25 lines
571 B
C++
25 lines
571 B
C++
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/*
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* COPYRIGHT AND PERMISSION NOTICE
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* Penn Software MSCKF_VIO
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* Copyright (C) 2017 The Trustees of the University of Pennsylvania
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* All rights reserved.
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*/
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#include <msckf_vio/msckf_vio_nodelet.h>
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namespace msckf_vio {
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void MsckfVioNodelet::onInit() {
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msckf_vio_ptr.reset(new MsckfVio(getPrivateNodeHandle()));
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if (!msckf_vio_ptr->initialize()) {
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ROS_ERROR("Cannot initialize MSCKF VIO...");
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return;
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}
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return;
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}
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PLUGINLIB_DECLARE_CLASS(msckf_vio, MsckfVioNodelet,
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msckf_vio::MsckfVioNodelet, nodelet::Nodelet);
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} // end namespace msckf_vio
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