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Add parameter encoding (default is empty) #173

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merged 1 commit into from
Feb 25, 2024
Merged

Add parameter encoding (default is empty) #173

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15 changes: 9 additions & 6 deletions src/stella_vslam_ros.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,9 @@ void system::setParams() {

transform_tolerance_ = 0.5;
transform_tolerance_ = node_->declare_parameter("transform_tolerance", transform_tolerance_);

encoding_ = "";
encoding_ = node_->declare_parameter("encoding", encoding_);
}

void system::init_pose_callback(
Expand Down Expand Up @@ -227,7 +230,7 @@ void mono::callback(sensor_msgs::msg::Image::UniquePtr msg_unique_ptr) {
const double timestamp = rclcpp::Time(msg->header.stamp).seconds();

// input the current frame and estimate the camera pose
auto cam_pose_wc = slam_->feed_monocular_frame(cv_bridge::toCvShare(msg)->image, timestamp, mask_);
auto cam_pose_wc = slam_->feed_monocular_frame(cv_bridge::toCvShare(msg, encoding_)->image, timestamp, mask_);

const rclcpp::Time tp_2 = node_->now();
const double track_time = (tp_2 - tp_1).seconds();
Expand All @@ -251,7 +254,7 @@ void mono::callback(const sensor_msgs::msg::Image::ConstSharedPtr& msg) {
const double timestamp = rclcpp::Time(msg->header.stamp).seconds();

// input the current frame and estimate the camera pose
auto cam_pose_wc = slam_->feed_monocular_frame(cv_bridge::toCvShare(msg)->image, timestamp, mask_);
auto cam_pose_wc = slam_->feed_monocular_frame(cv_bridge::toCvShare(msg, encoding_)->image, timestamp, mask_);

const rclcpp::Time tp_2 = node_->now();
const double track_time = (tp_2 - tp_1).seconds();
Expand Down Expand Up @@ -291,8 +294,8 @@ void stereo::callback(const sensor_msgs::msg::Image::ConstSharedPtr& left, const
if (camera_optical_frame_.empty()) {
camera_optical_frame_ = left->header.frame_id;
}
auto leftcv = cv_bridge::toCvShare(left)->image;
auto rightcv = cv_bridge::toCvShare(right)->image;
auto leftcv = cv_bridge::toCvShare(left, encoding_)->image;
auto rightcv = cv_bridge::toCvShare(right, encoding_)->image;
if (leftcv.empty() || rightcv.empty()) {
return;
}
Expand Down Expand Up @@ -343,8 +346,8 @@ void rgbd::callback(const sensor_msgs::msg::Image::ConstSharedPtr& color, const
if (camera_optical_frame_.empty()) {
camera_optical_frame_ = color->header.frame_id;
}
auto colorcv = cv_bridge::toCvShare(color)->image;
auto depthcv = cv_bridge::toCvShare(depth)->image;
auto colorcv = cv_bridge::toCvShare(color, encoding_)->image;
auto depthcv = cv_bridge::toCvShare(depth, encoding_)->image;
if (colorcv.empty() || depthcv.empty()) {
return;
}
Expand Down
2 changes: 2 additions & 0 deletions src/stella_vslam_ros.h
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Expand Up @@ -65,6 +65,8 @@ class system {
// If true, odom_frame is fixed on the xy-plane of map_frame. This is useful when working with 2D navigation modules.
bool odom2d_;

std::string encoding_;

private:
void init_pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);

Expand Down
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