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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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src/RGBDOdometryNode.cpp
+7 -12
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@@ -138,24 +138,19 @@ public:
{
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfo);
float fx = model.fx();
float fy = model.fy();
float cx = model.cx();
float cy = model.cy();
rtabmap::CameraModel rtabmapModel(
model.fx(),
model.fy(),
model.cx(),
model.cy(),
rtabmap_ros::transformFromTF(localTransform));
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, "mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
rtabmap::SensorData data(
ptrImage->image,
ptrDepth->image,
fx,
fy,
cx,
cy,
rtabmap_ros::transformFromTF(localTransform),
rtabmap::Transform(),
1.0f,
1.0f,
rtabmapModel,
0,
rtabmap_ros::timestampFromROS(image->header.stamp));