pull keyframe Images

[ahmadkh1995]

Hello
I want to extract the keyframe images , I use get_map_data service to access MapGraph and MapData but when I want to process keyframe_image (and letter publish it as ros msg) I get error .Above screenshot is the output .
It seems that NodeData's image is empty ...

Here is my code :

#include "ros/ros.h"
#include <cstdlib>
#include <rtabmap_ros/GetMap.h>
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MapGraph.h"
#include "rtabmap_ros/NodeData.h"
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Compression.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "extract_serv");

  ros::NodeHandle nh_;
  ros::Publisher pub_;
  ros::Rate rate(10);

  ros::ServiceClient client = nh_.serviceClient<rtabmap_ros::GetMap>("/rtabmap/get_map_data");
  rtabmap_ros::GetMap srv;
  srv.request.global = 1;  //true
  srv.request.optimized = 1;  //true
  srv.request.graphOnly = 0;  //true

  int i=0;
  while (ros::ok())
  {

    if (client.call(srv.request,srv.response))
    {
      std::cout<<"call service get_map_data"<<std::endl;
   
      std::cout<<"MapData NodeData["<<i<<"]:\n"<<"\tPose_x: "<<srv.response.data.nodes[i].pose.position.x<<"\n\tPose_y: "<<srv.response.data.nodes[i].pose.position.y<<"\n\tPose_z: "<<srv.response.data.nodes[i].pose.position.z<<std::endl;

      cv::Mat uncomp_image;
      uncomp_image=rtabmap::uncompressImage(srv.response.data.nodes[i].image); //Keyframe_image

    }
    else
    {
      ROS_ERROR("Failed to call service extract_serv");
      return 1;
    }

    i++;
  }

  ros::spin();

  return 0;
}

I use kinect camera and here is the commands that I use to run the node ;

                 $ roslaunch openni_launch openni.launch depth_registration:=true device_id:=#2

                 $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

                $ rosrun sync_msgs extract_serv

[matlabbe]

Hi,

Do all images are null? you can add a check like this:

if(!srv.response.data.nodes[i].image.empty())
   // convert image
else
   ROS_WARN("Node %d doesn't have image set", i);

Afterwards, if some are null, it may be because of some parameters on the rtabmap side that make it not keep some images.