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https://github.com/introlab/rtabmap_ros.git
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matlabbe
cf7d7ab958
* 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.
38 lines
1.4 KiB
Plaintext
38 lines
1.4 KiB
Plaintext
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std_msgs/Header header
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# For stereo, rgb corresponds to left camera, and depth the right camera.
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# camera info
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sensor_msgs/CameraInfo rgb_camera_info
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sensor_msgs/CameraInfo depth_camera_info
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# Raw
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sensor_msgs/Image rgb
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sensor_msgs/Image depth
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# Compressed
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# rgb_compressed: JPEG or PNG in compressed_image_transport's format (e.g.,
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# "bgr8; jpeg compressed bgr8"), readable by the "compressed" image_transport plugin.
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# depth_compressed: right image (stereo) in compressed_image_transport's format, or depth
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# image in compressed_depth_image_transport's format (e.g., "16UC1; compressedDepth png",
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# "32FC1; compressedDepth rvl"), readable by the "compressedDepth" image_transport
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# plugin (RVL since Jazzy).
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# Exception: depth compressed in rtabmap's own format (rtabmap_ros < 0.24, or
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# depth_compression_format "legacy[:<format>]", e.g., to keep 32FC1 depth lossless), with format
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# "png", "rvl" or "png:<max>:<quantization>" / "rvl:<max>:<quantization>", which
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# image_transport plugins cannot read. rtabmap_conversions::uncompressDepthImage()
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# decodes every format, and rgbd_split republishes them on a compressedDepth
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# image_transport topic.
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sensor_msgs/CompressedImage rgb_compressed
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sensor_msgs/CompressedImage depth_compressed
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# Local features
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KeyPoint[] key_points
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Point3f[] points
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# compressed descriptors
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# use rtabmap::uncompressData() from "rtabmap/core/Compression.h"
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uint8[] descriptors
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GlobalDescriptor global_descriptor
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