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merged master to PR

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matlabbe
2023-02-25 19:13:21 -08:00
parent 778a474b96
commit 9d8114db3c
1 changed files with 10 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
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@@ -2095,6 +2095,16 @@ bool convertRGBDMsgs(
UERROR("Parameter %s is false but we cannot get TF between the two cameras!", rtabmap::Parameters::kRtabmapImagesAlreadyRectified().c_str()); UERROR("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())
{
UERROR("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;
}
} }
} }