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Updated against latest changes from 0.11. Added localMap features to OdomInfo msg. Updated rgbdslam_datasets.launch.

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matlabbe
2016-03-09 17:31:57 -05:00
parent d712efe455
commit a4dfe5a21e
8 changed files with 82 additions and 23 deletions
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include/rtabmap_ros/MsgConversion.h
+7
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@@ -46,6 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/Link.h>
#include <rtabmap_ros/KeyPoint.h>
#include <rtabmap_ros/Point2f.h>
#include <rtabmap_ros/Point3f.h>
#include <rtabmap_ros/MapData.h>
#include <rtabmap_ros/MapGraph.h>
#include <rtabmap_ros/NodeData.h>
@@ -85,6 +86,12 @@ void point2fToROS(const cv::Point2f & kpt, rtabmap_ros::Point2f & msg);
std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_ros::Point2f> & msg);
void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_ros::Point2f> & msg);
cv::Point3f point3fFromROS(const rtabmap_ros::Point3f & msg);
void point3fToROS(const cv::Point3f & kpt, rtabmap_ros::Point3f & msg);
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg);
void points3fToROS(const std::vector<cv::Point3f> & kpts, std::vector<rtabmap_ros::Point3f> & msg);
rtabmap::CameraModel cameraModelFromROS(
const sensor_msgs::CameraInfo & camInfo,
const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());