Supporting image compression formats passthrough (#1461)

* Supporting ros depth compression formats passthrough

* Added image_compression_format (support jpg,png). Use Compression.h constants.

* Bridging gap with #1457

* CoreWrapper: decode_images_on_demand

* rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough

* more tests

* fixing ci on kilted+

* fixing test

* fixing lyrical tests

* fixing rolling ci

* Improved test coverage

* fixing some tf waitForTransform deadlocks when sim time is used in tests

* CI: build rtabmap_slam on rolling

rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its
key instead of leaving the package out. Only rtabmap_costmap_plugins (and the
rtabmap_ros metapackage pulling it in) still need nav2.

rtabmap_msgs/msg/GlobalDescriptor.msg

@@ -2,7 +2,7 @@
 std_msgs/Header header
 
 # compressed global descriptor
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 int32 type
 uint8[] info
 uint8[] data

rtabmap_msgs/msg/Node.msg

@@ -17,7 +17,7 @@ int32[] word_id_values
 KeyPoint[] word_kpts
 Point3f[] word_pts
 # compressed descriptors
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] word_descriptors
 
 SensorData data

rtabmap_msgs/msg/RGBDImage.msg

@@ -12,6 +12,18 @@ sensor_msgs/Image rgb
 sensor_msgs/Image depth
 
 # Compressed
+# rgb_compressed: JPEG or PNG in compressed_image_transport's format (e.g.,
+#   "bgr8; jpeg compressed bgr8"), readable by the "compressed" image_transport plugin.
+# depth_compressed: right image (stereo) in compressed_image_transport's format, or depth
+#   image in compressed_depth_image_transport's format (e.g., "16UC1; compressedDepth png",
+#   "32FC1; compressedDepth rvl"), readable by the "compressedDepth" image_transport
+#   plugin (RVL since Jazzy).
+#   Exception: depth compressed in rtabmap's own format (rtabmap_ros < 0.24, or
+#   depth_compression_format "legacy[:<format>]", e.g., to keep 32FC1 depth lossless), with format
+#   "png", "rvl" or "png:<max>:<quantization>" / "rvl:<max>:<quantization>", which
+#   image_transport plugins cannot read. rtabmap_conversions::uncompressDepthImage()
+#   decodes every format, and rgbd_split republishes them on a compressedDepth
+#   image_transport topic.
 sensor_msgs/CompressedImage rgb_compressed
 sensor_msgs/CompressedImage depth_compressed
 
@@ -19,7 +31,7 @@ sensor_msgs/CompressedImage depth_compressed
 KeyPoint[] key_points
 Point3f[] points
 # compressed descriptors
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] descriptors
 
 GlobalDescriptor global_descriptor

rtabmap_msgs/msg/SensorData.msg

@@ -9,7 +9,11 @@ sensor_msgs/Image left
 sensor_msgs/Image right
 
 # Compressed images
-# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressImage() from "rtabmap/core/Compression.h"
+# right_compressed holds a depth image in rtabmap's format (see Mem/DepthCompressionFormat),
+# not readable by image_transport plugins: see
+# rtabmap_conversions::rtabmapToCompressedDepthTransport() to convert it without
+# decompression to compressed_depth_image_transport's format.
 uint8[] left_compressed
 uint8[] right_compressed
 
@@ -23,7 +27,7 @@ geometry_msgs/Transform[] local_transform
 # raw 2d or 3D laser scan
 sensor_msgs/PointCloud2 laser_scan
 # compressed 2D or 3D laser scan
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] laser_scan_compressed
 int32 laser_scan_max_pts
 float32 laser_scan_max_range
@@ -32,11 +36,11 @@ int32 laser_scan_format
 geometry_msgs/Transform laser_scan_local_transform
 
 # compressed user data
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] user_data
 
 # compressed occupancy grid
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] grid_ground
 uint8[] grid_obstacles
 uint8[] grid_empty_cells
@@ -47,7 +51,7 @@ Point3f grid_view_point
 KeyPoint[] key_points
 Point3f[] points
 # compressed descriptors
-# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
 uint8[] descriptors
 
 GlobalDescriptor[] global_descriptors