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ros: cleanup StereoOdometryNdoe

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1983 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-12 15:27:52 +00:00
parent 7bdc97df5b
commit 0ae11c49e9
1 changed files with 0 additions and 26 deletions
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src/StereoOdometryNode.cpp
-26
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@@ -41,16 +41,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <opencv2/video/tracking.hpp>
#include "rtabmap/MsgConversion.h"
#include <rtabmap/core/Features2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
using namespace rtabmap;
@@ -59,7 +53,6 @@ class StereoOdometry : public OdometryROS
public:
StereoOdometry(int argc, char * argv[]) :
OdometryROS(argc, argv),
feature2D_(0),
approxSync_(0),
exactSync_(0)
{
@@ -73,18 +66,6 @@ public:
pnh.param("queue_size", queueSize, queueSize);
ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
//Keypoint detector
ParametersMap::const_iterator iter;
Feature2D::Type detectorStrategy = (Feature2D::Type)Parameters::defaultOdomFeatureType();
if((iter=this->parameters().find(Parameters::kOdomFeatureType())) != this->parameters().end())
{
detectorStrategy = (Feature2D::Type)std::atoi((*iter).second.c_str());
}
feature2D_ = Feature2D::create(detectorStrategy, this->parameters());
roiRatios_ = Parameters::defaultOdomRoiRatios();
Parameters::parse(this->parameters(), Parameters::kOdomRoiRatios(), roiRatios_);
ros::NodeHandle left_nh(nh, "left");
ros::NodeHandle right_nh(nh, "right");
ros::NodeHandle left_pnh(pnh, "left");
@@ -121,7 +102,6 @@ public:
{
delete exactSync_;
}
delete feature2D_;
}
void callback(
@@ -188,9 +168,6 @@ public:
this->processData(data, imageRectLeft->header, quality);
UDEBUG("time odometry->process()=%fs", stepTimer.ticks());
//ROS_INFO("Odom: quality=%d, update time=%fs, stereo matches: added/matched/extracted %d/%d/%d",
// quality, (ros::WallTime::now()-time).toSec(),
// stereoFeaturesAdded, stereoFeaturesMatched, stereoFeaturesExtracted);
ROS_INFO("Odom: quality=%d, update time=%fs",
quality, (ros::WallTime::now()-time).toSec());
}
@@ -202,9 +179,6 @@ public:
}
private:
Feature2D * feature2D_;
std::string roiRatios_;
image_transport::SubscriberFilter imageRectLeft_;
image_transport::SubscriberFilter imageRectRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;