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Data player multicam support (#1365)

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* Data player multicam support

* viewer: fixed pause button
This commit is contained in:
matlabbe
2025-09-28 13:37:07 -07:00
committed by GitHub
parent 1c5df12674
commit bc5f0a7146
8 changed files with 804 additions and 269 deletions
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rtabmap_util/include/rtabmap_util/db_player.hpp
+23 -8
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
@@ -46,7 +47,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <rtabmap/core/DBReader.h>
#include <rtabmap/core/OdometryEvent.h>
namespace rtabmap_util
{
@@ -57,13 +60,15 @@ public:
RTABMAP_UTIL_PUBLIC
explicit DbPlayer(const rclcpp::NodeOptions & options);
virtual ~DbPlayer();
bool publishNextFrame();
bool isPaused() const {return paused_;}
void setPaused(bool enabled) {paused_ = enabled;}
bool publishNextFrame();
bool isPaused() const {return paused_;}
void setPaused(bool enabled) {paused_ = enabled;}
private:
void pauseCallback(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
void pauseCallback(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
void resumeCallback(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
void initializePublishers(const rtabmap::OdometryEvent & odom);
bool cvImageToROS(const cv::Mat & image, sensor_msgs::msg::Image & rosImage);
private:
bool paused_;
@@ -74,7 +79,15 @@ private:
std::string scanFrameId_;
std::string gtFrameId_;
std::string gtBaseFrameId_;
std::string imuFrameId_;
int qos_;
int qosCameraInfo_;
int qosOdom_;
int qosScan_;
int qosScanCloud_;
int qosGlobalPose_;
int qosGps_;
int qosImu_;
double scanAngleMin_;
double scanAngleMax_;
double scanAngleIncrement_;
@@ -89,15 +102,17 @@ private:
image_transport::Publisher depthPub_;
image_transport::Publisher leftPub_;
image_transport::Publisher rightPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr rgbInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr depthInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr leftInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr rightInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr rgbInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr depthInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr leftInfoPub_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr rightInfoPub_;
std::vector<rclcpp::Publisher<rtabmap_msgs::msg::RGBDImage>::SharedPtr> rgbdImagePubs_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odometryPub_;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scanPub_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr scanCloudPub_;
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr globalPosePub_;
rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gpsFixPub_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imuPub_;
rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr clockPub_;
std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
};