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Added "scan_cloud" topic (PointCloud2 type) with "subscribe_scan_cloud" parameter to rtabmap and rtabmapviz nodes.

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This commit is contained in:
matlabbe
2015-11-26 16:06:42 -05:00
parent 8a76f98810
commit 27d40dee2b
6 changed files with 603 additions and 97 deletions
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src/GuiWrapper.h
+65 -4
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@@ -80,7 +80,8 @@ private:
void setupCallbacks(
bool subscribeDepth,
bool subscribeLaserScan,
bool subscribeLaserScan2d,
bool subscribeLaserScan3d,
bool subscribeOdomInfo,
bool subscribeStereo,
int queueSize,
@@ -91,14 +92,16 @@ private:
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void commonDepthCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -106,7 +109,8 @@ private:
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg);
@@ -146,6 +150,12 @@ private:
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depthScan3dCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void stereoScanCallback(
const sensor_msgs::LaserScanConstPtr& scanMsg,
@@ -154,6 +164,13 @@ private:
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoScan3dCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -182,6 +199,11 @@ private:
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
void depthScan3dTFCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
void stereoScanTFCallback(
const sensor_msgs::LaserScanConstPtr& scanMsg,
@@ -189,6 +211,12 @@ private:
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoScan3dTFCallback(
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoOdomInfoTFCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
@@ -231,6 +259,7 @@ private:
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
image_transport::SubscriberFilter imageRectLeft_;
image_transport::SubscriberFilter imageRectRight_;
@@ -256,6 +285,14 @@ private:
sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
sensor_msgs::Image,
@@ -288,6 +325,15 @@ private:
sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
nav_msgs::Odometry,
@@ -326,6 +372,13 @@ private:
sensor_msgs::CameraInfo> MyDepthScanTFSyncPolicy;
message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthScan3dTFSyncPolicy;
message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy> * depthScan3dTFSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
sensor_msgs::Image,
@@ -354,6 +407,14 @@ private:
sensor_msgs::CameraInfo> MyStereoScanTFSyncPolicy;
message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::PointCloud2,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoScan3dTFSyncPolicy;
message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy> * stereoScan3dTFSync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
sensor_msgs::Image,