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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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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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launch/tests/test_rgbd_image.launch
+9 -3
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@@ -1,13 +1,19 @@
<launch>
<!-- Kinect: -->
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="true" />
</include>
<arg name="compressed" default="false"/>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>
launch/tests/test_rtabmap_nodelets.launch
+5 -4
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@@ -7,7 +7,7 @@
</include>
<arg name="frame_id" default="camera_link"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="--delete_db_on_start"/> <!-- delete_db_on_start, udebug -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- RGB-D related topics -->
@@ -19,9 +19,10 @@
<!-- Use RGBD synchronization -->
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- RGB-D Odometry -->