Added rgbd_split node/nodelet for convenience (to split RGBDImage msg into standard msgs)

CMakeLists.txt

@@ -267,7 +267,7 @@ SET(rtabmap_plugins_lib_src
 )
 
 IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
-   SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp src/nodelets/rgbd_relay.cpp)
+   SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp src/nodelets/rgbd_relay.cpp src/nodelets/rgbd_split.cpp)
 ELSE()
    ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
 ENDIF()   
@@ -375,6 +375,10 @@ add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
 target_link_libraries(rtabmap_rgbd_relay ${Libraries})
 set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
 
+add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
+target_link_libraries(rtabmap_rgbd_split ${Libraries})
+set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
+
 add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
 target_link_libraries(rtabmap_map_optimizer rtabmap_ros)
 set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")

nodelet_plugins.xml

@@ -160,6 +160,14 @@
     </description>
   </class>
   
+  <class name="rtabmap_ros/rgbd_split" 
+         type="rtabmap_ros::RGBDSplit" 
+         base_class_type="nodelet::Nodelet">
+    <description>
+      This is my nodelet.
+    </description>
+  </class>
+  
   <class name="rtabmap_ros/undistort_depth" 
          type="rtabmap_ros::UndistortDepth" 
          base_class_type="nodelet::Nodelet">

src/RGBDSplitNode.cpp

@@ -0,0 +1,47 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "ros/ros.h"
+#include "nodelet/loader.h"
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "rgbd_split");
+
+	nodelet::V_string nargv;
+	for(int i=1;i<argc;++i)
+	{
+		nargv.push_back(argv[i]);
+	}
+
+	nodelet::Loader nodelet;
+	nodelet::M_string remap(ros::names::getRemappings());
+	std::string nodelet_name = ros::this_node::getName();
+	nodelet.load(nodelet_name, "rtabmap_ros/rgbd_split", remap, nargv);
+	ros::spin();
+	return 0;
+}

src/nodelets/rgbd_split.cpp

@@ -0,0 +1,147 @@
+/*
+Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <ros/ros.h>
+#include <pluginlib/class_list_macros.h>
+#include <nodelet/nodelet.h>
+
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CompressedImage.h>
+#include <sensor_msgs/image_encodings.h>
+#include <sensor_msgs/CameraInfo.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/subscriber.h>
+
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <boost/thread.hpp>
+
+#include "rtabmap_ros/RGBDImage.h"
+#include "rtabmap_ros/MsgConversion.h"
+
+#include "rtabmap/core/Compression.h"
+#include "rtabmap/utilite/UConversion.h"
+
+namespace rtabmap_ros
+{
+
+class RGBDSplit : public nodelet::Nodelet
+{
+public:
+	RGBDSplit()
+	{}
+
+	virtual ~RGBDSplit()
+	{
+	}
+
+private:
+	virtual void onInit()
+	{
+		ros::NodeHandle & nh = getNodeHandle();
+		ros::NodeHandle & pnh = getPrivateNodeHandle();
+
+		int queueSize = 10;
+		pnh.param("queue_size", queueSize, queueSize);
+
+		NODELET_INFO("%s: queue_size  = %d", getName().c_str(), queueSize);
+
+		ros::NodeHandle rgb_nh(nh, nh.resolveName("rgbd_image") + "/rgb");
+		ros::NodeHandle depth_nh(nh, nh.resolveName("rgbd_image") + "/depth");
+		image_transport::ImageTransport rgb_it(rgb_nh);
+		image_transport::ImageTransport depth_it(depth_nh);
+
+		rgbPub_ = rgb_it.advertiseCamera("image", 1);
+		depthPub_ = depth_it.advertiseCamera("image", 1);
+
+		rgbdImageSub_ = nh.subscribe("rgbd_image", 1, &RGBDSplit::callback, this);
+	}
+
+	void callback(const rtabmap_ros::RGBDImageConstPtr& input)
+	{
+		if(rgbPub_.getNumSubscribers())
+		{
+			sensor_msgs::Image outputImage;
+			sensor_msgs::CameraInfo outputCameraInfo;
+			outputImage.header = outputCameraInfo.header = input->header;
+			outputCameraInfo = input->rgb_camera_info;
+
+			if(!input->rgb.data.empty())
+			{
+				// already raw, just copy pointer
+				outputImage = input->rgb;
+			}
+			else if(!input->rgb_compressed.data.empty())
+			{
+#ifdef CV_BRIDGE_HYDRO
+				ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
+#else
+				cv_bridge::toCvCopy(input->rgb_compressed)->toImageMsg(outputImage);
+#endif
+			}
+			rgbPub_.publish(outputImage, outputCameraInfo);
+		}
+
+		if(depthPub_.getNumSubscribers())
+		{
+			sensor_msgs::Image outputImage;
+			sensor_msgs::CameraInfo outputCameraInfo;
+			outputCameraInfo = input->depth_camera_info;
+
+			if(!input->depth.data.empty())
+			{
+				// already raw, just copy pointer
+				outputImage = input->depth;
+			}
+			else if(!input->depth_compressed.data.empty())
+			{
+#ifdef CV_BRIDGE_HYDRO
+				ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
+#else
+				cv_bridge::toCvCopy(input->depth_compressed)->toImageMsg(outputImage);
+#endif
+			}
+			outputImage.header = outputCameraInfo.header = input->header;
+			depthPub_.publish(outputImage, outputCameraInfo);
+		}
+	}
+
+private:
+	ros::Subscriber rgbdImageSub_;
+	image_transport::CameraPublisher rgbPub_;
+	image_transport::CameraPublisher depthPub_;
+};
+
+PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RGBDSplit, nodelet::Nodelet);
+}
+