rtabmap-pkg: for infoEx message, images are transferred compressed

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@835 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/eclipse-launch/eclipse-launch.sh

@@ -1,8 +1,7 @@
 #!/bin/bash
-export GDK_NATIVE_WINDOWS=1
 
 ## Source ROS setup.sh (adjust to your version : boxturtle, cturtle, diamondback, e...)
-source /opt/ros/fuerte/setup.bash
+source /opt/ros/groovy/setup.bash
 
 ## Setup ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/workspace/ros-pkg

rtabmap/msg/InfoEx.msg

@@ -28,8 +28,9 @@ int32[] weightsValues
 string[] statsKeys
 float32[] statsValues
 
-sensor_msgs/Image refImage
+#compressed images : using cv::imencode()
-sensor_msgs/Image loopImage
+uint8[] refImage
+uint8[] loopImage
 
 #
 # For features2d : std::multimap<int, cv::Keypoint> words

rtabmap/src/CoreWrapper.cpp

@@ -99,7 +99,7 @@ void CoreWrapper::saveNodeParameters(const std::string & configFile)
 
 	Rtabmap::writeParameters(configFile.c_str(), parameters);
 
-	std::string databasePath = parameters.at(Parameters::kRtabmapWorkingDirectory())+"LTM.db";
+	std::string databasePath = parameters.at(Parameters::kRtabmapWorkingDirectory())+"/LTM.db";
 	printf("Saving database/long-term memory... (located at %s)\n", databasePath.c_str());
 }
 
@@ -180,6 +180,10 @@ void CoreWrapper::publishStats(const Statistics & stats)
 			{
 				if(!stats.refImage().empty())
 				{
+					// compress (the gui would work on a remote computer, this on the robot)
+					cv::imencode(".png", stats.refImage(), msg->refImage);
+
+					/*
 					cv_bridge::CvImage img;
 					if(stats.refImage().channels() == 1)
 					{
@@ -194,9 +198,14 @@ void CoreWrapper::publishStats(const Statistics & stats)
 					rosMsg->header.frame_id = "camera";
 					rosMsg->header.stamp = ros::Time::now();
 					msg->refImage = *rosMsg;
+					*/
 				}
 				if(!stats.loopImage().empty())
 				{
+					// compress (the gui would work on a remote computer, this on the robot)
+					cv::imencode(".png", stats.loopImage(), msg->loopImage);
+
+					/*
 					cv_bridge::CvImage img;
 					if(stats.loopImage().channels() == 1)
 					{
@@ -211,6 +220,7 @@ void CoreWrapper::publishStats(const Statistics & stats)
 					rosMsg->header.frame_id = "camera";
 					rosMsg->header.stamp = ros::Time::now();
 					msg->loopImage = *rosMsg;
+					*/
 				}
 
 				//Posterior, likelihood, childCount

rtabmap/src/GuiWrapper.cpp

@@ -85,13 +85,27 @@ void GuiWrapper::infoExReceivedCallback(const rtabmap::InfoExConstPtr & msg)
 	stat.setRefImageId(msg->refId);
 	stat.setLoopClosureId(msg->loopClosureId);
 
-	if(msg->refImage.data.size())
+	if(msg->refImage.size())
 	{
-		stat.setRefImage(cv_bridge::toCvShare(msg->refImage, msg)->image.clone());
+		cv::Mat image;
+#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
+		image = cv::imdecode(msg->refImage, cv::IMREAD_UNCHANGED);
+#else
+		image = cv::imdecode(msg->refImage, -1);
+#endif
+		stat.setRefImage(image);
+		//stat.setRefImage(cv_bridge::toCvShare(msg->refImage, msg)->image.clone());
 	}
-	if(msg->loopImage.data.size())
+	if(msg->loopImage.size())
 	{
-		stat.setLoopImage(cv_bridge::toCvShare(msg->loopImage, msg)->image.clone());
+		cv::Mat image;
+#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
+		image = cv::imdecode(msg->loopImage, cv::IMREAD_UNCHANGED);
+#else
+		image = cv::imdecode(msg->loopImage, -1);
+#endif
+		stat.setRefImage(image);
+		//stat.setLoopImage(cv_bridge::toCvShare(msg->loopImage, msg)->image.clone());
 	}
 
 	//Posterior, likelihood, childCount