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Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.

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matlabbe
2018-02-13 21:35:15 -05:00
parent 6b14693a95
commit 438fad643c
24 changed files with 384 additions and 209 deletions
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include/rtabmap_ros/MsgConversion.h
+4 -4
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@@ -184,10 +184,10 @@ bool convertRGBDMsgs(
double waitForTransform);
bool convertStereoMsg(
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,