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Added error messages when subscribe_odom and odom_frame_id are both not set. rgb_sync: added option "fill_empty_depth" to add fake empty depth for monocular cameras. See also #1363

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matlabbe
2025-10-18 13:59:55 -07:00
parent bc5f0a7146
commit 3b5a4ed675
8 changed files with 82 additions and 220 deletions
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rtabmap_viz/include/rtabmap_viz/GuiWrapper.h
-14
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@@ -89,20 +89,6 @@ private:
const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> >(),
const std::vector<std::vector<rtabmap_msgs::msg::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::msg::Point3f> >(),
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
virtual void commonStereoCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::msg::CameraInfo& leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo& rightCamInfoMsg,
const sensor_msgs::msg::LaserScan & scan2dMsg,
const sensor_msgs::msg::PointCloud2 & scan3dMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(),
const std::vector<rtabmap_msgs::msg::KeyPoint> & localKeyPoints = std::vector<rtabmap_msgs::msg::KeyPoint>(),
const std::vector<rtabmap_msgs::msg::Point3f> & localPoints3d = std::vector<rtabmap_msgs::msg::Point3f>(),
const cv::Mat & localDescriptors = cv::Mat());
virtual void commonLaserScanCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,