2017-05-17 17:40:48 -04:00
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_ros/CommonDataSubscriber.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap_ros/MsgConversion.h>
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#include <cv_bridge/cv_bridge.h>
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namespace rtabmap_ros {
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#define IMAGE_CONVERSION() \
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callbackCalled(); \
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
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rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
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rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
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rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
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rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
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std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
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2018-02-13 21:35:15 -05:00
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cameraInfoMsgs.push_back(image1Msg->rgbCameraInfo); \
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cameraInfoMsgs.push_back(image2Msg->rgbCameraInfo); \
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cameraInfoMsgs.push_back(image3Msg->rgbCameraInfo); \
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cameraInfoMsgs.push_back(image4Msg->rgbCameraInfo);
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2017-05-17 17:40:48 -04:00
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// 4 RGBD
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void CommonDataSubscriber::rgbd4Callback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4Scan2dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4Scan3dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4InfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4Scan2dInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4Scan3dInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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// 2 RGBD + Odom
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void CommonDataSubscriber::rgbd4OdomCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4OdomScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4OdomScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4OdomInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4OdomScan2dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4OdomScan3dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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// 2 RGBD + User Data
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void CommonDataSubscriber::rgbd4DataCallback(
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const rtabmap_ros::UserDataConstPtr& userDataMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4DataScan2dCallback(
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const rtabmap_ros::UserDataConstPtr& userDataMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd4DataScan3dCallback(
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const rtabmap_ros::UserDataConstPtr& userDataMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4DataInfoCallback(
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4DataScan2dInfoCallback(
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4DataScan3dInfoCallback(
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// 2 RGBD + Odom + User Data
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataScan2dCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataScan3dCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataScan2dInfoCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
void CommonDataSubscriber::rgbd4OdomDataScan3dInfoCallback(
|
|
|
|
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
|
|
|
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
|
|
|
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
|
|
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
|
|
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
|
|
|
|
{
|
|
|
|
|
IMAGE_CONVERSION();
|
|
|
|
|
|
|
|
|
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
|
|
|
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void CommonDataSubscriber::setupRGBD4Callbacks(
|
|
|
|
|
ros::NodeHandle & nh,
|
|
|
|
|
ros::NodeHandle & pnh,
|
|
|
|
|
bool subscribeOdom,
|
|
|
|
|
bool subscribeUserData,
|
|
|
|
|
bool subscribeScan2d,
|
|
|
|
|
bool subscribeScan3d,
|
|
|
|
|
bool subscribeOdomInfo,
|
|
|
|
|
int queueSize,
|
|
|
|
|
bool approxSync)
|
|
|
|
|
{
|
|
|
|
|
ROS_INFO("Setup rgbd4 callback");
|
|
|
|
|
|
|
|
|
|
rgbdSubs_.resize(4);
|
|
|
|
|
for(int i=0; i<4; ++i)
|
|
|
|
|
{
|
|
|
|
|
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
|
|
|
|
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
|
|
|
|
}
|
|
|
|
|
if(subscribeOdom && subscribeUserData)
|
|
|
|
|
{
|
|
|
|
|
odomSub_.subscribe(nh, "odom", 1);
|
|
|
|
|
userDataSub_.subscribe(nh, "user_data", 1);
|
|
|
|
|
if(subscribeScan2d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan2d_ = true;
|
|
|
|
|
scanSub_.subscribe(nh, "scan", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL8(rgbd4OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL7(rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeScan3d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan3d_ = true;
|
|
|
|
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL8(rgbd4OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL7(rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL7(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeOdom)
|
|
|
|
|
{
|
|
|
|
|
odomSub_.subscribe(nh, "odom", 1);
|
|
|
|
|
if(subscribeScan2d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan2d_ = true;
|
|
|
|
|
scanSub_.subscribe(nh, "scan", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL7(rgbd4OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL6(rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeScan3d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan3d_ = true;
|
|
|
|
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL7(rgbd4OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL6(rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL6(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeUserData)
|
|
|
|
|
{
|
|
|
|
|
userDataSub_.subscribe(nh, "user_data", 1);
|
|
|
|
|
if(subscribeScan2d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan2d_ = true;
|
|
|
|
|
scanSub_.subscribe(nh, "scan", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL7(rgbd4DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL6(rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
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}
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}
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else if(subscribeScan3d)
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|
|
|
{
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subscribedToScan3d_ = true;
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|
|
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
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|
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if(subscribeOdomInfo)
|
|
|
|
|
{
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|
|
subscribedToOdomInfo_ = true;
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|
|
|
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odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL7(rgbd4DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL6(rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL6(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
if(subscribeScan2d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan2d_ = true;
|
|
|
|
|
scanSub_.subscribe(nh, "scan", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL6(rgbd4Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL5(rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeScan3d)
|
|
|
|
|
{
|
|
|
|
|
subscribedToScan3d_ = true;
|
|
|
|
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
|
|
|
|
if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL6(rgbd4Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL5(rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if(subscribeOdomInfo)
|
|
|
|
|
{
|
|
|
|
|
subscribedToOdomInfo_ = true;
|
|
|
|
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
|
|
|
|
SYNC_DECL5(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
SYNC_DECL4(rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} /* namespace rtabmap_ros */
|
