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

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This commit is contained in:
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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src/MsgConversion.cpp
+33 -2
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@@ -700,13 +700,44 @@ void cameraModelToROS(
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const rtabmap::Transform & localTransform)
const rtabmap::Transform & localTransform,
const rtabmap::Transform & stereoTransform)
{
return rtabmap::StereoCameraModel(
"ros",
cameraModelFromROS(leftCamInfo, localTransform),
cameraModelFromROS(rightCamInfo, localTransform),
rtabmap::Transform());
stereoTransform);
}
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const std::string & frameId,
tf::TransformListener & listener,
double waitForTransform)
{
rtabmap::Transform localTransform = getTransform(
frameId,
leftCamInfo.header.frame_id,
leftCamInfo.header.stamp,
listener,
waitForTransform);
if(localTransform.isNull())
{
return rtabmap::StereoCameraModel();
}
rtabmap::Transform stereoTransform = getTransform(
leftCamInfo.header.frame_id,
rightCamInfo.header.frame_id,
leftCamInfo.header.stamp,
listener,
waitForTransform);
if(stereoTransform.isNull())
{
return rtabmap::StereoCameraModel();
}
return stereoCameraModelFromROS(leftCamInfo, rightCamInfo, localTransform, stereoTransform);
}
void mapDataFromROS(