:!cameraInfoMsgs.empty()?cameraInfoMsgs[0].header.seq:0,
rtabmap_ros::timestampFromROS(lastPoseStamp_),
userData);