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Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.

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This commit is contained in:
matlabbe
2018-02-13 21:35:15 -05:00
parent 6b14693a95
commit 438fad643c
24 changed files with 384 additions and 209 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+7 -5
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@@ -83,10 +83,11 @@ protected:
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
@@ -96,7 +97,8 @@ protected:
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr & imageMsg,
const cv_bridge::CvImageConstPtr & depthMsg,
const sensor_msgs::CameraInfo & cameraInfoMsg,
const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
const sensor_msgs::CameraInfo & depthCameraInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
include/rtabmap_ros/CoreWrapper.h
+5 -4
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@@ -107,10 +107,11 @@ private:
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
include/rtabmap_ros/GuiWrapper.h
+5 -4
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@@ -78,10 +78,11 @@ private:
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
include/rtabmap_ros/MapsManager.h
-1
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@@ -118,7 +118,6 @@ private:
rtabmap::OctoMap * octomap_;
int octomapTreeDepth_;
double octomapOccupancyThr_;
rtabmap::ParametersMap parameters_;
};
include/rtabmap_ros/MsgConversion.h
+4 -4
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@@ -184,10 +184,10 @@ bool convertRGBDMsgs(
double waitForTransform);
bool convertStereoMsg(
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,