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Added rgbd_relay node/nodelet (can be used exactly like a relay of topic_tools but with ability to uncompress or compress rgbd_image)

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matlabbe
2019-03-03 18:31:35 -05:00
parent 70dfe3b56d
commit 4646b99cbb
8 changed files with 366 additions and 30 deletions
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CMakeLists.txt
+9 -1
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@@ -212,7 +212,7 @@ 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)
SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgbd_relay.cpp)
ELSE()
ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
ENDIF()
@@ -349,6 +349,14 @@ add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
target_link_libraries(rtabmap_icp_odometry ${Libraries})
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
target_link_libraries(rtabmap_rgbd_sync ${Libraries})
set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
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_map_optimizer src/MapOptimizerNode.cpp)
target_link_libraries(rtabmap_map_optimizer rtabmap_ros)
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")