25 lines
615 B
C++
25 lines
615 B
C++
|
/*
|
||
|
|
* COPYRIGHT AND PERMISSION NOTICE
|
||
|
|
* Penn Software MSCKF_VIO
|
||
|
|
* Copyright (C) 2017 The Trustees of the University of Pennsylvania
|
||
|
|
* All rights reserved.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <msckf_vio/image_processor_nodelet.h>
|
||
|
|
|
||
|
|
namespace msckf_vio {
|
||
|
|
void ImageProcessorNodelet::onInit() {
|
||
|
|
img_processor_ptr.reset(new ImageProcessor(getPrivateNodeHandle()));
|
||
|
|
if (!img_processor_ptr->initialize()) {
|
||
|
|
ROS_ERROR("Cannot initialize Image Processor...");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
PLUGINLIB_DECLARE_CLASS(msckf_vio, ImageProcessorNodelet,
|
||
|
|
msckf_vio::ImageProcessorNodelet, nodelet::Nodelet);
|
||
|
|
|
||
|
|
} // end namespace msckf_vio
|
||
|
|
|