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Fixed issue #47

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This commit is contained in:
matlabbe
2016-03-10 16:29:48 -05:00
parent b67f338699
commit 542aa43ccc
2 changed files with 312 additions and 64 deletions
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src/GuiWrapper.h
+68
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@@ -150,12 +150,26 @@ private:
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depthScanOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depthScan3dCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depthScan3dOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void stereoScanCallback(
const sensor_msgs::LaserScanConstPtr& scanMsg,
@@ -164,6 +178,14 @@ private:
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoScanOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoScan3dCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -171,6 +193,14 @@ private:
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoScan3dOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -285,6 +315,15 @@ private:
sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
sensor_msgs::LaserScan,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthScanOdomInfoSyncPolicy;
message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy> * depthScanOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
@@ -293,6 +332,15 @@ private:
sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthScan3dOdomInfoSyncPolicy;
message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy> * depthScan3dOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
sensor_msgs::Image,
@@ -325,6 +373,16 @@ private:
sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
sensor_msgs::LaserScan,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoScanOdomInfoSyncPolicy;
message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy> * stereoScanOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
@@ -334,6 +392,16 @@ private:
sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoScan3dOdomInfoSyncPolicy;
message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy> * stereoScan3dOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
nav_msgs::Odometry,