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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/CoreWrapper.h
+3 -9
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@@ -45,6 +45,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Odometry.h>
#include <stereo_msgs/DisparityImage.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Parameters.h>
@@ -72,9 +73,6 @@ private:
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void scanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void depthScanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
@@ -130,7 +128,9 @@ private:
image_transport::Subscriber defaultSub_;
image_transport::SubscriberFilter imageSub_;
image_transport::SubscriberFilter imageDepthSub_;
image_transport::SubscriberFilter imageSubRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSubRight_;
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
@@ -149,12 +149,6 @@ private:
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
nav_msgs::Odometry,
sensor_msgs::LaserScan> MyScanSyncPolicy;
message_filters::Synchronizer<MyScanSyncPolicy> * scanSync_;
tf::TransformBroadcaster tfBroadcaster_;
tf::TransformListener tfListener_;