mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-08 02:37:45 +08:00
369 lines
16 KiB
C++
369 lines
16 KiB
C++
|
/*
|
||
|
|
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||
|
|
All rights reserved.
|
||
|
|
|
||
|
|
Redistribution and use in source and binary forms, with or without
|
||
|
|
modification, are permitted provided that the following conditions are met:
|
||
|
|
* Redistributions of source code must retain the above copyright
|
||
|
|
notice, this list of conditions and the following disclaimer.
|
||
|
|
* Redistributions in binary form must reproduce the above copyright
|
||
|
|
notice, this list of conditions and the following disclaimer in the
|
||
|
|
documentation and/or other materials provided with the distribution.
|
||
|
|
* Neither the name of the Universite de Sherbrooke nor the
|
||
|
|
names of its contributors may be used to endorse or promote products
|
||
|
|
derived from this software without specific prior written permission.
|
||
|
|
|
||
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||
|
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||
|
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#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>
|
||
|
|
|
||
|
|
namespace rtabmap_ros {
|
||
|
|
|
||
|
|
#define IMAGE_CONVERSION() \
|
||
|
|
callbackCalled(); \
|
||
|
|
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5); \
|
||
|
|
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5); \
|
||
|
|
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||
|
|
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||
|
|
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||
|
|
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||
|
|
rtabmap_ros::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
|
||
|
|
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); \
|
||
|
|
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
|
||
|
|
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
|
||
|
|
cameraInfoMsgs.push_back(image5Msg->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); \
|
||
|
|
if(!image3Msg->global_descriptor.data.empty()) \
|
||
|
|
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
|
||
|
|
if(!image4Msg->global_descriptor.data.empty()) \
|
||
|
|
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
|
||
|
|
if(!image5Msg->global_descriptor.data.empty()) \
|
||
|
|
globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
|
||
|
|
localKeyPoints.push_back(image1Msg->key_points); \
|
||
|
|
localKeyPoints.push_back(image2Msg->key_points); \
|
||
|
|
localKeyPoints.push_back(image3Msg->key_points); \
|
||
|
|
localKeyPoints.push_back(image4Msg->key_points); \
|
||
|
|
localKeyPoints.push_back(image5Msg->key_points); \
|
||
|
|
localPoints3d.push_back(image1Msg->points); \
|
||
|
|
localPoints3d.push_back(image2Msg->points); \
|
||
|
|
localPoints3d.push_back(image3Msg->points); \
|
||
|
|
localPoints3d.push_back(image4Msg->points); \
|
||
|
|
localPoints3d.push_back(image5Msg->points); \
|
||
|
|
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||
|
|
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||
|
|
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
|
||
|
|
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
|
||
|
|
localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors));
|
||
|
|
|
||
|
|
// 5 RGBD
|
||
|
|
void CommonDataSubscriber::rgbd5Callback(
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5Scan2dCallback(
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5Scan3dCallback(
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5ScanDescCallback(
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
if(!scanDescMsg->global_descriptor.data.empty())
|
||
|
|
{
|
||
|
|
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||
|
|
}
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5InfoCallback(
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
|
||
|
|
// 5 RGBD + Odom
|
||
|
|
void CommonDataSubscriber::rgbd5OdomCallback(
|
||
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5OdomScan2dCallback(
|
||
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5OdomScan3dCallback(
|
||
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5OdomScanDescCallback(
|
||
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||
|
|
if(!scanDescMsg->global_descriptor.data.empty())
|
||
|
|
{
|
||
|
|
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||
|
|
}
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
void CommonDataSubscriber::rgbd5OdomInfoCallback(
|
||
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||
|
|
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
|
||
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||
|
|
{
|
||
|
|
IMAGE_CONVERSION();
|
||
|
|
|
||
|
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||
|
|
sensor_msgs::LaserScan scanMsg; // Null
|
||
|
|
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||
|
|
}
|
||
|
|
|
||
|
|
void CommonDataSubscriber::setupRGBD5Callbacks(
|
||
|
|
ros::NodeHandle & nh,
|
||
|
|
ros::NodeHandle & pnh,
|
||
|
|
bool subscribeOdom,
|
||
|
|
bool subscribeUserData,
|
||
|
|
bool subscribeScan2d,
|
||
|
|
bool subscribeScan3d,
|
||
|
|
bool subscribeScanDesc,
|
||
|
|
bool subscribeOdomInfo,
|
||
|
|
int queueSize,
|
||
|
|
bool approxSync)
|
||
|
|
{
|
||
|
|
ROS_INFO("Setup rgbd5 callback");
|
||
|
|
|
||
|
|
rgbdSubs_.resize(5);
|
||
|
|
for(int i=0; i<5; ++i)
|
||
|
|
{
|
||
|
|
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||
|
|
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
|
||
|
|
}
|
||
|
|
if(subscribeOdom)
|
||
|
|
{
|
||
|
|
odomSub_.subscribe(nh, "odom", queueSize);
|
||
|
|
if(subscribeScanDesc)
|
||
|
|
{
|
||
|
|
subscribedToScanDescriptor_ = true;
|
||
|
|
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL7(rgbd5OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeScan2d)
|
||
|
|
{
|
||
|
|
subscribedToScan2d_ = true;
|
||
|
|
scanSub_.subscribe(nh, "scan", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL7(rgbd5OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeScan3d)
|
||
|
|
{
|
||
|
|
subscribedToScan3d_ = true;
|
||
|
|
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL7(rgbd5OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = true;
|
||
|
|
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||
|
|
SYNC_DECL7(rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
SYNC_DECL6(rgbd5Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(subscribeScanDesc)
|
||
|
|
{
|
||
|
|
subscribedToScanDescriptor_ = true;
|
||
|
|
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL6(rgbd5ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeScan2d)
|
||
|
|
{
|
||
|
|
subscribedToScan2d_ = true;
|
||
|
|
scanSub_.subscribe(nh, "scan", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL6(rgbd5Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeScan3d)
|
||
|
|
{
|
||
|
|
subscribedToScan3d_ = true;
|
||
|
|
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||
|
|
if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = false;
|
||
|
|
ROS_WARN("subscribe_odom_info ignored...");
|
||
|
|
}
|
||
|
|
SYNC_DECL6(rgbd5Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
|
||
|
|
}
|
||
|
|
else if(subscribeOdomInfo)
|
||
|
|
{
|
||
|
|
subscribedToOdomInfo_ = true;
|
||
|
|
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||
|
|
SYNC_DECL6(rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
SYNC_DECL5(rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
} /* namespace rtabmap_ros */
|