i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: rtabmap node: added "stereo_approx_sync" parameter (default false)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2003 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 19:16:16 +00:00
parent 4bb9953160
commit c872819a54
2 changed files with 41 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.h
+12 -3
View File
@@ -56,6 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
@@ -67,7 +68,7 @@ public:
virtual ~CoreWrapper();
private:
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeStereo, int queueSize);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeStereo, int queueSize, bool stereoApproxSync);
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
void depthCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -183,8 +184,16 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo,
nav_msgs::Odometry> MyStereoSyncPolicy;
message_filters::Synchronizer<MyStereoSyncPolicy> * stereoSync_;
nav_msgs::Odometry> MyStereoApproxSyncPolicy;
message_filters::Synchronizer<MyStereoApproxSyncPolicy> * stereoApproxSync_;
typedef message_filters::sync_policies::ExactTime<
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo,
nav_msgs::Odometry> MyStereoExactSyncPolicy;
message_filters::Synchronizer<MyStereoExactSyncPolicy> * stereoExactSync_;
tf::TransformBroadcaster tfBroadcaster_;
tf::TransformListener tfListener_;