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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/stereo_sync.cpp
+4 -4
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@@ -172,8 +172,8 @@ private:
rtabmap_ros::RGBDImage msg;
msg.header.frame_id = cameraInfoLeft->header.frame_id;
msg.header.stamp = imageLeft->header.stamp>imageRight->header.stamp?imageLeft->header.stamp:imageRight->header.stamp;
msg.rgbCameraInfo = *cameraInfoLeft;
msg.depthCameraInfo = *cameraInfoRight;
msg.rgb_camera_info = *cameraInfoLeft;
msg.depth_camera_info = *cameraInfoRight;
if(rgbdImageCompressedPub_.getNumSubscribers())
{
@@ -194,10 +194,10 @@ private:
rtabmap_ros::RGBDImage msgCompressed = msg;
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
imageDepthPtr->toCompressedImageMsg(msgCompressed.depth_compressed, cv_bridge::JPG);
rgbdImageCompressedPub_.publish(msgCompressed);
}