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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/GuiWrapper.cpp
+22 -16
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@@ -38,6 +38,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/highgui/highgui.hpp>
#include <image_geometry/pinhole_camera_model.h>
#include <rtabmap/gui/MainWindow.h>
#include <rtabmap/core/RtabmapEvent.h>
#include <rtabmap/core/Parameters.h>
@@ -581,18 +583,20 @@ void GuiWrapper::depthCallback(
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
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();
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
depthFx,
depthFy,
depthCx,
depthCy,
fx,
fy,
cx,
cy,
odom,
localTransform);
this->post(new OdometryEvent(image));
@@ -675,19 +679,21 @@ void GuiWrapper::depthScanCallback(
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
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();
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
scan,
depthFx,
depthFy,
depthCx,
depthCy,
fx,
fy,
cx,
cy,
odom,
localTransform);
this->post(new OdometryEvent(image));