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rgbd_odometry: added rgbd_images topic support

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This commit is contained in:
matlabbe
2022-03-06 15:43:48 -05:00
parent 07bf207ec3
commit 05a1be02a4
1 changed files with 39 additions and 3 deletions
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src/nodelets/rgbd_odometry.cpp
+39 -3
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@@ -44,6 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap_ros/RGBDImages.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
@@ -79,6 +80,7 @@ public:
virtual ~RGBDOdometry()
{
rgbdSub_.shutdown();
rgbdxSub_.shutdown();
if(approxSync_)
{
delete approxSync_;
@@ -133,13 +135,13 @@ private:
ROS_ERROR("\"depth_cameras\" parameter doesn't exist anymore. It is replaced by \"rgbd_cameras\" with the \"rgbd_image\" input topics. \"subscribe_rgbd\" should be also set to true.");
}
pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
if(rgbdCameras <= 0)
if(rgbdCameras < 0)
{
rgbdCameras = 1;
rgbdCameras = 0;
}
if(rgbdCameras > 5)
{
NODELET_FATAL("Only 5 cameras maximum supported yet.");
NODELET_FATAL("Only 5 cameras maximum supported yet. Set 0 to use rgbd_images input (for which rgbdx_sync node can sync up to 8 cameras).");
}
pnh.param("keep_color", keepColor_, keepColor_);
@@ -299,6 +301,15 @@ private:
}
}
else if(rgbdCameras == 0)
{
rgbdxSub_ = nh.subscribe("rgbd_images", 1, &RGBDOdometry::callbackRGBDX, this);
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
getName().c_str(),
rgbdxSub_.getTopic().c_str());
}
else
{
rgbdSub_ = nh.subscribe("rgbd_image", 1, &RGBDOdometry::callbackRGBD, this);
@@ -582,6 +593,30 @@ private:
}
}
void callbackRGBDX(
const rtabmap_ros::RGBDImagesConstPtr& images)
{
callbackCalled();
if(!this->isPaused())
{
if(images->rgbd_images.empty())
{
NODELET_ERROR("Input topic \"%s\" doesn't contain any image(s)!", rgbdxSub_.getTopic().c_str());
return;
}
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(images->rgbd_images.size());
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(images->rgbd_images.size());
std::vector<sensor_msgs::CameraInfo> infoMsgs;
for(size_t i=0; i<images->rgbd_images.size(); ++i)
{
rtabmap_ros::toCvShare(images->rgbd_images[i], images, imageMsgs[i], depthMsgs[i]);
infoMsgs.push_back(images->rgbd_images[i].rgb_camera_info);
}
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void callbackRGBD2(
const rtabmap_ros::RGBDImageConstPtr& image,
const rtabmap_ros::RGBDImageConstPtr& image2)
@@ -784,6 +819,7 @@ private:
message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
ros::Subscriber rgbdSub_;
ros::Subscriber rgbdxSub_;
message_filters::Subscriber<rtabmap_ros::RGBDImage> rgbd_image1_sub_;
message_filters::Subscriber<rtabmap_ros::RGBDImage> rgbd_image2_sub_;
message_filters::Subscriber<rtabmap_ros::RGBDImage> rgbd_image3_sub_;