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merged master to devel

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This commit is contained in:
matlabbe
2015-06-19 20:46:05 -04:00
parent 206dda272e fa06d3050d
commit de70790e5a
7 changed files with 67 additions and 36 deletions
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src/RGBDOdometryNode.cpp
+13 -5
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@@ -163,7 +163,8 @@ public:
{
if(!this->isPaused())
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
@@ -171,7 +172,9 @@ public:
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended) and image_depth=16UC1,32FC1,mono16");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
image->encoding.c_str(), depth->encoding.c_str());
return;
}
else if(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0)
@@ -214,7 +217,7 @@ public:
model.cx(),
model.cy(),
rtabmap_ros::transformFromTF(localTransform));
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, "mono8");
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
rtabmap::SensorData data(
@@ -258,7 +261,8 @@ public:
std::vector<CameraModel> cameraModels;
for(unsigned int i=0; i<imageMsgs.size(); ++i)
{
if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
@@ -292,7 +296,11 @@ public:
}
cv_bridge::CvImageConstPtr ptrImage;
if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i]);
}
else if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i], "mono8");