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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_sync.cpp
+10 -10
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@@ -193,13 +193,13 @@ private:
sensor_msgs::CameraInfo info;
rtabmap_ros::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
info.header = cameraInfo->header;
msg.rgbCameraInfo = info;
msg.depthCameraInfo = info;
msg.rgb_camera_info = info;
msg.depth_camera_info = info;
}
else
{
msg.rgbCameraInfo = *cameraInfo;
msg.depthCameraInfo = *cameraInfo;
msg.rgb_camera_info = *cameraInfo;
msg.depth_camera_info = *cameraInfo;
}
cv::Mat rgbMat;
@@ -238,19 +238,19 @@ private:
rtabmap_ros::RGBDImage msgCompressed;
msgCompressed.header = msg.header;
msgCompressed.rgbCameraInfo = msg.rgbCameraInfo;
msgCompressed.depthCameraInfo = msg.depthCameraInfo;
msgCompressed.rgb_camera_info = msg.rgb_camera_info;
msgCompressed.depth_camera_info = msg.depth_camera_info;
cv_bridge::CvImage cvImg;
cvImg.header = image->header;
cvImg.image = rgbMat;
cvImg.encoding = image->encoding;
cvImg.toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
cvImg.toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
msgCompressed.depthCompressed.header = imageDepthPtr->header;
msgCompressed.depthCompressed.data = rtabmap::compressImage(depthMat, ".png");
msgCompressed.depth_compressed.header = imageDepthPtr->header;
msgCompressed.depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
msgCompressed.depthCompressed.format = "png";
msgCompressed.depth_compressed.format = "png";
rgbdImageCompressedPub_.publish(msgCompressed);
}