THERE IS NO rtabmap::util3d::uncompressImage() IN "rtabmap/core/util3d.h"

[pen9u1nlee]

Hi, we run RGBD-SLAM in ROS noetic under Ubuntu 20.04, try to subscribe /rtabmap/mapData topic and extract keyframes. It is noticed that the RGBD data is compressed and stored in SensorData.msg:

# Compressed images
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] left_compressed
uint8[] right_compressed

However, on decompression, we find that the method rtabmap::util3d::uncompressImage from rtabmap/core/util3d.h does not exist at all, and the most similar ones are in rtabmap/core/Compression.h with:

cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat & bytes);
cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const std::vector<unsigned char> & bytes);

please checkout if this is the correct decompression usage. Thx in advance.

[matlabbe]

Oh yeah, that comment needs to be updated. You should be fine using the one from rtabmap/core/Compression.h.