CommonDataSubscriberRGBD2.cpp File Reference

#include <rtabmap_sync/CommonDataSubscriber.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap_conversions/MsgConversion.h>
#include <cv_bridge/cv_bridge.h>

Include dependency graph for CommonDataSubscriberRGBD2.cpp:

Go to the source code of this file.

Namespaces
	rtabmap_sync

Macros
#define	IMAGE_CONVERSION()

Macro Definition Documentation

IMAGE_CONVERSION

#define IMAGE_CONVERSION

(

)

Value:

                std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
                std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
                rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
                rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
                if(!depthMsgs[0].get()) \
                        depthMsgs.clear(); \
                std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
                cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
                cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
                std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
                depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
                depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
                std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
                std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
                std::vector<std::vector<rtabmap_msgs::Point3f> > localPoints3d; \
                std::vector<cv::Mat> localDescriptors; \
                if(!image1Msg->global_descriptor.data.empty()) \
                        globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
                if(!image2Msg->global_descriptor.data.empty()) \
                        globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
                localKeyPoints.push_back(image1Msg->key_points); \
                localKeyPoints.push_back(image2Msg->key_points); \
                localPoints3d.push_back(image1Msg->points); \
                localPoints3d.push_back(image2Msg->points); \
                localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
                localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors));

Definition at line 36 of file CommonDataSubscriberRGBD2.cpp.