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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/src/nodelets/rgbd_split.cpp
+16 -1
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@@ -98,7 +98,22 @@ void RGBDSplit::callback(const rtabmap_msgs::msg::RGBDImage::SharedPtr input) co
cv_bridge::toCvCopy(input->depth_compressed)->toImageMsg(outputImage);
#endif
}
outputImage.header = outputCameraInfo.header = input->header;
if(outputCameraInfo.header.frame_id.empty()) {
if(outputImage.header.frame_id.empty()) {
outputCameraInfo.header = input->header;
}
else {
outputCameraInfo.header = outputImage.header;
}
}
if(outputImage.header.frame_id.empty()) {
if(outputCameraInfo.header.frame_id.empty()) {
outputImage.header = input->header;
}
else {
outputImage.header = outputCameraInfo.header;
}
}
depthPub_.publish(outputImage);
depthInfoPub_->publish(outputCameraInfo);
}