#include <rtabmap_ros/CommonDataSubscriber.h>#include <rtabmap/utilite/UConversion.h>#include <rtabmap/core/Compression.h>#include <rtabmap_ros/MsgConversion.h>#include <cv_bridge/cv_bridge.h>
Include dependency graph for CommonDataSubscriberRGBD2.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap_ros | |
Macros | |
| #define | IMAGE_CONVERSION() |
Macro Definition Documentation
| #define IMAGE_CONVERSION | ( | ) |
Value:
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs; \
std::vector<std::vector<rtabmap_ros::KeyPoint> > localKeyPoints; \
std::vector<std::vector<rtabmap_ros::Point3f> > localPoints3d; \
std::vector<cv::Mat> localDescriptors; \
if(!image1Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
if(!image2Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
localKeyPoints.push_back(image1Msg->key_points); \
localKeyPoints.push_back(image2Msg->key_points); \
localPoints3d.push_back(image1Msg->points); \
localPoints3d.push_back(image2Msg->points); \
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors));
cv::Mat RTABMAP_EXP uncompressData(const cv::Mat &bytes)
void toCvShare(const rtabmap_ros::RGBDImageConstPtr &image, cv_bridge::CvImageConstPtr &rgb, cv_bridge::CvImageConstPtr &depth)
Definition: MsgConversion.cpp:164
Definition at line 36 of file CommonDataSubscriberRGBD2.cpp.