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gps fusion implemented

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admin1
2022-08-28 22:25:47 +03:00
parent b8ee6672d1
commit 979c7a2250
27 changed files with 132151 additions and 110 deletions
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6
ov_msckf/src/imrender_combine.cpp
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@@ -16,7 +16,11 @@
std::vector<sensor_msgs::Image> sensor_images;
ros::Publisher pub_res, pub_mask, pub_recv_curr_image;
// sMsg - sensor message. rMsg - render message
void rendered_image_callback(sensor_msgs::Image::ConstPtr sMsg, sensor_msgs::Image::ConstPtr rMsg){
// publish the left image to the topic needed for
// pub_recv_curr_image.publish(sMsg);
cv::Mat image, mask;
cv_bridge::CvImagePtr bridge_img = cv_bridge::toCvCopy(rMsg, "bgr8");
image = bridge_img->image;
@@ -128,7 +132,7 @@ int main(int argc, char* argv[]){
sync->registerCallback(boost::bind(&rendered_image_callback, _1, _2));
pub_res = nh.advertise<sensor_msgs::Image>("/ov_msckf/combined", 2);
pub_mask = nh.advertise<sensor_msgs::Image>("/ov_msckf/mask", 2);
pub_recv_curr_image = nh.advertise<sensor_msgs::Image>("/ov_msckf/recv_curr_image", 2);
// pub_recv_curr_image = nh.advertise<sensor_msgs::Image>("/global_fusion_node/sensor_left", 2);
ros::spin();