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Supporting image compression formats passthrough (#1461)

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* 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.
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matlabbe
2026-10-10 16:05:08 -07:00
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parent 82f0754bf7
commit cf7d7ab958
47 changed files with 3962 additions and 250 deletions
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rtabmap_odom/README.md
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@@ -19,6 +19,7 @@ SLAM needs a pose for every measurement it maps. These nodes produce one by regi
- [Services](#services)
- [Published topics](#published-topics)
- [Outputting filtered scans and features](#outputting-filtered-scans-and-features)
- [Compressed sensor data](#compressed-sensor-data)
- [Diagnostics](#diagnostics)
- [License](#license)
@@ -254,7 +255,7 @@ Common to all three nodes. **Every one of them, `odom` included, is published on
| `odom_local_scan_map` | [`sensor_msgs/msg/PointCloud2`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/PointCloud2.html) | The scan map, the ICP path's equivalent of `odom_local_map`. |
| `odom_last_frame` | [`sensor_msgs/msg/PointCloud2`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/PointCloud2.html) | The current frame's **features**, in the odom frame — not its scan or its pixels. Visual paths only, for the same reason as `odom_local_map`; for the filtered scan see `odom_sensor_data/*`. |
| `odom_rgbd_image` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The frame **as odometry processed it**, not the input as it arrived. See [Outputting filtered scans and features](#outputting-filtered-scans-and-features). |
| `odom_sensor_data/raw`, `/features`, `/compressed` | [`rtabmap_msgs/msg/SensorData`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/SensorData.html) | The same frame as `SensorData`. `/features` strips the images and scan and keeps only the extracted features; `/compressed` carries JPEG/PNG images instead of raw. |
| `odom_sensor_data/raw`, `/features`, `/compressed` | [`rtabmap_msgs/msg/SensorData`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/SensorData.html) | The same frame as `SensorData`. `/features` strips the images and scan and keeps only the extracted features; `/compressed` carries compressed images instead of raw, see [Compressed sensor data](#compressed-sensor-data). |
### Outputting filtered scans and features
@@ -264,6 +265,18 @@ Common to all three nodes. **Every one of them, `odom` included, is published on
- **The scan is the filtered one.** `icp_odometry` builds the frame after deskewing, voxelization, range filtering and normal estimation, so what comes out here is the decimated cloud ICP saw — not the raw sweep the lidar published. Subscribe to the driver's topic if you want the original.
- **Images are converted.** `rgbd_odometry` hands over grayscale unless `keep_color` is set, so that is what these carry too.
### Compressed sensor data
`odom_sensor_data/compressed` carries the frame with its images and scan compressed, for a slow link. It is only built when something subscribes to it.
| Parameter | Type | Default | Description |
|---|---|---|---|
| `sensor_data_compression_format` | `string` | `".jpg"` | Format of the color image, and of the right image of a stereo pair: `".jpg"` or `".png"`. |
| `sensor_data_depth_compression_format` | `string` | `".rvl"` | Format of the depth image: `".rvl"` (lossless, faster) or `".png"` (lossless, smaller), optionally followed by `":<maxDepth>[:<quantization>]"` (e.g. `".rvl:10:100"`) to compress 32FC1 depth as 16 bits inverse depth, as `Mem/DepthCompressionFormat`. That is lossy -- depth over `maxDepth` is lost and the error grows with the square of the depth (~0.05 mm at 1 m and 5 mm at 10 m with a quantization of 100) -- but much smaller than the lossless 32FC1 PNG. 16UC1 depth is always lossless. An invalid value falls back to `".rvl"` with an error. |
| `sensor_data_parallel_compression` | `bool` | `true` | Compress the images and the scan in parallel threads. |
The depth is in rtabmap's format (`rtabmap::uncompressImage()` reads it), not in `compressed_depth_image_transport`'s; `rtabmap_conversions::rtabmapToCompressedDepthTransport()` converts it without decompressing it.
## Diagnostics
All three publish to `/diagnostics`: the input rate, the output rate, and how many frames were processed versus dropped. A healthy input rate with a low output rate means frames are arriving but not registering — check `odom_info` before touching anything else.