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Added fatal errors on cv exceptions caused by possible multiple installed opencv versions

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This commit is contained in:
matlabbe
2026-04-18 14:45:56 -07:00
parent 3bc26e1a41
commit 45c586c379
7 changed files with 251 additions and 154 deletions
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rtabmap_sync/src/nodelets/rgbd_sync.cpp
+8 -2
View File
@@ -215,8 +215,14 @@ void RGBDSync::callback(
cv::Mat rgbMat;
cv::Mat depthMat;
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
cv_bridge::CvImageConstPtr imagePtr, imageDepthPtr;
try {
imagePtr = cv_bridge::toCvShare(image);
imageDepthPtr = cv_bridge::toCvShare(depth);
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting images (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
rgbMat = imagePtr->image;
depthMat = imageDepthPtr->image;
rtabmap_sync/src/nodelets/stereo_sync.cpp
+14 -2
View File
@@ -185,10 +185,22 @@ void StereoSync::callback(
rtabmap_msgs::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_msgs::msg::RGBDImage);
*msgCompressed = *msg;
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
cv_bridge::CvImageConstPtr imagePtr;
try {
imagePtr = cv_bridge::toCvShare(imageLeft);
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting left image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
imagePtr->toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
cv_bridge::CvImageConstPtr imageDepthPtr;
try {
imageDepthPtr = cv_bridge::toCvShare(imageRight);
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting right image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
imageDepthPtr->toCompressedImageMsg(msgCompressed->depth_compressed, cv_bridge::JPG);
rgbdImageCompressedPub_->publish(std::move(msgCompressed));