mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 17:27:46 +08:00
matlabbeandmathieu86
11edc01d6a
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
46 lines
2.5 KiB
Markdown
46 lines
2.5 KiB
Markdown
# rtabmap_python
|
|
|
|
Python helpers for reading and writing the binary formats [RTAB-Map](https://github.com/introlab/rtabmap) uses.
|
|
|
|
RTAB-Map is a C++ library, and the data it hands to ROS is not always plain ROS types. Several `rtabmap_msgs` fields — and every blob in an `.db` database — carry a matrix in RTAB-Map's own compressed encoding rather than as a `sensor_msgs/Image` or an array. This package is the Python side of that encoding, for scripts that read those fields without going through the C++ library.
|
|
|
|
There are no nodes here. It is an `ament_python` package that installs one importable module.
|
|
|
|
## Contents
|
|
|
|
- [Module](#module)
|
|
- [Things worth knowing](#things-worth-knowing)
|
|
- [License](#license)
|
|
|
|
## Module
|
|
|
|
`rtabmap_python.cv_compression` — a single-channel `cv::Mat` to and from bytes.
|
|
|
|
| Function | Description |
|
|
|---|---|
|
|
| `compress(data)` | 1-D or 2-D numpy array → `bytearray`. |
|
|
| `uncompress(data)` | those bytes → 2-D numpy array. |
|
|
|
|
```python
|
|
import numpy as np
|
|
from rtabmap_python.cv_compression import compress, uncompress
|
|
|
|
scan = np.zeros((360, 2), dtype=np.float32)
|
|
blob = compress(scan) # what the message field carries
|
|
restored = uncompress(blob) # (360, 2) float32
|
|
```
|
|
|
|
The encoding is a zlib stream followed by a 12-byte trailer holding rows, cols and the element type as three `int32`. It matches `compressData()` and `uncompressData()` in RTAB-Map's `corelib/src/Compression.cpp` byte for byte, so either side can read what the other wrote. The [module docstring](rtabmap_python/cv_compression.py) has the exact layout, and the generated [Python API reference](https://docs.ros.org/en/jazzy/p/rtabmap_python/) renders it alongside the two functions.
|
|
|
|
## Things worth knowing
|
|
|
|
**The result is read-only.** `uncompress` views the decompressed buffer instead of copying it, so the array it returns has `writeable=False` and assigning into it raises. Call `.copy()` if you need to modify it.
|
|
|
|
**Single-channel only.** The C++ encoder packs the channel count into the type code; the tables here cover the single-channel depths `CV_8U` through `CV_64F`. A multi-channel matrix written by the C++ side raises `KeyError` rather than decoding wrongly. So does an unsupported dtype on the way in — `int64` and `float16` have no encoding.
|
|
|
|
**The trailer is host-endian**, because the C++ side writes raw `int`s. A blob is not portable between machines of opposite endianness.
|
|
|
|
## License
|
|
|
|
BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).
|