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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/GuiWrapper.cpp
+6 -13
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@@ -551,16 +551,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
void GuiWrapper::defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg)
{
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
rtabmap::Image image(
cv::Mat(),
cv::Mat(),
0.0f,
0.0f,
0.0f,
0.0f,
odom,
Transform());
this->post(new OdometryEvent(image));
rtabmap::SensorData data;
data.setPose(odom);
this->post(new OdometryEvent(data));
}
void GuiWrapper::depthCallback(
@@ -593,7 +586,7 @@ void GuiWrapper::depthCallback(
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
depthFx,
@@ -634,7 +627,7 @@ void GuiWrapper::scanCallback(
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
cv::Mat(),
scan,
@@ -687,7 +680,7 @@ void GuiWrapper::depthScanCallback(
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
scan,