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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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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/StereoOdometryNode.cpp
+2 -2
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@@ -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;
//