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ros-pkg: added disparity_to_depth nodelet

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Aded new demo using stereo disparity instead of Kinect depth: launch/demo/demo_stereo.launch

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1654 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-18 23:16:16 +00:00
parent 36c647e6fe
commit 8c4e4b6188
12 changed files with 238 additions and 116 deletions
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src/CoreNode.cpp
+9
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@@ -50,6 +50,10 @@ int main(int argc, char** argv)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
{
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
@@ -98,6 +102,11 @@ int main(int argc, char** argv)
"argument \"--params\" is detected!");
exit(0);
}
else
{
ROS_ERROR("Not recognized argument \"%s\"", argv[i]);
exit(-1);
}
}
CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);