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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 # libraries
SET(Libraries SET(Libraries
rtabmap rtabmap::rtabmap
${catkin_LIBRARIES} ${catkin_LIBRARIES}
) )
rtabmap_conversions/src/MsgConversion.cpp
+10
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@@ -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()); ROS_ERROR("Parameter %s is false but we cannot get TF between the two cameras!", rtabmap::Parameters::kRtabmapImagesAlreadyRectified().c_str());
return false; 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;
}
} }
} }
rtabmap_examples/launch/tests/test_ouster.launch
+1 -1
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@@ -75,7 +75,7 @@
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/> <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters --> <!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/> <param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
<param name="Odom/Strategy" type="string" value="0"/> <param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/> <param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/> <param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
rtabmap_examples/launch/tests/test_ouster_gen2.launch
+1 -1
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@@ -116,7 +116,7 @@
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/> <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters --> <!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/> <param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
<param name="Odom/Strategy" type="string" value="0"/> <param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/> <param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/> <param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
rtabmap_util/scripts/yaml_to_camera_info.py
+1
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@@ -1,6 +1,7 @@
#!/usr/bin/env python #!/usr/bin/env python
import rospy import rospy
import yaml import yaml
import sys
from sensor_msgs.msg import CameraInfo from sensor_msgs.msg import CameraInfo
from sensor_msgs.msg import Image from sensor_msgs.msg import Image