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Updated rtabmap.launch to subscribe only once to an external rgbd_image

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matlabbe
2018-05-29 13:00:40 -04:00
parent 2fce7bf64b
commit 71f422bf5e
4 changed files with 222 additions and 39 deletions
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include/rtabmap_ros/MsgConversion.h
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@@ -72,6 +72,7 @@ rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & image);
// copy data
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);