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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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This commit is contained in:
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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src/GuiWrapper.cpp
+7 -5
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@@ -590,10 +590,11 @@ void GuiWrapper::commonDepthCallback(
void GuiWrapper::commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
@@ -615,7 +616,7 @@ void GuiWrapper::commonStereoCallback(
}
else
{
odomHeader = leftCamInfoMsg->header;
odomHeader = leftCamInfoMsg.header;
}
odomHeader.frame_id = odomFrameId_;
}
@@ -752,6 +753,7 @@ void GuiWrapper::defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg)
cv_bridge::CvImageConstPtr(),
cv_bridge::CvImageConstPtr(),
sensor_msgs::CameraInfo(),
sensor_msgs::CameraInfo(),
sensor_msgs::LaserScanConstPtr(),
sensor_msgs::PointCloud2ConstPtr(),
rtabmap_ros::OdomInfoConstPtr());