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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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src/nodelets/rgbd_odometry.cpp
+10 -10
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@@ -469,7 +469,7 @@ private:
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
std::vector<sensor_msgs::CameraInfo> infoMsgs;
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -487,8 +487,8 @@ private:
std::vector<sensor_msgs::CameraInfo> infoMsgs;
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -508,9 +508,9 @@ private:
rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
infoMsgs.push_back(image3->rgbCameraInfo);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
@@ -532,10 +532,10 @@ private:
rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_ros::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
infoMsgs.push_back(image->rgbCameraInfo);
infoMsgs.push_back(image2->rgbCameraInfo);
infoMsgs.push_back(image3->rgbCameraInfo);
infoMsgs.push_back(image4->rgbCameraInfo);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
infoMsgs.push_back(image4->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}