rtabmap_msgs/msg/RGBDImage.msg


std_msgs/Header header

# For stereo, rgb corresponds to left camera, and depth the right camera.

# camera info
sensor_msgs/CameraInfo rgb_camera_info
sensor_msgs/CameraInfo depth_camera_info

# Raw
sensor_msgs/Image rgb
sensor_msgs/Image depth

# Compressed
sensor_msgs/CompressedImage rgb_compressed
sensor_msgs/CompressedImage depth_compressed

# Local features
KeyPoint[] key_points
Point3f[] points
# compressed descriptors
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] descriptors

GlobalDescriptor global_descriptor
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node). 2016-09-26 16:37:31 -04:00
created ros2 branch 2020-01-30 17:18:48 -05:00			`std_msgs/Header header`
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node). 2016-09-26 16:37:31 -04:00
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00			`# For stereo, rgb corresponds to left camera, and depth the right camera.`

			`# camera info`
created ros2 branch 2020-01-30 17:18:48 -05:00			`sensor_msgs/CameraInfo rgb_camera_info`
			`sensor_msgs/CameraInfo depth_camera_info`
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node). 2016-09-26 16:37:31 -04:00
			`# Raw`
			`sensor_msgs/Image rgb`
			`sensor_msgs/Image depth`

			`# Compressed`
created ros2 branch 2020-01-30 17:18:48 -05:00			`sensor_msgs/CompressedImage rgb_compressed`
			`sensor_msgs/CompressedImage depth_compressed`
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00
			`# Local features`
			`KeyPoint[] key_points`
			`Point3f[] points`
			`# compressed descriptors`
			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
			`uint8[] descriptors`

			`GlobalDescriptor global_descriptor`