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Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option.

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This commit is contained in:
matlabbe
2020-11-03 16:18:40 -05:00
parent f5c32dd1c3
commit 646ad6ee7b
16 changed files with 1406 additions and 1392 deletions
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CMakeLists.txt
+11 -1
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@@ -209,6 +209,8 @@ IF(RTABMAP_SYNC_MULTI_RGBD)
src/impl/CommonDataSubscriberRGBD2.cpp
src/impl/CommonDataSubscriberRGBD3.cpp
src/impl/CommonDataSubscriberRGBD4.cpp
src/impl/CommonDataSubscriberRGBD5.cpp
src/impl/CommonDataSubscriberRGBD6.cpp
)
ENDIF(RTABMAP_SYNC_MULTI_RGBD)
@@ -240,7 +242,7 @@ 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/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)
ELSE()
ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
ENDIF()
@@ -319,6 +321,14 @@ 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_stereo_sync src/StereoSyncNode.cpp)
target_link_libraries(rtabmap_stereo_sync ${Libraries})
set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
target_link_libraries(rtabmap_rgb_sync ${Libraries})
set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_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")