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Removed modulo RGB vs Depth size (#584), as now supported from rtabmap library since https://github.com/introlab/rtabmap/pull/534

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This commit is contained in:
matlabbe
2021-05-24 10:14:02 -04:00
parent 322c6a223a
commit cbe1d8ccff
2 changed files with 0 additions and 3 deletions
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src/MsgConversion.cpp
-2
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@@ -369,7 +369,6 @@ rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & imag
int depthHeight = depthMsg->image.rows; int depthHeight = depthMsg->image.rows;
UASSERT_MSG( UASSERT_MSG(
imageWidth % depthWidth == 0 && imageHeight % depthHeight == 0 &&
imageWidth/depthWidth == imageHeight/depthHeight, imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str()); uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
@@ -1731,7 +1730,6 @@ bool convertRGBDMsgs(
if(depthMsgs.size()) if(depthMsgs.size())
{ {
UASSERT_MSG( UASSERT_MSG(
imageWidth % depthWidth == 0 && imageHeight % depthHeight == 0 &&
imageWidth/depthWidth == imageHeight/depthHeight, imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str()); uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
} }
src/nodelets/rgbd_odometry.cpp
-1
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@@ -331,7 +331,6 @@ private:
int depthHeight = depthImages[0]->image.rows; int depthHeight = depthImages[0]->image.rows;
UASSERT_MSG( UASSERT_MSG(
imageWidth % depthWidth == 0 && imageHeight % depthHeight == 0 &&
imageWidth/depthWidth == imageHeight/depthHeight, imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str()); uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());