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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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src/MsgConversion.cpp
+2 -21
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@@ -145,11 +145,6 @@ void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb,
rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif
}
else
{
// empty
rgb = boost::make_shared<cv_bridge::CvImage>();
}
if(!image.depth.data.empty())
{
@@ -164,11 +159,6 @@ void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb,
ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr;
}
else
{
// empty
depth = boost::make_shared<cv_bridge::CvImage>();
}
}
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
@@ -185,11 +175,6 @@ void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageC
rgb = cv_bridge::toCvCopy(image->rgb_compressed);
#endif
}
else
{
// empty
rgb = boost::make_shared<cv_bridge::CvImage>();
}
if(!image->depth.data.empty())
{
@@ -215,11 +200,6 @@ void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageC
depth = ptr;
}
}
else
{
// empty
depth = boost::make_shared<cv_bridge::CvImage>();
}
}
rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & image)
@@ -1626,7 +1606,8 @@ bool convertRGBDMsgs(
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0))
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BAYER_RGGB8) == 0))
{
ROS_ERROR("Input rgb type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8. Current rgb=%s",