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bug fix

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This commit is contained in:
ruipimentelfigueiredo
2021-07-08 17:01:44 +02:00
parent 9a004836b0
commit f1ef801df2
1 changed files with 8 additions and 3 deletions
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src/nodelets/rgbd_odometry.cpp
+8 -3
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@@ -162,6 +162,10 @@ private:
{ {
rgbd_image4_sub_.subscribe(nh, "rgbd_image3", 1); rgbd_image4_sub_.subscribe(nh, "rgbd_image3", 1);
} }
if(rgbdCameras >= 5)
{
rgbd_image5_sub_.subscribe(nh, "rgbd_image4", 1);
}
if(rgbdCameras == 2) if(rgbdCameras == 2)
{ {
@@ -268,13 +272,14 @@ private:
rgbd_image5_sub_); rgbd_image5_sub_);
exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5)); exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5));
} }
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s",
getName().c_str(), getName().c_str(),
approxSync?"approx":"exact", approxSync?"approx":"exact",
rgbd_image1_sub_.getTopic().c_str(), rgbd_image1_sub_.getTopic().c_str(),
rgbd_image2_sub_.getTopic().c_str(), rgbd_image2_sub_.getTopic().c_str(),
rgbd_image3_sub_.getTopic().c_str(), rgbd_image3_sub_.getTopic().c_str(),
rgbd_image4_sub_.getTopic().c_str()); rgbd_image4_sub_.getTopic().c_str(),
rgbd_image5_sub_.getTopic().c_str());
} }
} }
@@ -605,7 +610,7 @@ private:
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]); rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]); rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_ros::toCvShare(image4, imageMsgs[3], depthMsgs[3]); rtabmap_ros::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
rtabmap_ros::toCvShare(image4, imageMsgs[4], depthMsgs[4]); rtabmap_ros::toCvShare(image5, imageMsgs[4], depthMsgs[4]);
infoMsgs.push_back(image->rgb_camera_info); infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info); infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info); infoMsgs.push_back(image3->rgb_camera_info);