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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/OdometryROS.h
+3 -2
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@@ -57,7 +57,7 @@ public:
OdometryROS(bool stereoParams, bool visParams, bool icpParams);
virtual ~OdometryROS();
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
void processData(const rtabmap::SensorData & data, const ros::Time & stamp, const std::string & sensorFrameId);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
@@ -115,6 +115,7 @@ private:
ros::Publisher odomLocalMap_;
ros::Publisher odomLocalScanMap_;
ros::Publisher odomLastFrame_;
ros::Publisher odomRgbdImagePub_;
ros::ServiceServer resetSrv_;
ros::ServiceServer resetToPoseSrv_;
ros::ServiceServer pauseSrv_;
@@ -142,7 +143,7 @@ private:
bool waitIMUToinit_;
bool imuProcessed_;
std::map<double, rtabmap::IMU> imus_;
std::pair<rtabmap::SensorData, ros::Time> bufferedData_;
std::pair<rtabmap::SensorData, std::pair<ros::Time, std::string> > bufferedData_;
};
}