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Uniformized Landmark msg with LandmarkDetection already in ros2 branch. Fixed right image conversion bug when converting from SensorData msg. Fixed some SensorData related subscribers not initialized.

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This commit is contained in:
matlabbe
2023-11-19 17:12:04 -08:00
parent 67de27b1ee
commit d974c9a72c
7 changed files with 42 additions and 20 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+3 -4
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@@ -1105,11 +1105,10 @@ rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::SensorData & msg)
// Image data
cv::Mat left, right;
cv_bridge::CvImageConstPtr leftRawPtr, rightRawPtr;
if(!msg.left.data.empty())
{
boost::shared_ptr<void const> trackedObject;
leftRawPtr = cv_bridge::toCvShare(msg.left, trackedObject);
cv_bridge::CvImageConstPtr leftRawPtr = cv_bridge::toCvShare(msg.left, trackedObject);
if(!(leftRawPtr->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
leftRawPtr->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
@@ -1143,7 +1142,7 @@ rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::SensorData & msg)
if(!msg.right.data.empty())
{
boost::shared_ptr<void const> trackedObject;
rightRawPtr = cv_bridge::toCvShare(msg.right, trackedObject);
cv_bridge::CvImageConstPtr rightRawPtr = cv_bridge::toCvShare(msg.right, trackedObject);
if(!(rightRawPtr->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
rightRawPtr->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
@@ -1169,7 +1168,7 @@ rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::SensorData & msg)
}
else
{
right = cv_bridge::cvtColor(leftRawPtr, "mono8")->image;
right = cv_bridge::cvtColor(rightRawPtr, "mono8")->image;
}
}
}