ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
It looks like a piece of code out of a visual Odometry Node. The function receives an image, and publishes the Odometry output using a global publisher object.
The code which is in comment
vo->on_image(&image->data[0], (image->encoding == "bgr8" ? false : true), image->width, image->height, &odom_output.twist.twist.linear.x, &odom_output.twist.twist.angular.z);
is a global VO class that receives:
nav_msgs::Odometry
. Also added to the message is the stamp of which the image was taken and a sequence value.