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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/test/common_data_subscriber_fixture.hpp
+42
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@@ -48,9 +48,17 @@ public:
bool hasScan2d = false; ///< a non-empty LaserScan reached the callback
bool hasScan3d = false; ///< a non-empty PointCloud2 reached the callback
size_t globalDescriptors = 0;
size_t compressedImages = 0; ///< compressed color images passed along, not empty
size_t compressedDepths = 0; ///< compressed depth images passed along, not empty
std::string frameId;
};
/// What imagesDecodedOnDemand() returns: whether images may be left compressed.
bool decodeOnDemand = false;
/// Leaves commonMultiCameraCallbackWithCompressed() to CommonDataSubscriber's default,
/// like a subclass that does not override it.
bool defaultCompressedCallback = false;
/**
* @param options ROS options; the subscribe_* parameters go in here
* @param gui the flag the real subclasses pass: false for the SLAM node, true for
@@ -69,6 +77,40 @@ public:
const Record & back() const { return records_.back(); }
protected:
bool imagesDecodedOnDemand() const override { return decodeOnDemand; }
void commonMultiCameraCallbackWithCompressed(
const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::msg::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::msg::CameraInfo> & depthCameraInfoMsgs,
const sensor_msgs::msg::LaserScan & scanMsg,
const sensor_msgs::msg::PointCloud2 & scan3dMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr & odomInfoMsg,
const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & globalDescriptorMsgs,
const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > & localKeyPoints,
const std::vector<std::vector<rtabmap_msgs::msg::Point3f> > & localPoints3d,
const std::vector<cv::Mat> & localDescriptors,
const std::vector<cv::Mat> & compressedImages,
const std::vector<cv::Mat> & compressedDepths) override
{
if(defaultCompressedCallback)
{
CommonDataSubscriber::commonMultiCameraCallbackWithCompressed(odomMsg, userDataMsg,
imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg,
odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d,
localDescriptors, compressedImages, compressedDepths);
return;
}
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs,
depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
for(const cv::Mat & m : compressedImages) { records_.back().compressedImages += m.empty()?0:1; }
for(const cv::Mat & m : compressedDepths) { records_.back().compressedDepths += m.empty()?0:1; }
}
void commonMultiCameraCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,