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rtabmap: re-added depth16 conversion warning (to be printed only once)

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matlabbe
2015-10-13 14:31:29 -04:00
parent b121764449
commit ad296e301e
1 changed files with 20 additions and 20 deletions
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src/CoreWrapper.cpp
+20 -20
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@@ -479,8 +479,7 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_); this->saveParameters(configPath_);
ros::NodeHandle nh; ros::NodeHandle nh;
ParametersMap parameters = Parameters::getDefaultParameters(); for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{ {
nh.deleteParam(iter->first); nh.deleteParam(iter->first);
} }
@@ -516,19 +515,7 @@ void CoreWrapper::saveParameters(const std::string & configFile)
{ {
printf("Config file doesn't exist, a new one will be created.\n"); printf("Config file doesn't exist, a new one will be created.\n");
} }
Rtabmap::writeParameters(configFile.c_str(), parameters_);
ParametersMap parameters = Parameters::getDefaultParameters();
ros::NodeHandle nh;
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string value;
if(nh.getParam(iter->first,value))
{
iter->second = value;
}
}
Rtabmap::writeParameters(configFile.c_str(), parameters);
} }
else else
{ {
@@ -817,6 +804,20 @@ void CoreWrapper::commonDepthCallback(
} }
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
cv::Mat subDepth = ptrDepth->image; cv::Mat subDepth = ptrDepth->image;
UASSERT(uContains(parameters_, Parameters::kMemSaveDepth16Format()));
if(subDepth.type() == CV_32FC1 && uStr2Bool(parameters_.at(Parameters::kMemSaveDepth16Format())))
{
subDepth = util2d::cvtDepthFromFloat(subDepth);
static bool shown = false;
if(!shown)
{
ROS_WARN("Save depth data to 16 bits format: depth type detected is "
"32FC1, use 16UC1 depth format to avoid this conversion "
"(or set parameter \"Mem/SaveDepth16Format=false\" to use "
"32bits format). This message is only printed once...");
shown = true;
}
}
// initialize // initialize
if(rgb.empty()) if(rgb.empty())
@@ -1471,9 +1472,8 @@ void CoreWrapper::goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg)
bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{ {
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
ros::NodeHandle nh; ros::NodeHandle nh;
for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter) for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{ {
std::string vStr; std::string vStr;
bool vBool; bool vBool;
@@ -1501,12 +1501,12 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
} }
} }
ROS_INFO("rtabmap: Updating parameters"); ROS_INFO("rtabmap: Updating parameters");
if(parameters.find(Parameters::kRtabmapDetectionRate()) != parameters.end()) if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end())
{ {
rate_ = uStr2Float(parameters.at(Parameters::kRtabmapDetectionRate())); rate_ = uStr2Float(parameters_.at(Parameters::kRtabmapDetectionRate()));
ROS_INFO("RTAB-Map rate detection = %f Hz", rate_); ROS_INFO("RTAB-Map rate detection = %f Hz", rate_);
} }
rtabmap_.parseParameters(parameters); rtabmap_.parseParameters(parameters_);
return true; return true;
} }