i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-11 12:09:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

stereo_odometry: added bgra8 and rgba8 support

Browse Source
This commit is contained in:
matlabbe
2018-10-03 18:57:38 -04:00
parent d0c5951b33
commit e9380ebf45
2 changed files with 15 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/rgbdicp_odometry.cpp
+1 -1
View File
@@ -245,7 +245,7 @@ private:
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 || depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0)) depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
{ {
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 " NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,rgba8,bgra8 (mono8 "
"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s", "recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
image->encoding.c_str(), depth->encoding.c_str()); image->encoding.c_str(), depth->encoding.c_str());
return; return;
src/nodelets/stereo_odometry.cpp
+14 -6
View File
@@ -177,13 +177,17 @@ private:
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 || if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 || !(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 || imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 || imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0)) imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0))
{ {
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)", NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,rgba8,bgra8 (mono8 recommended), received types are %s (left) and %s (right)",
imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str()); imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
return; return;
} }
@@ -254,13 +258,17 @@ private:
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 || if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) || imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 || !(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 || imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 || imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0)) imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0))
{ {
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)", NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,rgba8,bgra8 (mono8 recommended), received types are %s (left) and %s (right)",
imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str()); imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
return; return;
} }