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Updated for rtabmap 0.19.1. Added VINS example in euroc_datasets.launch

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matlabbe
2019-03-18 20:47:13 -04:00
parent 6bd420bc54
commit ab23e651bf
8 changed files with 91 additions and 15 deletions
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include/rtabmap_ros/MsgConversion.h
+8 -1
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@@ -113,7 +113,14 @@ void cameraModelToROS(
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity(),
const rtabmap::Transform & stereoTransform = rtabmap::Transform());
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const std::string & frameId,
tf::TransformListener & listener,
double waitForTransform);
void mapDataFromROS(
const rtabmap_ros::MapData & msg,