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Added support to use local keypoints and descriptors from RGBDImage. OdometryROS: added new output topic odom_rgbd_image with features extracted.

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matlabbe
2020-11-05 16:38:08 -05:00
parent 646ad6ee7b
commit c20e38b11e
15 changed files with 353 additions and 51 deletions
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include/rtabmap_ros/MsgConversion.h
+12 -3
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@@ -74,6 +74,7 @@ rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ig
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);
void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_ros::RGBDImage & msg, const std::string & sensorFrameId);
rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & image);
// copy data
@@ -90,6 +91,7 @@ cv::KeyPoint keypointFromROS(const rtabmap_ros::KeyPoint & msg);
void keypointToROS(const cv::KeyPoint & kpt, rtabmap_ros::KeyPoint & msg);
std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_ros::KeyPoint> & msg);
void keypointsFromROS(const std::vector<rtabmap_ros::KeyPoint> & msg, std::vector<cv::KeyPoint> & kpts, int xShift=0);
void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_ros::KeyPoint> & msg);
rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_ros::GlobalDescriptor & msg);
@@ -112,8 +114,9 @@ void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_ro
cv::Point3f point3fFromROS(const rtabmap_ros::Point3f & msg);
void point3fToROS(const cv::Point3f & pt, rtabmap_ros::Point3f & msg);
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg);
void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_ros::Point3f> & msg);
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
void points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg, std::vector<cv::Point3f> & points3, const rtabmap::Transform & transform = rtabmap::Transform());
void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_ros::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
rtabmap::CameraModel cameraModelFromROS(
const sensor_msgs::CameraInfo & camInfo,
@@ -213,7 +216,13 @@ bool convertRGBDMsgs(
cv::Mat & depth,
std::vector<rtabmap::CameraModel> & cameraModels,
tf::TransformListener & listener,
double waitForTransform);
double waitForTransform,
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPointsMsgs = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3dMsgs = std::vector<std::vector<rtabmap_ros::Point3f> >(),
const std::vector<cv::Mat> & localDescriptorsMsgs = std::vector<cv::Mat>(),
std::vector<cv::KeyPoint> * localKeyPoints = 0,
std::vector<cv::Point3f> * localPoints3d = 0,
cv::Mat * localDescriptors = 0);
bool convertStereoMsg(
const cv_bridge::CvImageConstPtr& leftImageMsg,