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Added RGBDImages msg. Added rgbdx_sync to sync up to 8 cameras. For rtabmap node, rgbd_cameras=0 means subscribing to a rgbd_images topic (containing N cameras).

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This commit is contained in:
matlabbe
2021-08-02 17:47:30 -04:00
parent d2465851de
commit 523b001ca3
22 changed files with 1265 additions and 230 deletions
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src/MsgConversion.cpp
+16 -11
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@@ -163,38 +163,43 @@ void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb,
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
if(!image->rgb.data.empty())
toCvShare(*image, image, rgb, depth);
}
void toCvShare(const rtabmap_ros::RGBDImage & image, const boost::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
if(!image.rgb.data.empty())
{
rgb = cv_bridge::toCvShare(image->rgb, image);
rgb = cv_bridge::toCvShare(image.rgb, trackedObject);
}
else if(!image->rgb_compressed.data.empty())
else if(!image.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
rgb = cv_bridge::toCvCopy(image->rgb_compressed);
rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif
}
if(!image->depth.data.empty())
if(!image.depth.data.empty())
{
depth = cv_bridge::toCvShare(image->depth, image);
depth = cv_bridge::toCvShare(image.depth, trackedObject);
}
else if(!image->depth_compressed.data.empty())
else if(!image.depth_compressed.data.empty())
{
if(image->depth_compressed.format.compare("jpg")==0)
if(image.depth_compressed.format.compare("jpg")==0)
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
depth = cv_bridge::toCvCopy(image->depth_compressed);
depth = cv_bridge::toCvCopy(image.depth_compressed);
#endif
}
else
{
cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>();
ptr->header = image->depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image->depth_compressed.data);
ptr->header = image.depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image.depth_compressed.data);
ROS_ASSERT(ptr->image.empty() || ptr->image.type() == CV_32FC1 || ptr->image.type() == CV_16UC1);
ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr;