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Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member.

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This commit is contained in:
matlabbe
2020-05-03 22:42:01 -04:00
parent f034bf4e91
commit 7e283f9f1d
28 changed files with 2853 additions and 667 deletions
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include/rtabmap_ros/MsgConversion.h
+11 -4
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <opencv2/opencv.hpp>
#include <opencv2/features2d/features2d.hpp>
@@ -91,6 +92,12 @@ void keypointToROS(const cv::KeyPoint & kpt, rtabmap_ros::KeyPoint & msg);
std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_ros::KeyPoint> & msg);
void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_ros::KeyPoint> & msg);
rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_ros::GlobalDescriptor & msg);
void globalDescriptorToROS(const rtabmap::GlobalDescriptor & desc, rtabmap_ros::GlobalDescriptor & msg);
std::vector<rtabmap::GlobalDescriptor> globalDescriptorsFromROS(const std::vector<rtabmap_ros::GlobalDescriptor> & msg);
void globalDescriptorsToROS(const std::vector<rtabmap::GlobalDescriptor> & desc, std::vector<rtabmap_ros::GlobalDescriptor> & msg);
cv::Point2f point2fFromROS(const rtabmap_ros::Point2f & msg);
void point2fToROS(const cv::Point2f & kpt, rtabmap_ros::Point2f & msg);
@@ -98,10 +105,10 @@ std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_ros::Point2f>
void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_ros::Point2f> & msg);
cv::Point3f point3fFromROS(const rtabmap_ros::Point3f & msg);
void point3fToROS(const cv::Point3f & kpt, rtabmap_ros::Point3f & msg);
void point3fToROS(const cv::Point3f & pt, rtabmap_ros::Point3f & msg);
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg);
void points3fToROS(const std::vector<cv::Point3f> & kpts, std::vector<rtabmap_ros::Point3f> & msg);
void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_ros::Point3f> & msg);
rtabmap::CameraModel cameraModelFromROS(
const sensor_msgs::CameraInfo & camInfo,
@@ -218,7 +225,7 @@ bool convertStereoMsg(
double waitForTransform);
bool convertScanMsg(
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::LaserScan & scan2dMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
@@ -228,7 +235,7 @@ bool convertScanMsg(
bool outputInFrameId = false);
bool convertScan3dMsg(
const sensor_msgs::PointCloud2ConstPtr & scan3dMsg,
const sensor_msgs::PointCloud2 & scan3dMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,