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Added icp_odometry and rgbdicp_odometry nodes

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This commit is contained in:
matlabbe
2016-08-07 20:55:59 -04:00
parent 328f6520b2
commit 050cf91df3
14 changed files with 1020 additions and 33 deletions
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include/rtabmap_ros/OdometryROS.h
+7 -3
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@@ -51,7 +51,7 @@ class OdometryROS : public nodelet::Nodelet
{
public:
OdometryROS(bool stereo);
OdometryROS(bool stereoParams, bool visParams, bool icpParams);
virtual ~OdometryROS();
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
@@ -68,16 +68,17 @@ public:
const std::string & frameId() const {return frameId_;}
const std::string & odomFrameId() const {return odomFrameId_;}
const rtabmap::ParametersMap & parameters() const {return parameters_;}
const tf::TransformListener & tfListener() const {return tfListener_;}
bool isPaused() const {return paused_;}
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
protected:
virtual void flushCallbacks() = 0;
tf::TransformListener & tfListener() {return tfListener_;}
private:
virtual void onInit();
virtual void onOdomInit() = 0;
virtual void updateParameters(rtabmap::ParametersMap & parameters) {}
private:
rtabmap::Odometry * odometry_;
@@ -86,6 +87,7 @@ private:
std::string frameId_;
std::string odomFrameId_;
std::string groundTruthFrameId_;
std::string guessFrameId_;
bool publishTf_;
bool waitForTransform_;
double waitForTransformDuration_;
@@ -111,7 +113,9 @@ private:
bool paused_;
int resetCountdown_;
int resetCurrentCount_;
bool stereo_;
bool stereoParams_;
bool visParams_;
bool icpParams_;
};
}