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Updated for rtabmap 0.10.0 (multi-cameras)

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This commit is contained in:
Mathieu Labbe
2015-05-30 20:08:20 -04:00
parent 2568ff30c2
commit fcd343cdd9
21 changed files with 1309 additions and 1251 deletions
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include/rtabmap_ros/MsgConversion.h
+16 -13
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@@ -45,7 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/KeyPoint.h>
#include <rtabmap_ros/Point2f.h>
#include <rtabmap_ros/MapData.h>
#include <rtabmap_ros/Graph.h>
#include <rtabmap_ros/NodeData.h>
#include <rtabmap_ros/OdomInfo.h>
#include <rtabmap_ros/Info.h>
@@ -83,24 +82,28 @@ void point2fToROS(const cv::Point2f & kpt, rtabmap_ros::Point2f & msg);
std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_ros::Point2f> & msg);
void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_ros::Point2f> & msg);
void mapGraphFromROS(
const rtabmap_ros::Graph & msg,
void mapDataFromROS(
const rtabmap_ros::MapData & msg,
std::map<int, rtabmap::Transform> & poses,
std::multimap<int, rtabmap::Link> & links,
std::map<int, rtabmap::Signature> & signatures,
rtabmap::Transform & mapToOdom);
void mapDataFromROS(
const rtabmap_ros::MapData & msg,
std::map<int, rtabmap::Transform> & poses,
std::map<int, int> & mapIds,
std::map<int, double> & stamps,
std::map<int, std::string> & labels,
std::map<int, std::vector<unsigned char> > & userDatas,
std::multimap<int, rtabmap::Link> & links,
rtabmap::Transform & mapToOdom);
void mapGraphToROS(
void mapDataToROS(
const std::map<int, rtabmap::Transform> & poses,
const std::multimap<int, rtabmap::Link> & links,
const std::map<int, rtabmap::Signature> & signatures,
const rtabmap::Transform & mapToOdom,
rtabmap_ros::MapData & msg);
void mapDataToROS(
const std::map<int, rtabmap::Transform> & poses,
const std::map<int, int> & mapIds,
const std::map<int, double> & stamps,
const std::map<int, std::string> & labels,
const std::map<int, std::vector<unsigned char> > & userDatas,
const std::multimap<int, rtabmap::Link> & links,
const rtabmap::Transform & mapToOdom,
rtabmap_ros::Graph & msg);
rtabmap_ros::MapData & msg);
rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg);