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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.
This commit is contained in:
matlabbe
2026-10-10 16:05:08 -07:00
committed by GitHub
parent 82f0754bf7
commit cf7d7ab958
47 changed files with 3962 additions and 250 deletions
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rtabmap_sync/doc/stereo_sync.md
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@@ -92,7 +92,7 @@ As with `rgbd_sync`, compose it into the driver's process where you can: this no
| Topic | Type | Description |
|---|---|---|
| `rgbd_image` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | Left image in the color slot, right image in the depth slot. Published only when someone is subscribed. |
| `rgbd_image/compressed` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The same pair, both images JPEG. Published only when someone is subscribed. |
| `rgbd_image/compressed` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The same pair, both images compressed, JPEG by default (see `image_compression_format`). Published only when someone is subscribed. |
The output's `header.frame_id` comes from the **left** camera_info, and its `header.stamp` is the later of the two image stamps.
@@ -109,6 +109,7 @@ The output's `header.frame_id` comes from the **left** camera_info, and its `hea
| `qos` | `int` | `0` | Reliability of the subscriptions and the publishers: `0` system default, `1` reliable, `2` best effort. |
| `qos_camera_info` | `int` | value of `qos` | Reliability of the two `camera_info` subscriptions alone. |
| `compressed_rate` | `double` | `0.0` | Maximum rate, in Hz, of `rgbd_image/compressed`. `0` means every frame. |
| `image_compression_format` | `string` | `".jpg"` | Format of the left and right images in `rgbd_image/compressed`: `".jpg"` (lossy, smaller) or `".png"` (lossless, larger). An invalid value falls back to `".jpg"` with an error. |
| `image_transport` | `string` | `"raw"` | Transport for both images, e.g. `compressed`. |
## How a stereo pair travels in an RGBDImage
@@ -136,9 +137,9 @@ ros2 topic echo --once /stereo/right/image_rect --field header.stamp
## Compressing for a slow link
`rgbd_image/compressed` carries both images as **JPEG**. Unlike [rgbd_sync](rgbd_sync.md), there is no lossless path: both halves of a stereo pair are ordinary camera images, and neither is depth.
`rgbd_image/compressed` carries both images as **JPEG** by default: both halves of a stereo pair are ordinary camera images, and neither is depth.
JPEG artifacts do affect stereo matching, so a pipeline that computes odometry from the compressed stream will match slightly fewer features than one on the raw images. For sending frames to an operator, that does not matter; for running odometry at the far end of a link, prefer a higher JPEG quality over a lower frame rate.
JPEG artifacts do affect stereo matching, so a pipeline that computes odometry from the compressed stream will match slightly fewer features than one on the raw images. For sending frames to an operator, that does not matter; for running odometry at the far end of a link, set `image_compression_format: ".png"` to keep both images lossless, at a few times the size, and lower `compressed_rate` if the link cannot carry it.
`compressed_rate` caps the compressed topic without touching `rgbd_image`.