Modifying the Signature Node SensorData

[dagata-mining]

Hi,

I'm trying to create depth images from the point cloud, and project in to existing rgb images, so far so good, I managed to create something satisfying in the util3d.cpp projectCloudToCamerasImpl() method, however I'm trying to add the depth image (32FC1 format) into the corresponding node by this method :

  node.sensorData().setRGBDImage(rgb,rgbdStiched,node.sensorData().cameraModels(),false)

But it seems that the sensorData() created previously did not have the RGBD information. Any help or suggestion?

[matlabbe]

It depends when this happens. In the main loop, the raw data is cleared here: https://github.com/introlab/rtabmap/blob/8682026396bb6043b1a54194d5b69ca1192b46c1/corelib/src/Rtabmap.cpp#L3533

[dagata-mining]

So when I setRGBDImage my RGBDimage should be in CV_8UC1 type (compressed) therefore preventing from deleting.

[matlabbe]

If it is set before the memory is updated, it will be compressed by default and kept. It depends where you are currently doing the change. Here are the main steps:

• Acquire SensorData "data"
• Rtabmap::process(data, ...)
  • Memory::update(data, ...)
    • Memory::createSignature(data, ...) <- compressed in there
  • loop closure detection and graph optimization stuff...
  • Remove raw data
  • Publish latest data If you can modify the SensorData before it enters Rtabmap::process() that would be the best.