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stereo_odometry: for rgbd_image input, make sure all image data are copied in callback.

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This commit is contained in:
matlabbe
2021-11-24 10:02:45 -05:00
parent 4f4f72837d
commit 8a75963739
1 changed files with 15 additions and 7 deletions
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src/nodelets/stereo_odometry.cpp
+15 -7
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@@ -419,32 +419,40 @@ private:
} }
} }
cv_bridge::CvImageConstPtr ptrImageLeft = imageRectLeft; cv::Mat left;
if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 && if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0) imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
{ {
if(keepColor_ && imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) != 0) if(keepColor_ && imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) != 0)
{ {
ptrImageLeft = cv_bridge::cvtColor(imageRectLeft, "bgr8"); left = cv_bridge::cvtColor(imageRectLeft, "bgr8")->image;
} }
else else
{ {
ptrImageLeft = cv_bridge::cvtColor(imageRectLeft, "mono8"); left = cv_bridge::cvtColor(imageRectLeft, "mono8")->image;
} }
} }
cv_bridge::CvImageConstPtr ptrImageRight = imageRectRight; else
{
left = imageRectLeft->image.clone();
}
cv::Mat right;
if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 && if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0) imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
{ {
ptrImageRight = cv_bridge::cvtColor(imageRectRight, "mono8"); right = cv_bridge::cvtColor(imageRectRight, "mono8")->image;
}
else
{
right = imageRectRight->image.clone();
} }
UTimer stepTimer; UTimer stepTimer;
// //
UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str()); UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
rtabmap::SensorData data( rtabmap::SensorData data(
ptrImageLeft->image, left,
ptrImageRight->image, right,
stereoModel, stereoModel,
0, 0,
rtabmap_ros::timestampFromROS(stamp)); rtabmap_ros::timestampFromROS(stamp));