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Updated some multi-camera asserts

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matlabbe
2016-06-15 16:47:46 -04:00
parent e082820fe5
commit d115dace4d
2 changed files with 25 additions and 4 deletions
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src/CoreWrapper.cpp
+13 -2
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@@ -817,8 +817,19 @@ void CoreWrapper::commonDepthCallback(
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16"); ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
return; 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); Transform localTransform = getTransform(frameId_, depthMsgs[i]->header.frame_id, depthMsgs[i]->header.stamp);
if(localTransform.isNull()) if(localTransform.isNull())
src/RGBDOdometryNode.cpp
+12 -2
View File
@@ -247,8 +247,18 @@ public:
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16"); ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
return; return;
} }
UASSERT(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight); UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
UASSERT(depthMsgs[i]->width == imageWidth && depthMsgs[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());
ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp; ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp;