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Added odometry nodelets (issue #96)

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This commit is contained in:
matlabbe
2016-07-06 20:08:23 -04:00
parent fb09c96ba1
commit 7a896f6e7b
10 changed files with 851 additions and 670 deletions
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src/CoreWrapper.cpp
+18
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@@ -102,14 +102,20 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true),
depthSync_(0),
depthExactSync_(0),
depthScanSync_(0),
depthScan3dSync_(0),
stereoScanSync_(0),
stereoScan3dSync_(0),
stereoApproxSync_(0),
stereoExactSync_(0),
depth2Sync_(0),
depthTFSync_(0),
depthTFExactSync_(0),
depthScanTFSync_(0),
depthScan3dTFSync_(0),
stereoScanTFSync_(0),
stereoScan3dTFSync_(0),
stereoApproxTFSync_(0),
stereoExactTFSync_(0),
transformThread_(0),
@@ -463,10 +469,16 @@ CoreWrapper::~CoreWrapper()
if(depthSync_)
delete depthSync_;
if(depthExactSync_)
delete depthExactSync_;
if(depthScanSync_)
delete depthScanSync_;
if(depthScan3dSync_)
delete depthScan3dSync_;
if(stereoScanSync_)
delete stereoScanSync_;
if(stereoScan3dSync_)
delete stereoScan3dSync_;
if(stereoApproxSync_)
delete stereoApproxSync_;
if(stereoExactSync_)
@@ -475,10 +487,16 @@ CoreWrapper::~CoreWrapper()
delete depth2Sync_;
if(depthTFSync_)
delete depthTFSync_;
if(depthTFExactSync_)
delete depthTFExactSync_;
if(depthScanTFSync_)
delete depthScanTFSync_;
if(depthScan3dTFSync_)
delete depthScan3dTFSync_;
if(stereoScanTFSync_)
delete stereoScanTFSync_;
if(stereoScan3dTFSync_)
delete stereoScan3dTFSync_;
if(stereoApproxTFSync_)
delete stereoApproxTFSync_;
if(stereoExactTFSync_)