OdometryROS: refactored imu sync (#331). Using tf to compute baseline if Rtabmap/ImagesAlreadyRectified is true (for convenience with realsense rectified IR images but right camera info Tx not set)

2026-10-08 02:37:45 +08:00 · 2020-07-30 12:43:44 -04:00
parent 0f7044f6ff
commit ae854dfb4c
10 changed files with 134 additions and 30 deletions
@@ -227,7 +227,8 @@ bool convertStereoMsg(
 		cv::Mat & right,
 		rtabmap::StereoCameraModel & stereoModel,
 		tf::TransformListener & listener,
-		double waitForTransform);
+		double waitForTransform,
+		bool alreadyRectified);

 bool convertScanMsg(
 		const sensor_msgs::LaserScan & scan2dMsg,