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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/nodelets/rgbd_odometry.cpp
+10 -10
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@@ -469,7 +469,7 @@ private:
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
std::vector<sensor_msgs::CameraInfo> infoMsgs;
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
infoMsgs.push_back(image->cameraInfo);
infoMsgs.push_back(image->rgbCameraInfo);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -487,8 +487,8 @@ private:
std::vector<sensor_msgs::CameraInfo> infoMsgs;
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
infoMsgs.push_back(image->cameraInfo);
infoMsgs.push_back(image2->cameraInfo);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -508,9 +508,9 @@ private:
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
infoMsgs.push_back(image->cameraInfo);
infoMsgs.push_back(image2->cameraInfo);
infoMsgs.push_back(image3->cameraInfo);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
infoMsgs.push_back(image3->rgbCameraInfo);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -532,10 +532,10 @@ private:
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_ros::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
infoMsgs.push_back(image->cameraInfo);
infoMsgs.push_back(image2->cameraInfo);
infoMsgs.push_back(image3->cameraInfo);
infoMsgs.push_back(image4->cameraInfo);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
infoMsgs.push_back(image3->rgbCameraInfo);
infoMsgs.push_back(image4->rgbCameraInfo);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}