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Updated ros-pkg for RTAB-Map 0.8.0

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Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
This commit is contained in:
Mathieu Labbe
2014-12-14 16:44:13 -05:00
parent c91586ea57
commit dfe5cff0c0
74 changed files with 915 additions and 1088 deletions
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src/RGBDOdometryNode.cpp
+7 -10
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@@ -46,11 +46,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using namespace rtabmap;
class RGBDOdometry : public OdometryROS
class RGBDOdometry : public rtabmap_ros::OdometryROS
{
public:
RGBDOdometry(int argc, char * argv[]) :
OdometryROS(argc, argv),
rtabmap_ros::OdometryROS(argc, argv),
sync_(0)
{
ros::NodeHandle nh;
@@ -127,9 +127,6 @@ public:
return;
}
ros::WallTime time = ros::WallTime::now();
int quality = -1;
if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
{
image_geometry::PinholeCameraModel model;
@@ -141,19 +138,19 @@ public:
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, "mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
rtabmap::SensorData data(ptrImage->image,
rtabmap::SensorData data(
ptrImage->image,
ptrDepth->image,
fx,
fy,
cx,
cy,
rtabmap_ros::transformFromTF(localTransform),
rtabmap::Transform(),
rtabmap::transformFromTF(localTransform));
quality=0;
1.0f);
this->processData(data, image->header, quality);
this->processData(data, image->header);
}
ROS_INFO("Odom: quality=%d, update time=%fs", quality, (ros::WallTime::now()-time).toSec());
}
}