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Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node).

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This commit is contained in:
matlabbe
2016-09-26 16:37:31 -04:00
parent 3b6daf7189
commit babb8c8509
24 changed files with 2942 additions and 2920 deletions
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include/rtabmap_ros/MsgConversion.h
+12 -3
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/opencv.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>
@@ -55,6 +56,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/NodeData.h>
#include <rtabmap_ros/OdomInfo.h>
#include <rtabmap_ros/Info.h>
#include <rtabmap_ros/RGBDImage.h>
#include <rtabmap_ros/UserData.h>
namespace rtabmap_ros {
@@ -67,6 +70,9 @@ rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg
void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
// copy data
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
@@ -140,6 +146,9 @@ void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg);
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg);
void userDataToROS(const cv::Mat & data, rtabmap_ros::UserData & dataMsg, bool compress);
inline double timestampFromROS(const ros::Time & stamp) {return double(stamp.sec) + double(stamp.nsec)/1000000000.0;}
// common stuff
@@ -162,9 +171,9 @@ rtabmap::Transform getTransform(
double waitForTransform);
bool convertRGBDMsgs(
const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,