i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated some multi-camera asserts

Browse Source
This commit is contained in:
matlabbe
2016-06-15 16:47:46 -04:00
parent e082820fe5
commit d115dace4d
2 changed files with 25 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.cpp
+13 -2
View File
@@ -817,8 +817,19 @@ void CoreWrapper::commonDepthCallback(
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
return;
}
UASSERT(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight);
UASSERT(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight);
UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
imageMsgs[i]->width,
imageHeight,
imageMsgs[i]->height).c_str());
UASSERT_MSG(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
depthMsgs[i]->width,
imageHeight,
depthMsgs[i]->height).c_str());
Transform localTransform = getTransform(frameId_, depthMsgs[i]->header.frame_id, depthMsgs[i]->header.stamp);
if(localTransform.isNull())