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ros-pkg:

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-visual_odometry node is now called rgbd_odometry
-added stereo_odometry node with test launch files
-updated launch files accordingly to modified parameter names, default values or new parameters

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1850 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-13 19:14:30 +00:00
parent 1df6c43d28
commit c0b0219e9e
28 changed files with 1721 additions and 1109 deletions
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src/CoreWrapper.cpp
+28 -24
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@@ -394,20 +394,22 @@ void CoreWrapper::depthCallback(
}
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthFx = cameraInfoMsg->K[0];
float depthFy = cameraInfoMsg->K[4];
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfoMsg);
float fx = model.fx();
float fy = model.fy();
float cx = model.cx();
float cy = model.cy();
process(ptrImage->header.seq,
ptrImage->image,
odom,
odomMsg->header.frame_id,
ptrDepth->image,
depthFx,
depthFy,
depthCx,
depthCy,
fx,
fy,
cx,
cy,
localTransform,
cv::Mat());
}
@@ -479,20 +481,22 @@ void CoreWrapper::depthScanCallback(
}
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthFx = cameraInfoMsg->K[0];
float depthFy = cameraInfoMsg->K[4];
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfoMsg);
float fx = model.fx();
float fy = model.fy();
float cx = model.cx();
float cy = model.cy();
process(ptrImage->header.seq,
ptrImage->image,
odom,
odomMsg->header.frame_id,
ptrDepth->image,
depthFx,
depthFy,
depthCx,
depthCy,
fx,
fy,
cx,
cy,
localTransform,
scan);
}
@@ -504,10 +508,10 @@ void CoreWrapper::process(
const Transform & odom,
const std::string & odomFrameId,
const cv::Mat & depth,
float depthFx,
float depthFy,
float depthCx,
float depthCy,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform,
const cv::Mat & scan)
{
@@ -543,10 +547,10 @@ void CoreWrapper::process(
SensorData data(image.clone(),
depth16,
scan,
depthFx,
depthFy,
depthCx,
depthCy,
fx,
fy,
cx,
cy,
odom,
localTransform,
id);