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merged master to PR

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matlabbe
2023-02-25 18:58:50 -08:00
parent 0a9f557077 3cde10ee3b
commit 523b4c6e6a
5 changed files with 14 additions and 3 deletions
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rtabmap_conversions/CMakeLists.txt
+1 -1
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@@ -32,7 +32,7 @@ include_directories(
# libraries
SET(Libraries
rtabmap
rtabmap::rtabmap
${catkin_LIBRARIES}
)
rtabmap_conversions/src/MsgConversion.cpp
+10
View File
@@ -2099,6 +2099,16 @@ bool convertRGBDMsgs(
ROS_ERROR("Parameter %s is false but we cannot get TF between the two cameras!", rtabmap::Parameters::kRtabmapImagesAlreadyRectified().c_str());
return false;
}
else if(stereoTransform.isIdentity())
{
ROS_ERROR("Parameter %s is false but we cannot get a valid TF between the two cameras! "
"Identity transform returned between left and right cameras. Verify that if TF between "
"the cameras is valid: \"rosrun tf tf_echo %s %s\".",
rtabmap::Parameters::kRtabmapImagesAlreadyRectified().c_str(),
depthCameraInfoMsgs[i].header.frame_id.c_str(),
cameraInfoMsgs[i].header.frame_id.c_str());
return false;
}
}
}