i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 09:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merged master->ros2, added vlp16 launch example, added d435i stereo launch example

Browse Source
This commit is contained in:
matlabbe
2023-01-16 16:26:53 -08:00
parent 4d86e26f54 507df071e0
commit c204ed6142
33 changed files with 636 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/rgbd_odometry.cpp
+7 -7
View File
@@ -366,13 +366,13 @@ void RGBDOdometry::commonCallback(
!(depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
rgbImages[i]->encoding.c_str(),
depthImages[i]->encoding.c_str());
return;
}
{
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
rgbImages[i]->encoding.c_str(),
depthImages[i]->encoding.c_str());
return;
}
UASSERT_MSG(rgbImages[i]->image.cols == imageWidth && rgbImages[i]->image.rows == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,