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https://github.com/introlab/rtabmap_ros.git
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matlabbe
5062bf0614
* rtabmap_sync tests and doc * Added some diagrams * cleanup some diagrams * fixing running tests in parallels
89 lines
4.9 KiB
Markdown
89 lines
4.9 KiB
Markdown
# rgbd_split
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Splits an [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) back into the standard ROS image topics.
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`RGBDImage` bundles color, depth and both camera infos into one message so they arrive together, which is what RTAB-Map wants. Everything else in the ROS ecosystem — RViz, `image_view`, [`depth_image_proc`](https://docs.ros.org/en/jazzy/p/depth_image_proc/) — expects separate `Image` and `CameraInfo` topics. This node unpacks the bundle for them.
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It is the inverse of [rtabmap_sync](https://docs.ros.org/en/jazzy/p/rtabmap_sync/)'s `rgbd_sync`, and of its `stereo_sync` when `stereo` is set — those two are what produce an `RGBDImage` in the first place.
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## Usage
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```bash
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ros2 run rtabmap_util rgbd_split --ros-args -r rgbd_image:=/camera/rgbd_image
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```
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```python
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ComposableNode(
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package='rtabmap_util',
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plugin='rtabmap_util::RGBDSplit',
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name='rgbd_split',
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remappings=[('rgbd_image', '/camera/rgbd_image')])
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```
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Unpacking a bundle for RViz:
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```mermaid
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flowchart LR
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RGBD(["/camera/rgbd_image"])
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SPLIT["rgbd_split"]
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RVIZ["RViz"]
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RGBD --> SPLIT
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SPLIT -->|"rgb/image,<br>rgb/camera_info"| RVIZ
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SPLIT -->|"depth/image,<br>depth/camera_info"| RVIZ
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```
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## Subscribed Topics
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| Topic | Type | Description |
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| `rgbd_image` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | Queue depth `queue_sub`, 5 by default. Raw or compressed images are both accepted. |
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## Published Topics
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The output topics are named after the **resolved** input topic, so remapping `rgbd_image` moves the outputs with it. With `rgbd_image` remapped to `/camera/rgbd_image` they are `/camera/rgbd_image/rgb/image` and so on. Setting `stereo: true` renames the two halves `left` and `right`, see [Stereo messages](#stereo-messages).
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| Topic | Type | Description |
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| `<rgbd_image>/rgb/image` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) | The color image, decompressed if needed. |
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| `<rgbd_image>/rgb/camera_info` | [`sensor_msgs/msg/CameraInfo`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/CameraInfo.html) | |
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| `<rgbd_image>/depth/image` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) | The depth image, or the right image of a stereo pair. |
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| `<rgbd_image>/depth/camera_info` | [`sensor_msgs/msg/CameraInfo`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/CameraInfo.html) | For a stereo pair this is the right camera, and its `P(0,3)` carries the baseline. |
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Each half is only unpacked if something is subscribed to it, so subscribing to color alone does not pay for depth decompression.
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## Parameters
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| Parameter | Type | Default | Description |
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| `qos` | `int` | `0` | Reliability of both sides: `0` system default, `1` reliable, `2` best effort. |
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| `qos_sub` | `int` | value of `qos` | Reliability of the `rgbd_image` subscription alone. |
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| `qos_pub` | `int` | value of `qos` | Reliability of the four output publishers alone. |
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| `queue_sub` | `int` | `5` | Queue depth of the `rgbd_image` subscription. Must be at least 1. |
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| `queue_pub` | `int` | `1` | Queue depth of every publisher. Must be at least 1. |
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| `stereo` | `bool` | `false` | Name the outputs `left`/`right` instead of `rgb`/`depth`. See [Stereo messages](#stereo-messages). |
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## Stereo messages
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The node handles **stereo** `RGBDImage` messages as well as RGB-D ones. In a stereo message the "depth" slot holds the right image, and the second camera info carries the baseline; the depth topics then carry the right camera, correctly typed as `mono8` or `bgr8` rather than mislabeled as depth.
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That works, but the topic names lie. Set `stereo: true` and the outputs are named for what they hold:
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| `stereo` | Output topics |
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| `false` (default) | `<rgbd_image>/rgb/image`, `<rgbd_image>/rgb/camera_info`, `<rgbd_image>/depth/image`, `<rgbd_image>/depth/camera_info` |
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| `true` | `<rgbd_image>/left/image`, `<rgbd_image>/left/camera_info`, `<rgbd_image>/right/image`, `<rgbd_image>/right/camera_info` |
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```bash
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ros2 run rtabmap_util rgbd_split --ros-args \
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-r rgbd_image:=/camera/rgbd_image \
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-p stereo:=true
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```
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Only the names change — the message contents and the order of the two halves are the same either way, so the `rgb` slot always becomes the left image. The two namings are exclusive: with `stereo: true` nothing is published on `rgb`/`depth`.
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The node checks the setting against what actually arrives, going by the encoding of the second half: `16UC1`, `32FC1` and `mono16` are depth, anything else is an image. If the two disagree it logs a warning **once** and keeps forwarding — a mismatch makes the topic name misleading, not the data wrong, so it is never worth dropping a frame over.
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## Notes
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If a message has no `frame_id` on one of its sub-messages, the node fills it in from the other one so the output is always usable by TF.
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