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Fixed large number of stereo correspondences rejected (thus disabling loop closure) because the left/right images were not cloned by the ROS wrapper

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This commit is contained in:
matlabbe
2016-03-13 17:01:48 -04:00
parent 7debcc4371
commit cfcc4b57a3
3 changed files with 29 additions and 29 deletions
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src/CoreWrapper.cpp
+4 -4
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@@ -1080,17 +1080,17 @@ void CoreWrapper::commonStereoCallback(
scan = util3d::laserScanFromPointCloud(*pclScan);
}
cv_bridge::CvImageConstPtr ptrLeftImage, ptrRightImage;
cv_bridge::CvImagePtr ptrLeftImage, ptrRightImage;
if(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrLeftImage = cv_bridge::toCvShare(leftImageMsg, "mono8");
ptrLeftImage = cv_bridge::toCvCopy(leftImageMsg, "mono8");
}
else
{
ptrLeftImage = cv_bridge::toCvShare(leftImageMsg, "bgr8");
ptrLeftImage = cv_bridge::toCvCopy(leftImageMsg, "bgr8");
}
ptrRightImage = cv_bridge::toCvShare(rightImageMsg, "mono8");
ptrRightImage = cv_bridge::toCvCopy(rightImageMsg, "mono8");
rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*leftCamInfoMsg, *rightCamInfoMsg, localTransform);
src/StereoOdometryNode.cpp
+2 -2
View File
@@ -175,8 +175,8 @@ public:
}
}
cv_bridge::CvImageConstPtr ptrImageLeft = cv_bridge::toCvShare(imageRectLeft, "mono8");
cv_bridge::CvImageConstPtr ptrImageRight = cv_bridge::toCvShare(imageRectRight, "mono8");
cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::toCvCopy(imageRectLeft, "mono8");
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
UTimer stepTimer;
//