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rtabmap: supporting RGB+camera_info only with in RGBD/Enabled=true and Mem/IncrementalMemory=false (used to localize using only RGB against a prebuilt map)

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matlabbe
2017-07-10 12:17:17 -04:00
parent 1a1919e5e0
commit e944786ee5
4 changed files with 178 additions and 54 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+1
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@@ -67,6 +67,7 @@ public:
bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD();}
int getQueueSize() const {return queueSize_;}
bool isApproxSync() const {return approxSync_;}
protected:
void setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name);
include/rtabmap_ros/CoreWrapper.h
+7
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@@ -255,6 +255,13 @@ private:
// for loop closure detection only
image_transport::Subscriber defaultSub_;
// for rgb/localization
image_transport::SubscriberFilter rgbSub_;
message_filters::Subscriber<nav_msgs::Odometry> rgbOdomSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> rgbCameraInfoSub_;
DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
DATA_SYNCS3(rgbOdom, sensor_msgs::Image, sensor_msgs::CameraInfo, nav_msgs::Odometry);
ros::Subscriber userDataAsyncSub_;
cv::Mat userData_;