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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_util/src/nodelets/point_cloud_xyz.cpp
+7 -1
View File
@@ -189,7 +189,13 @@ void PointCloudXYZ::callback(
{
rclcpp::Time time = now();
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depthMsg);
cv_bridge::CvImageConstPtr imageDepthPtr;
try{
imageDepthPtr = cv_bridge::toCvShare(depthMsg);
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting depth image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
+53 -31
View File
@@ -240,21 +240,32 @@ void PointCloudXYZRGB::depthCallback(
rclcpp::Time time = now();
cv_bridge::CvImageConstPtr imagePtr;
if(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
imagePtr = cv_bridge::toCvShare(image);
try {
if(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
imagePtr = cv_bridge::toCvShare(image);
}
else if(image->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
imagePtr = cv_bridge::toCvShare(image, "mono8");
}
else
{
imagePtr = cv_bridge::toCvShare(image, "bgr8");
}
}
else if(image->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
imagePtr = cv_bridge::toCvShare(image, "mono8");
}
else
{
imagePtr = cv_bridge::toCvShare(image, "bgr8");
catch(cv::Exception& e) {
UFATAL("Fatal error while converting RGB image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
cv_bridge::CvImageConstPtr imageDepthPtr;
try {
imageDepthPtr = cv_bridge::toCvShare(imageDepth);
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting Depth image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
}
rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
@@ -318,18 +329,24 @@ void PointCloudXYZRGB::disparityCallback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
cv_bridge::CvImageConstPtr imagePtr;
if(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
imagePtr = cv_bridge::toCvShare(image);
try {
if(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
imagePtr = cv_bridge::toCvShare(image);
}
else if(image->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
imagePtr = cv_bridge::toCvShare(image, "mono8");
}
else
{
imagePtr = cv_bridge::toCvShare(image, "bgr8");
}
}
else if(image->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
imagePtr = cv_bridge::toCvShare(image, "mono8");
}
else
{
imagePtr = cv_bridge::toCvShare(image, "bgr8");
catch(cv::Exception& e) {
UFATAL("Fatal error while converting RGB image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
return;
}
if(imageDisparity->image.encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) !=0 &&
@@ -404,16 +421,21 @@ void PointCloudXYZRGB::stereoCallback(
rclcpp::Time time = now();
cv_bridge::CvImageConstPtr ptrLeftImage, ptrRightImage;
if(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrLeftImage = cv_bridge::toCvShare(imageLeft, "mono8");
try {
if(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrLeftImage = cv_bridge::toCvShare(imageLeft, "mono8");
}
else
{
ptrLeftImage = cv_bridge::toCvShare(imageLeft, "bgr8");
}
ptrRightImage = cv_bridge::toCvShare(imageRight, "mono8");
}
else
{
ptrLeftImage = cv_bridge::toCvShare(imageLeft, "bgr8");
catch(cv::Exception& e) {
UFATAL("Fatal error 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());
}
ptrRightImage = cv_bridge::toCvShare(imageRight, "mono8");
if(roiRatios_[0]!=0.0f || roiRatios_[1]!=0.0f || roiRatios_[2]!=0.0f || roiRatios_[3]!=0.0f)
{