ORB-SLAM2代码分析

ros_rgbd.cc

#include<iostream>
#include<algorithm>
#include<fstream>
#include<chrono>

#include<ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#include<opencv2/core/core.hpp>

#include"../../../include/System.h"

using namespace std;

class ImageGrabber
{
   
public:
    ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){
   } //构造函数的申明与定义（申明一个指针）——C++函数后面跟：表示赋值

    void<