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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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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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msg/RGBDImage.msg
+16 -4
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@@ -1,13 +1,25 @@
Header header
sensor_msgs/CameraInfo rgbCameraInfo
sensor_msgs/CameraInfo depthCameraInfo
# For stereo, rgb corresponds to left camera, and depth the right camera.
# camera info
sensor_msgs/CameraInfo rgb_camera_info
sensor_msgs/CameraInfo depth_camera_info
# Raw
sensor_msgs/Image rgb
sensor_msgs/Image depth
# Compressed
sensor_msgs/CompressedImage rgbCompressed
sensor_msgs/CompressedImage depthCompressed
sensor_msgs/CompressedImage rgb_compressed
sensor_msgs/CompressedImage depth_compressed
# Local features
KeyPoint[] key_points
Point3f[] points
# compressed descriptors
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] descriptors
GlobalDescriptor global_descriptor