mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-12 22:30:19 +08:00
First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,136 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(rtabmap_sync)
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge roscpp sensor_msgs nav_msgs image_transport
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nodelet message_filters rtabmap_msgs rtabmap_conversions
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)
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option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
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option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
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MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
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MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA = ${RTABMAP_SYNC_USER_DATA}")
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IF(RTABMAP_SYNC_MULTI_RGBD)
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add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
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SET(RTABMAP_SYNC_MULTI_RGBD_CONF 1)
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ELSE()
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SET(RTABMAP_SYNC_MULTI_RGBD_CONF 0)
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ENDIF()
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IF(RTABMAP_SYNC_USER_DATA)
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add_definitions("-DRTABMAP_SYNC_USER_DATA")
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SET(RTABMAP_SYNC_USER_DATA_CONF 1)
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ELSE()
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SET(RTABMAP_SYNC_USER_DATA_CONF 0)
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ENDIF()
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IF(WIN32)
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add_compile_options(-bigobj)
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ENDIF(WIN32)
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configure_file(cmake/extra_configs.cmake.in cmake/extra_configs.cmake IMMEDIATE @ONLY)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_sync rtabmap_sync_plugins
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CATKIN_DEPENDS cv_bridge roscpp sensor_msgs nav_msgs image_transport
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nodelet message_filters rtabmap_msgs rtabmap_conversions
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CFG_EXTRAS extra_configs.cmake
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)
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###########
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## Build ##
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###########
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${catkin_INCLUDE_DIRS}
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)
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SET(rtabmap_sync_lib_src
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src/CommonDataSubscriber.cpp
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src/impl/CommonDataSubscriberDepth.cpp
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGB.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBDX.cpp
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src/impl/CommonDataSubscriberScan.cpp
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src/impl/CommonDataSubscriberOdom.cpp
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)
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IF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_lib_src
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${rtabmap_sync_lib_src}
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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src/impl/CommonDataSubscriberRGBD5.cpp
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src/impl/CommonDataSubscriberRGBD6.cpp
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)
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ENDIF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_plugins_lib_src
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src/nodelets/rgbdx_sync.cpp
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)
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IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
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SET(rtabmap_sync_plugins_lib_src ${rtabmap_sync_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp)
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ELSE()
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ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
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ENDIF()
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_sync
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${rtabmap_sync_lib_src}
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)
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add_library(rtabmap_sync_plugins
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${rtabmap_sync_plugins_lib_src}
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)
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target_link_libraries(rtabmap_sync
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${catkin_LIBRARIES}
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)
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target_link_libraries(rtabmap_sync_plugins
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${catkin_LIBRARIES}
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)
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add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
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target_link_libraries(rtabmap_rgbd_sync ${catkin_LIBRARIES})
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set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
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add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
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target_link_libraries(rtabmap_rgbdx_sync ${catkin_LIBRARIES})
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set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
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add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
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target_link_libraries(rtabmap_stereo_sync ${catkin_LIBRARIES})
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set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
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add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
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target_link_libraries(rtabmap_rgb_sync ${catkin_LIBRARIES})
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set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
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#############
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## Install ##
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#############
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install(TARGETS
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rtabmap_sync
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rtabmap_sync_plugins
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rtabmap_rgbd_sync
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rtabmap_rgbdx_sync
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rtabmap_stereo_sync
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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install(FILES
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nodelet_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@@ -0,0 +1,8 @@
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if(@RTABMAP_SYNC_MULTI_RGBD_CONF@)
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add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
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endif()
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if(@RTABMAP_SYNC_USER_DATA_CONF@)
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add_definitions("-DRTABMAP_SYNC_USER_DATA")
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endif()
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@@ -0,0 +1,621 @@
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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
|
||||
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
|
||||
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
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
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
|
||||
(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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#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
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#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/LaserScan.h>
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#include <nav_msgs/Odometry.h>
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#include <rtabmap_msgs/RGBDImage.h>
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#include <rtabmap_msgs/RGBDImages.h>
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#include <rtabmap_msgs/UserData.h>
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#include <rtabmap_msgs/OdomInfo.h>
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#include <rtabmap_msgs/ScanDescriptor.h>
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#include <rtabmap_sync/CommonDataSubscriberDefines.h>
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#include <boost/thread.hpp>
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namespace rtabmap_sync {
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class CommonDataSubscriber {
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public:
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CommonDataSubscriber(bool gui);
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virtual ~CommonDataSubscriber();
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bool isSubscribedToDepth() const {return subscribedToDepth_;}
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bool isSubscribedToStereo() const {return subscribedToStereo_;}
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bool isSubscribedToRGB() const {return subscribedToRGB_;}
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bool isSubscribedToOdom() const {return subscribedToOdom_;}
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bool isSubscribedToRGBD() const {return subscribedToRGBD_;}
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bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
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bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
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bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
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bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
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int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
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int getQueueSize() const {return queueSize_;}
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bool isApproxSync() const {return approxSync_;}
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const std::string & name() const {return name_;}
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protected:
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void setupCallbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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const std::string & name);
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virtual void commonMultiCameraCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_msgs::UserDataConstPtr & userDataMsg,
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const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
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const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
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const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
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const sensor_msgs::LaserScan& scanMsg,
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const sensor_msgs::PointCloud2& scan3dMsg,
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const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
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const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
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const std::vector<std::vector<rtabmap_msgs::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(),
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const std::vector<std::vector<rtabmap_msgs::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::Point3f> >(),
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const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
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virtual void commonLaserScanCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_msgs::UserDataConstPtr & userDataMsg,
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const sensor_msgs::LaserScan& scanMsg,
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const sensor_msgs::PointCloud2& scan3dMsg,
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const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
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const rtabmap_msgs::GlobalDescriptor & globalDescriptor = rtabmap_msgs::GlobalDescriptor()) = 0;
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virtual void commonOdomCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_msgs::UserDataConstPtr & userDataMsg,
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const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg) = 0;
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void commonSingleCameraCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_msgs::UserDataConstPtr & userDataMsg,
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const cv_bridge::CvImageConstPtr & imageMsg,
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const cv_bridge::CvImageConstPtr & depthMsg,
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const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
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const sensor_msgs::CameraInfo & depthCameraInfoMsg,
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const sensor_msgs::LaserScan& scanMsg,
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const sensor_msgs::PointCloud2& scan3dMsg,
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const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
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const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
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const std::vector<rtabmap_msgs::KeyPoint> & localKeyPoints = std::vector<rtabmap_msgs::KeyPoint>(),
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const std::vector<rtabmap_msgs::Point3f> & localPoints3d = std::vector<rtabmap_msgs::Point3f>(),
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const cv::Mat & localDescriptors = cv::Mat());
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private:
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void warningLoop();
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void callbackCalled() {callbackCalled_ = true;}
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void setupDepthCallbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeScanDesc,
|
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bool subscribeOdomInfo,
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int queueSize,
|
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bool approxSync);
|
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void setupStereoCallbacks(
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ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
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bool subscribeOdom,
|
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bool subscribeOdomInfo,
|
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int queueSize,
|
||||
bool approxSync);
|
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void setupRGBCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
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bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
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bool subscribeOdomInfo,
|
||||
int queueSize,
|
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bool approxSync);
|
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void setupRGBDCallbacks(
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
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bool subscribeUserData,
|
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bool subscribeScan2d,
|
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bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
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bool approxSync);
|
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void setupRGBDXCallbacks(
|
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
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bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
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#ifdef RTABMAP_SYNC_MULTI_RGBD
|
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void setupRGBD2Callbacks(
|
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
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void setupRGBD3Callbacks(
|
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
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bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
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bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
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void setupRGBD4Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD5Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD6Callbacks(
|
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
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#endif
|
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void setupScanCallbacks(
|
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ros::NodeHandle & nh,
|
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ros::NodeHandle & pnh,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupOdomCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
|
||||
protected:
|
||||
std::string subscribedTopicsMsg_;
|
||||
int queueSize_;
|
||||
|
||||
private:
|
||||
bool approxSync_;
|
||||
boost::thread* warningThread_;
|
||||
bool callbackCalled_;
|
||||
bool subscribedToDepth_;
|
||||
bool subscribedToStereo_;
|
||||
bool subscribedToRGB_;
|
||||
bool subscribedToOdom_;
|
||||
bool subscribedToRGBD_;
|
||||
bool subscribedToScan2d_;
|
||||
bool subscribedToScan3d_;
|
||||
bool subscribedToScanDescriptor_;
|
||||
bool subscribedToOdomInfo_;
|
||||
std::string name_;
|
||||
|
||||
//for depth and rgb-only callbacks
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
image_transport::SubscriberFilter imageDepthSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
|
||||
//for rgbd callback
|
||||
ros::Subscriber rgbdSub_;
|
||||
std::vector<message_filters::Subscriber<rtabmap_msgs::RGBDImage>*> rgbdSubs_;
|
||||
ros::Subscriber rgbdXSubOnly_;
|
||||
message_filters::Subscriber<rtabmap_msgs::RGBDImages> rgbdXSub_;
|
||||
|
||||
//stereo callback
|
||||
image_transport::SubscriberFilter imageRectLeft_;
|
||||
image_transport::SubscriberFilter imageRectRight_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
|
||||
|
||||
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::UserData> userDataSub_;
|
||||
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::ScanDescriptor> scanDescSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::OdomInfo> odomInfoSub_;
|
||||
|
||||
ros::Subscriber scan2dSubOnly_;
|
||||
ros::Subscriber scan3dSubOnly_;
|
||||
ros::Subscriber scanDescSubOnly_;
|
||||
ros::Subscriber odomSubOnly_;
|
||||
|
||||
// RGB + Depth
|
||||
DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(depthScanDesc, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScanDescInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom
|
||||
DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
DATA_SYNCS4(depthData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(depthDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Stereo
|
||||
DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Stereo + Odom
|
||||
DATA_SYNCS5(stereoOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS6(stereoOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only
|
||||
DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS3(rgbScan2d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbScan3d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbScanDesc, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only + Odom
|
||||
DATA_SYNCS3(rgbOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB-only + User Data
|
||||
DATA_SYNCS3(rgbData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only + Odom + User Data
|
||||
DATA_SYNCS4(rgbOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 1 RGBD
|
||||
void rgbdCallback(const rtabmap_msgs::RGBDImageConstPtr&);
|
||||
DATA_SYNCS2(rgbdScan2d, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(rgbdScan3d, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2)
|
||||
DATA_SYNCS2(rgbdScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS2(rgbdInfo, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom
|
||||
DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 1 RGBD + User Data
|
||||
DATA_SYNCS2(rgbdData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbdDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom + User Data
|
||||
DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// X RGBD
|
||||
void rgbdXCallback(const rtabmap_msgs::RGBDImagesConstPtr&);
|
||||
DATA_SYNCS2(rgbdXScan2d, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(rgbdXScan3d, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2)
|
||||
DATA_SYNCS2(rgbdXScanDesc, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS2(rgbdXInfo, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// X RGBD + Odom
|
||||
DATA_SYNCS2(rgbdXOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// X RGBD + User Data
|
||||
DATA_SYNCS2(rgbdXData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS3(rgbdXDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdXDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdXDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// X RGBD + Odom + User Data
|
||||
DATA_SYNCS3(rgbdXOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
#ifdef RTABMAP_SYNC_MULTI_RGBD
|
||||
// 2 RGBD
|
||||
DATA_SYNCS2(rgbd2, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbd2Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbd2Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbd2ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbd2Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom
|
||||
DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
DATA_SYNCS3(rgbd2Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 3 RGBD
|
||||
DATA_SYNCS3(rgbd3, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd3Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd3Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd3ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd3Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom
|
||||
DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 3 RGBD + User Data
|
||||
DATA_SYNCS4(rgbd3Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom + User Data
|
||||
DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 4 RGBD
|
||||
DATA_SYNCS4(rgbd4, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd4Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd4Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd4ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd4Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom
|
||||
DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 4 RGBD + User Data
|
||||
DATA_SYNCS5(rgbd4Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom + User Data
|
||||
DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 5 RGBD
|
||||
DATA_SYNCS5(rgbd5, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd5Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd5Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd5ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd5Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 5 RGBD + Odom
|
||||
DATA_SYNCS6(rgbd5Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 6 RGBD
|
||||
DATA_SYNCS6(rgbd6, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd6Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd6Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd6ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd6Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 6 RGBD + Odom
|
||||
DATA_SYNCS7(rgbd6Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#endif //RTABMAP_SYNC_MULTI_RGBD
|
||||
|
||||
// Scan
|
||||
void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
|
||||
void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
|
||||
void scanDescCallback(const rtabmap_msgs::ScanDescriptorConstPtr&);
|
||||
DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS2(scanDescInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Scan + Odom
|
||||
DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(odomScanDesc, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(odomScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// Scan + User Data
|
||||
DATA_SYNCS2(dataScan2d, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(dataScan3d, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(dataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(dataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(dataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(dataScanDescInfo, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Scan + Odom + User Data
|
||||
DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(odomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Odom
|
||||
void odomCallback(const nav_msgs::OdometryConstPtr&);
|
||||
DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// Odom + User Data
|
||||
DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_msgs::UserData);
|
||||
DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
};
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
|
||||
#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */
|
||||
@@ -0,0 +1,263 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
|
||||
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
|
||||
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
|
||||
#define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS2(PREFIX, MSG0, MSG1) \
|
||||
DATA_SYNC2(PREFIX, Approximate, MSG0, MSG1) \
|
||||
DATA_SYNC2(PREFIX, Exact, MSG0, MSG1) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&);
|
||||
|
||||
#define DATA_SYNC3(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS3(PREFIX, MSG0, MSG1, MSG2) \
|
||||
DATA_SYNC3(PREFIX, Approximate, MSG0, MSG1, MSG2) \
|
||||
DATA_SYNC3(PREFIX, Exact, MSG0, MSG1, MSG2) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC4(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS4(PREFIX, MSG0, MSG1, MSG2, MSG3) \
|
||||
DATA_SYNC4(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3) \
|
||||
DATA_SYNC4(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC5(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS5(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
DATA_SYNC5(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
DATA_SYNC5(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC6(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS6(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
DATA_SYNC6(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
DATA_SYNC6(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC7(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS7(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
DATA_SYNC7(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC8(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS8(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
DATA_SYNC8(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
DATA_SYNC8(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&, const MSG7##ConstPtr&); \
|
||||
|
||||
|
||||
// Constructor
|
||||
#define SYNC_INIT(PREFIX) \
|
||||
PREFIX##ApproximateSync_(0), \
|
||||
PREFIX##ExactSync_(0)
|
||||
|
||||
// Destructor
|
||||
#define SYNC_DEL(PREFIX) \
|
||||
if(PREFIX##ApproximateSync_) delete PREFIX##ApproximateSync_; \
|
||||
if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
|
||||
|
||||
// Sync declarations
|
||||
#define SYNC_DECL2(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL3(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL4(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL5(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
approxSync?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL6(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL7(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str(), \
|
||||
SUB6.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL8(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str(), \
|
||||
SUB6.getTopic().c_str(), \
|
||||
SUB7.getTopic().c_str());
|
||||
|
||||
|
||||
#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
|
||||
@@ -0,0 +1,47 @@
|
||||
<library path="lib/librtabmap_sync_plugins">
|
||||
|
||||
<class name="rtabmap_sync/rgbd_sync"
|
||||
type="rtabmap_sync::RGBDSync"
|
||||
base_class_type="nodelet::Nodelet">
|
||||
<description>
|
||||
This is my nodelet.
|
||||
</description>
|
||||
</class>
|
||||
|
||||
<class name="rtabmap_sync/rgbdx_sync"
|
||||
type="rtabmap_sync::RGBDXSync"
|
||||
base_class_type="nodelet::Nodelet">
|
||||
<description>
|
||||
This is my nodelet.
|
||||
</description>
|
||||
</class>
|
||||
|
||||
<class name="rtabmap_sync/stereo_sync"
|
||||
type="rtabmap_sync::StereoSync"
|
||||
base_class_type="nodelet::Nodelet">
|
||||
<description>
|
||||
This is my nodelet.
|
||||
</description>
|
||||
</class>
|
||||
|
||||
<class name="rtabmap_sync/rgb_sync"
|
||||
type="rtabmap_sync::RgbSync"
|
||||
base_class_type="nodelet::Nodelet">
|
||||
<description>
|
||||
This is my nodelet.
|
||||
</description>
|
||||
</class>
|
||||
|
||||
</library>
|
||||
|
||||
<library path="lib/librtabmap_sync">
|
||||
|
||||
<class name="rtabmap_sync/rtabmap"
|
||||
type="rtabmap_sync::CoreWrapper"
|
||||
base_class_type="nodelet::Nodelet">
|
||||
<description>
|
||||
This is my nodelet.
|
||||
</description>
|
||||
</class>
|
||||
</library>
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>rtabmap_sync</name>
|
||||
<version>0.1.0</version>
|
||||
<description>RTAB-Map's synchronization package.</description>
|
||||
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
|
||||
<author>Mathieu Labbe</author>
|
||||
<license>BSD</license>
|
||||
<url type="bugtracker">https://github.com/introlab/rtabmap_ros/issues</url>
|
||||
<url type="repository">https://github.com/introlab/rtabmap_ros</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<depend>cv_bridge</depend>
|
||||
<depend>image_transport</depend>
|
||||
<depend>message_filters</depend>
|
||||
<depend>nav_msgs</depend>
|
||||
<depend>nodelet</depend>
|
||||
<depend>roscpp</depend>
|
||||
<depend>rtabmap_conversions</depend>
|
||||
<depend>rtabmap_msgs</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
|
||||
<export>
|
||||
<nodelet plugin="${prefix}/nodelet_plugins.xml" />
|
||||
</export>
|
||||
</package>
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
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 "ros/ros.h"
|
||||
#include "nodelet/loader.h"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "rgbd_sync");
|
||||
|
||||
nodelet::V_string nargv;
|
||||
for(int i=1;i<argc;++i)
|
||||
{
|
||||
nargv.push_back(argv[i]);
|
||||
}
|
||||
|
||||
nodelet::Loader nodelet;
|
||||
nodelet::M_string remap(ros::names::getRemappings());
|
||||
std::string nodelet_name = ros::this_node::getName();
|
||||
nodelet.load(nodelet_name, "rtabmap_sync/rgbd_sync", remap, nargv);
|
||||
ros::spin();
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
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 "ros/ros.h"
|
||||
#include "nodelet/loader.h"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "rgbdx_sync");
|
||||
|
||||
nodelet::V_string nargv;
|
||||
for(int i=1;i<argc;++i)
|
||||
{
|
||||
nargv.push_back(argv[i]);
|
||||
}
|
||||
|
||||
nodelet::Loader nodelet;
|
||||
nodelet::M_string remap(ros::names::getRemappings());
|
||||
std::string nodelet_name = ros::this_node::getName();
|
||||
nodelet.load(nodelet_name, "rtabmap_sync/rgbdx_sync", remap, nargv);
|
||||
ros::spin();
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
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 "ros/ros.h"
|
||||
#include "nodelet/loader.h"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "rgb_sync");
|
||||
|
||||
nodelet::V_string nargv;
|
||||
for(int i=1;i<argc;++i)
|
||||
{
|
||||
nargv.push_back(argv[i]);
|
||||
}
|
||||
|
||||
nodelet::Loader nodelet;
|
||||
nodelet::M_string remap(ros::names::getRemappings());
|
||||
std::string nodelet_name = ros::this_node::getName();
|
||||
nodelet.load(nodelet_name, "rtabmap_sync/rgb_sync", remap, nargv);
|
||||
ros::spin();
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
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 "ros/ros.h"
|
||||
#include "nodelet/loader.h"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "stereo_sync");
|
||||
|
||||
nodelet::V_string nargv;
|
||||
for(int i=1;i<argc;++i)
|
||||
{
|
||||
nargv.push_back(argv[i]);
|
||||
}
|
||||
|
||||
nodelet::Loader nodelet;
|
||||
nodelet::M_string remap(ros::names::getRemappings());
|
||||
std::string nodelet_name = ros::this_node::getName();
|
||||
nodelet.load(nodelet_name, "rtabmap_sync/stereo_sync", remap, nargv);
|
||||
ros::spin();
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,735 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// RGB + Depth
|
||||
void CommonDataSubscriber::depthCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScan2dCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScan3dCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScanDescCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScan2dInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScan3dInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthScanDescInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom
|
||||
void CommonDataSubscriber::depthOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
void CommonDataSubscriber::depthDataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan2dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan3dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScanDescInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
void CommonDataSubscriber::depthOdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupDepthCallbacks(
|
||||
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 depth callback");
|
||||
|
||||
std::string rgbPrefix = "rgb";
|
||||
std::string depthPrefix = "depth";
|
||||
ros::NodeHandle rgb_nh(nh, rgbPrefix);
|
||||
ros::NodeHandle depth_nh(nh, depthPrefix);
|
||||
ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
|
||||
ros::NodeHandle depth_pnh(pnh, depthPrefix);
|
||||
image_transport::ImageTransport rgb_it(rgb_nh);
|
||||
image_transport::ImageTransport depth_it(depth_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
|
||||
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
|
||||
|
||||
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
|
||||
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), queueSize, hintsDepth);
|
||||
cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,118 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
void CommonDataSubscriber::odomCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
void CommonDataSubscriber::odomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupOdomCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup scan callback");
|
||||
|
||||
if(subscribeUserData || subscribeOdomInfo)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
odomSubOnly_ = nh.subscribe("odom", queueSize, &CommonDataSubscriber::odomCallback, this);
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
odomSubOnly_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,729 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// RGB
|
||||
void CommonDataSubscriber::rgbCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan2dCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan3dCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScanDescCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan2dInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan3dInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScanDescInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Odom
|
||||
void CommonDataSubscriber::rgbOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
void CommonDataSubscriber::rgbDataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan2dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan3dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScanDescInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
void CommonDataSubscriber::rgbOdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBCallbacks(
|
||||
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 rgb-only callback");
|
||||
|
||||
std::string rgbPrefix = "rgb";
|
||||
ros::NodeHandle rgb_nh(nh, rgbPrefix);
|
||||
ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
|
||||
image_transport::ImageTransport rgb_it(rgb_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
|
||||
|
||||
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
|
||||
cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgb, approxSync, queueSize, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,766 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// 1 RGBD camera
|
||||
void CommonDataSubscriber::rgbdCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdInfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom
|
||||
void CommonDataSubscriber::rgbdOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 1 RGBD camera + User Data
|
||||
void CommonDataSubscriber::rgbdDataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom + User Data
|
||||
void CommonDataSubscriber::rgbdOdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg ,rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg ,rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBDCallbacks(
|
||||
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 rgbd callback");
|
||||
|
||||
if(subscribeOdom ||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
subscribeUserData ||
|
||||
#endif
|
||||
subscribeScan2d ||
|
||||
subscribeScan3d ||
|
||||
subscribeScanDesc ||
|
||||
subscribeOdomInfo)
|
||||
{
|
||||
rgbdSubs_.resize(1);
|
||||
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
|
||||
rgbdSubs_[0]->subscribe(nh, "rgbd_image", queueSize);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
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_DECL3(CommonDataSubscriber, rgbdOdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_FATAL("Not supposed to be here!");
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rgbdSub_ = nh.subscribe("rgbd_image", queueSize, &CommonDataSubscriber::rgbdCallback, this);
|
||||
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
rgbdSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,561 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
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); \
|
||||
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::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); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors));
|
||||
|
||||
// 2 RGBD
|
||||
void CommonDataSubscriber::rgbd2Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2ScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2InfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd2OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd2DataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd2OdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBD2Callbacks(
|
||||
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 rgbd2 callback");
|
||||
|
||||
rgbdSubs_.resize(2);
|
||||
for(int i=0; i<2; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
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_DECL4(CommonDataSubscriber, rgbd2OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,648 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include "../../../rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h"
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
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); \
|
||||
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::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); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors));
|
||||
|
||||
// 3 RGBD
|
||||
void CommonDataSubscriber::rgbd3Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3Scan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3Scan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3ScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan,
|
||||
scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3InfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd3OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan,
|
||||
scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd3DataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan,
|
||||
scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd3OdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan,
|
||||
scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBD3Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDescriptor,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup rgbd3 callback");
|
||||
|
||||
rgbdSubs_.resize(3);
|
||||
for(int i=0; i<3; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_); }
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,618 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
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); \
|
||||
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::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); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localKeyPoints.push_back(image4Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localPoints3d.push_back(image4Msg->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));
|
||||
|
||||
// 4 RGBD
|
||||
void CommonDataSubscriber::rgbd4Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4Scan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4Scan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4ScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4InfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd4OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd4DataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd4OdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBD4Callbacks(
|
||||
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 rgbd4 callback");
|
||||
|
||||
rgbdSubs_.resize(4);
|
||||
for(int i=0; i<4; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
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_DECL6(CommonDataSubscriber, rgbd4OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,374 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
rtabmap_conversions::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<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image5Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::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_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5Scan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5Scan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5ScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5InfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 5 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd5OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5OdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd5OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, 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_msgs::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(CommonDataSubscriber, 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(CommonDataSubscriber, 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(CommonDataSubscriber, 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(CommonDataSubscriber, rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, 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(CommonDataSubscriber, 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(CommonDataSubscriber, 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(CommonDataSubscriber, 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(CommonDataSubscriber, rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,392 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
rtabmap_conversions::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
|
||||
rtabmap_conversions::toCvShare(image6Msg, imageMsgs[5], depthMsgs[5]); \
|
||||
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); \
|
||||
cameraInfoMsgs.push_back(image6Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image5Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image6Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::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); \
|
||||
if(!image6Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image6Msg->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); \
|
||||
localKeyPoints.push_back(image6Msg->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); \
|
||||
localPoints3d.push_back(image6Msg->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)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image6Msg->descriptors));
|
||||
|
||||
// 6 RGBD
|
||||
void CommonDataSubscriber::rgbd6Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6Scan2dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6Scan3dCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6ScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6InfoCallback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// 6 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd6OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6OdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd6OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5Msg,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6Msg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD6Callbacks(
|
||||
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 rgbd6 callback");
|
||||
|
||||
rgbdSubs_.resize(6);
|
||||
for(int i=0; i<6; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::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_DECL8(CommonDataSubscriber, rgbd6OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,537 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
UASSERT(!imagesMsg->rgbd_images.empty()); \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(imagesMsg->rgbd_images.size()); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(imagesMsg->rgbd_images.size()); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
|
||||
std::vector<rtabmap_msgs::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
for(size_t i=0; i<imageMsgs.size(); ++i) \
|
||||
{ \
|
||||
rtabmap_conversions::toCvShare(imagesMsg->rgbd_images[i], imagesMsg, imageMsgs[i], depthMsgs[i]); \
|
||||
cameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].rgb_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].depth_camera_info); \
|
||||
if(!imagesMsg->rgbd_images[i].global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(imagesMsg->rgbd_images[i].global_descriptor); \
|
||||
localKeyPoints.push_back(imagesMsg->rgbd_images[i].key_points); \
|
||||
localPoints3d.push_back(imagesMsg->rgbd_images[i].points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(imagesMsg->rgbd_images[i].descriptors)); \
|
||||
} \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear();
|
||||
|
||||
// X RGBD
|
||||
void CommonDataSubscriber::rgbdXCallback(
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXScan2dCallback(
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXScan3dCallback(
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXScanDescCallback(
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXInfoCallback(
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
// X RGBD + Odom
|
||||
void CommonDataSubscriber::rgbdXOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// X RGBD + User Data
|
||||
void CommonDataSubscriber::rgbdXDataCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXDataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXDataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXDataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXDataInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
|
||||
// X RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbdXOdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdXOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_msgs::RGBDImagesConstPtr& imagesMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBDXCallbacks(
|
||||
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 rgbdX callback");
|
||||
|
||||
rgbdXSub_.subscribe(nh, "rgbd_images", queueSize);
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomData, approxSync, queueSize, odomSub_, userDataSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
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_DECL3(CommonDataSubscriber, rgbdXOdomScanDesc, approxSync, queueSize, odomSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan2d, approxSync, queueSize, odomSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan3d, approxSync, queueSize, odomSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync, queueSize, odomSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXOdom, approxSync, queueSize, odomSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScanDesc, approxSync, queueSize, userDataSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan2d, approxSync, queueSize, userDataSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan3d, approxSync, queueSize, userDataSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync, queueSize, userDataSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXData, approxSync, queueSize, userDataSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScanDesc, approxSync, queueSize, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScan2d, approxSync, queueSize, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
ROS_WARN("subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScan3d, approxSync, queueSize, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync, queueSize, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
rgbdXSubOnly_ = nh.subscribe("rgbd_images", queueSize, &CommonDataSubscriber::rgbdXCallback, this);
|
||||
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
rgbdXSubOnly_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,489 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
void CommonDataSubscriber::scan2dCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scanDescCallback(
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::scan2dInfoCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scan3dInfoCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scanDescInfoCallback(
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::odomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
void CommonDataSubscriber::dataScan2dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan3dCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScanDescCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan2dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan3dInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScanDescInfoCallback(
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::odomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScanDescCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScanDescInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupScanCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool scan2dTopic,
|
||||
bool scanDescTopic,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup scan callback");
|
||||
|
||||
if(subscribeOdom || subscribeUserData || subscribeOdomInfo)
|
||||
{
|
||||
if(scanDescTopic)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", queueSize);
|
||||
}
|
||||
else
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync, queueSize, odomSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScan3d, approxSync, queueSize, odomSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", queueSize);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync, queueSize, userDataSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync, queueSize, userDataSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScan3d, approxSync, queueSize, userDataSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
if(scanDescTopic)
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scan3dInfo, approxSync, queueSize, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(scanDescTopic)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSubOnly_ = nh.subscribe("scan_descriptor", queueSize, &CommonDataSubscriber::scanDescCallback, this);
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
scanDescSubOnly_.getTopic().c_str());
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scan2dSubOnly_ = nh.subscribe("scan", queueSize, &CommonDataSubscriber::scan2dCallback, this);
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
scan2dSubOnly_.getTopic().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSubOnly_ = nh.subscribe("scan_cloud", queueSize, &CommonDataSubscriber::scan3dCallback, this);
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
scan3dSubOnly_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,146 @@
|
||||
/*
|
||||
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_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// Stereo
|
||||
void CommonDataSubscriber::stereoCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// Stereo + Odom
|
||||
void CommonDataSubscriber::stereoOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scanMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr & odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupStereoCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup stereo callback");
|
||||
|
||||
ros::NodeHandle left_nh(nh, "left");
|
||||
ros::NodeHandle right_nh(nh, "right");
|
||||
ros::NodeHandle left_pnh(pnh, "left");
|
||||
ros::NodeHandle right_pnh(pnh, "right");
|
||||
image_transport::ImageTransport left_it(left_nh);
|
||||
image_transport::ImageTransport right_it(right_nh);
|
||||
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
|
||||
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
|
||||
|
||||
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), queueSize, hintsLeft);
|
||||
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), queueSize, hintsRight);
|
||||
cameraInfoLeft_.subscribe(left_nh, "camera_info", queueSize);
|
||||
cameraInfoRight_.subscribe(right_nh, "camera_info", queueSize);
|
||||
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", queueSize);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
|
||||
SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, stereo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,234 @@
|
||||
/*
|
||||
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 <ros/ros.h>
|
||||
#include <pluginlib/class_list_macros.hpp>
|
||||
#include <nodelet/nodelet.h>
|
||||
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/CompressedImage.h>
|
||||
#include <sensor_msgs/image_encodings.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
#include "rtabmap_msgs/RGBDImage.h"
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
class RgbSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
RgbSync() :
|
||||
compressedRate_(0),
|
||||
warningThread_(0),
|
||||
callbackCalled_(false),
|
||||
approxSync_(0),
|
||||
exactSync_(0)
|
||||
{}
|
||||
|
||||
virtual ~RgbSync()
|
||||
{
|
||||
if(approxSync_)
|
||||
delete approxSync_;
|
||||
if(exactSync_)
|
||||
delete exactSync_;
|
||||
|
||||
if(warningThread_)
|
||||
{
|
||||
callbackCalled_=true;
|
||||
warningThread_->join();
|
||||
delete warningThread_;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = false;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
pnh.param("compressed_rate", compressedRate_, compressedRate_);
|
||||
|
||||
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
|
||||
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
|
||||
NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image", 1);
|
||||
rgbdImageCompressedPub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image/compressed", 1);
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
|
||||
if(approxSyncMaxInterval > 0.0)
|
||||
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
approxSync_->registerCallback(boost::bind(&RgbSync::callback, this, boost::placeholders::_1, boost::placeholders::_2));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
|
||||
exactSync_->registerCallback(boost::bind(&RgbSync::callback, this, boost::placeholders::_1, boost::placeholders::_2));
|
||||
}
|
||||
|
||||
ros::NodeHandle rgb_nh(nh, "rgb");
|
||||
ros::NodeHandle rgb_pnh(pnh, "rgb");
|
||||
image_transport::ImageTransport rgb_it(rgb_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
|
||||
|
||||
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image_rect"), 1, hintsRgb);
|
||||
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s",
|
||||
getName().c_str(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval!=std::numeric_limits<double>::max()?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
|
||||
imageSub_.getTopic().c_str(),
|
||||
cameraInfoSub_.getTopic().c_str());
|
||||
|
||||
warningThread_ = new boost::thread(boost::bind(&RgbSync::warningLoop, this, subscribedTopicsMsg, approxSync));
|
||||
NODELET_INFO("%s", subscribedTopicsMsg.c_str());
|
||||
}
|
||||
|
||||
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void callback(
|
||||
const sensor_msgs::ImageConstPtr& image,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
double stamp = image->header.stamp.toSec();
|
||||
|
||||
rtabmap_msgs::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfo->header.frame_id;
|
||||
msg.header.stamp = image->header.stamp;
|
||||
msg.rgb_camera_info = *cameraInfo;
|
||||
|
||||
if(rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
|
||||
{
|
||||
NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = ros::Time::now();
|
||||
|
||||
rtabmap_msgs::RGBDImage msgCompressed = msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_.getNumSubscribers())
|
||||
{
|
||||
msg.rgb = *image;
|
||||
rgbdImagePub_.publish(msg);
|
||||
}
|
||||
|
||||
if( stamp != image->header.stamp.toSec())
|
||||
{
|
||||
NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"%f->%f",
|
||||
stamp, image->header.stamp.toSec());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
double compressedRate_;
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
ros::Time lastCompressedPublished_;
|
||||
|
||||
ros::Publisher rgbdImagePub_;
|
||||
ros::Publisher rgbdImageCompressedPub_;
|
||||
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
|
||||
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_sync::RgbSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,333 @@
|
||||
/*
|
||||
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 <ros/ros.h>
|
||||
#include <pluginlib/class_list_macros.hpp>
|
||||
#include <nodelet/nodelet.h>
|
||||
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/CompressedImage.h>
|
||||
#include <sensor_msgs/image_encodings.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
#include "rtabmap_msgs/RGBDImage.h"
|
||||
#include "rtabmap_conversions/MsgConversion.h"
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
class RGBDSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
RGBDSync() :
|
||||
depthScale_(1.0),
|
||||
decimation_(1),
|
||||
compressedRate_(0),
|
||||
warningThread_(0),
|
||||
callbackCalled_(false),
|
||||
approxSyncDepth_(0),
|
||||
exactSyncDepth_(0)
|
||||
{}
|
||||
|
||||
virtual ~RGBDSync()
|
||||
{
|
||||
if(approxSyncDepth_)
|
||||
delete approxSyncDepth_;
|
||||
if(exactSyncDepth_)
|
||||
delete exactSyncDepth_;
|
||||
|
||||
if(warningThread_)
|
||||
{
|
||||
callbackCalled_=true;
|
||||
warningThread_->join();
|
||||
delete warningThread_;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = true;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
pnh.param("depth_scale", depthScale_, depthScale_);
|
||||
pnh.param("decimation", decimation_, decimation_);
|
||||
pnh.param("compressed_rate", compressedRate_, compressedRate_);
|
||||
|
||||
if(decimation_<1)
|
||||
{
|
||||
decimation_ = 1;
|
||||
}
|
||||
|
||||
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
|
||||
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
|
||||
NODELET_INFO("%s: depth_scale = %f", getName().c_str(), depthScale_);
|
||||
NODELET_INFO("%s: decimation = %d", getName().c_str(), decimation_);
|
||||
NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image", 1);
|
||||
rgbdImageCompressedPub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image/compressed", 1);
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
if(approxSyncMaxInterval > 0.0)
|
||||
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
|
||||
}
|
||||
|
||||
ros::NodeHandle rgb_nh(nh, "rgb");
|
||||
ros::NodeHandle depth_nh(nh, "depth");
|
||||
ros::NodeHandle rgb_pnh(pnh, "rgb");
|
||||
ros::NodeHandle depth_pnh(pnh, "depth");
|
||||
image_transport::ImageTransport rgb_it(rgb_nh);
|
||||
image_transport::ImageTransport depth_it(depth_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
|
||||
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
|
||||
|
||||
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
|
||||
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
|
||||
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
|
||||
getName().c_str(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
|
||||
imageSub_.getTopic().c_str(),
|
||||
imageDepthSub_.getTopic().c_str(),
|
||||
cameraInfoSub_.getTopic().c_str());
|
||||
|
||||
warningThread_ = new boost::thread(boost::bind(&RGBDSync::warningLoop, this, subscribedTopicsMsg, approxSync));
|
||||
NODELET_INFO("%s", subscribedTopicsMsg.c_str());
|
||||
}
|
||||
|
||||
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void callback(
|
||||
const sensor_msgs::ImageConstPtr& image,
|
||||
const sensor_msgs::ImageConstPtr& depth,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
double rgbStamp = image->header.stamp.toSec();
|
||||
double depthStamp = depth->header.stamp.toSec();
|
||||
double infoStamp = cameraInfo->header.stamp.toSec();
|
||||
|
||||
double stampDiff = fabs(rgbStamp - depthStamp);
|
||||
if(stampDiff > 0.010)
|
||||
{
|
||||
NODELET_WARN("The time difference between rgb and depth frames is "
|
||||
"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
|
||||
"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use "
|
||||
"approx_sync=false if streams have all the exact same timestamp.",
|
||||
stampDiff,
|
||||
rgbStamp,
|
||||
depthStamp);
|
||||
}
|
||||
|
||||
rtabmap_msgs::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfo->header.frame_id;
|
||||
msg.header.stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
|
||||
if(decimation_>1 && !(depth->width % decimation_ == 0 && depth->height % decimation_ == 0))
|
||||
{
|
||||
ROS_WARN("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
|
||||
"Images won't be resized.", decimation_, depth->width, depth->height);
|
||||
decimation_ = 1;
|
||||
}
|
||||
if(decimation_>1)
|
||||
{
|
||||
rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
|
||||
sensor_msgs::CameraInfo info;
|
||||
rtabmap_conversions::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
|
||||
info.header = cameraInfo->header;
|
||||
msg.rgb_camera_info = info;
|
||||
msg.depth_camera_info = info;
|
||||
}
|
||||
else
|
||||
{
|
||||
msg.rgb_camera_info = *cameraInfo;
|
||||
msg.depth_camera_info = *cameraInfo;
|
||||
}
|
||||
|
||||
cv::Mat rgbMat;
|
||||
cv::Mat depthMat;
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
|
||||
rgbMat = imagePtr->image;
|
||||
depthMat = imageDepthPtr->image;
|
||||
|
||||
if(decimation_>1)
|
||||
{
|
||||
rgbMat = rtabmap::util2d::decimate(rgbMat, decimation_);
|
||||
depthMat = rtabmap::util2d::decimate(depthMat, decimation_);
|
||||
}
|
||||
|
||||
if(depthScale_ != 1.0)
|
||||
{
|
||||
depthMat*=depthScale_;
|
||||
}
|
||||
|
||||
if(rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
|
||||
{
|
||||
NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = ros::Time::now();
|
||||
|
||||
rtabmap_msgs::RGBDImage msgCompressed;
|
||||
msgCompressed.header = msg.header;
|
||||
msgCompressed.rgb_camera_info = msg.rgb_camera_info;
|
||||
msgCompressed.depth_camera_info = msg.depth_camera_info;
|
||||
|
||||
cv_bridge::CvImage cvImg;
|
||||
cvImg.header = image->header;
|
||||
cvImg.image = rgbMat;
|
||||
cvImg.encoding = image->encoding;
|
||||
cvImg.toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
msgCompressed.depth_compressed.header = imageDepthPtr->header;
|
||||
msgCompressed.depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
|
||||
|
||||
msgCompressed.depth_compressed.format = "png";
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_.getNumSubscribers())
|
||||
{
|
||||
cv_bridge::CvImage cvImg;
|
||||
cvImg.header = image->header;
|
||||
cvImg.image = rgbMat;
|
||||
cvImg.encoding = image->encoding;
|
||||
cvImg.toImageMsg(msg.rgb);
|
||||
|
||||
cv_bridge::CvImage cvDepth;
|
||||
cvDepth.header = depth->header;
|
||||
cvDepth.image = depthMat;
|
||||
cvDepth.encoding = depth->encoding;
|
||||
cvDepth.toImageMsg(msg.depth);
|
||||
|
||||
rgbdImagePub_.publish(msg);
|
||||
}
|
||||
|
||||
if( rgbStamp != image->header.stamp.toSec() ||
|
||||
depthStamp != depth->header.stamp.toSec())
|
||||
{
|
||||
NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"rgb=%f->%f depth=%f->%f",
|
||||
rgbStamp, image->header.stamp.toSec(),
|
||||
depthStamp, depth->header.stamp.toSec());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
double depthScale_;
|
||||
int decimation_;
|
||||
double compressedRate_;
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
|
||||
ros::Time lastCompressedPublished_;
|
||||
|
||||
ros::Publisher rgbdImagePub_;
|
||||
ros::Publisher rgbdImageCompressedPub_;
|
||||
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
image_transport::SubscriberFilter imageDepthSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
|
||||
message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_sync::RGBDSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,340 @@
|
||||
/*
|
||||
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 <ros/ros.h>
|
||||
#include <pluginlib/class_list_macros.hpp>
|
||||
#include <nodelet/nodelet.h>
|
||||
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
#include "rtabmap_msgs/RGBDImages.h"
|
||||
#include "rtabmap_sync/CommonDataSubscriber.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
class RGBDXSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
RGBDXSync() :
|
||||
warningThread_(0),
|
||||
callbackCalled_(false),
|
||||
SYNC_INIT(rgbd2),
|
||||
SYNC_INIT(rgbd3),
|
||||
SYNC_INIT(rgbd4),
|
||||
SYNC_INIT(rgbd5),
|
||||
SYNC_INIT(rgbd6),
|
||||
SYNC_INIT(rgbd7),
|
||||
SYNC_INIT(rgbd8)
|
||||
{}
|
||||
|
||||
virtual ~RGBDXSync()
|
||||
{
|
||||
SYNC_DEL(rgbd2);
|
||||
|
||||
if(warningThread_)
|
||||
{
|
||||
callbackCalled_=true;
|
||||
warningThread_->join();
|
||||
delete warningThread_;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = true;
|
||||
int rgbdCameras = 2;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
|
||||
|
||||
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
|
||||
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
|
||||
NODELET_INFO("%s: rgbd_cameras = %d", getName().c_str(), rgbdCameras);
|
||||
|
||||
rgbdImagesPub_ = nh.advertise<rtabmap_msgs::RGBDImages>("rgbd_images", 1);
|
||||
|
||||
ROS_ASSERT(rgbdCameras>=2 && rgbdCameras<=8);
|
||||
|
||||
rgbdSubs_.resize(rgbdCameras);
|
||||
for(int i=0; i<rgbdCameras; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
|
||||
}
|
||||
|
||||
std::string name_ = this->getName();
|
||||
std::string subscribedTopicsMsg_;
|
||||
if(rgbdCameras==2)
|
||||
{
|
||||
SYNC_DECL2(RGBDXSync, rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd2ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==3)
|
||||
{
|
||||
SYNC_DECL3(RGBDXSync, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd3ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==4)
|
||||
{
|
||||
SYNC_DECL4(RGBDXSync, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd4ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==5)
|
||||
{
|
||||
SYNC_DECL5(RGBDXSync, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd5ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==6)
|
||||
{
|
||||
SYNC_DECL6(RGBDXSync, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd6ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==7)
|
||||
{
|
||||
SYNC_DECL7(RGBDXSync, rgbd7, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd7ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==8)
|
||||
{
|
||||
SYNC_DECL8(RGBDXSync, rgbd8, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]), (*rgbdSubs_[7]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd8ApproximateSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
|
||||
warningThread_ = new boost::thread(boost::bind(&RGBDXSync::warningLoop, this, subscribedTopicsMsg_, approxSync));
|
||||
NODELET_INFO("%s%s", subscribedTopicsMsg_.c_str(),
|
||||
approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).c_str():"");
|
||||
}
|
||||
|
||||
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
DATA_SYNCS2(rgbd2, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbd3, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd4, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd5, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd6, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd7, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS8(rgbd8, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
|
||||
private:
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
|
||||
ros::Publisher rgbdImagesPub_;
|
||||
|
||||
std::vector<message_filters::Subscriber<rtabmap_msgs::RGBDImage>*> rgbdSubs_;
|
||||
};
|
||||
|
||||
|
||||
void RGBDXSync::rgbd2Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(2);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd3Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(3);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd4Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(4);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd5Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(5);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd6Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(6);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd7Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(7);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
output.rgbd_images[6]=(*image6);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd8Callback(
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image0,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image1,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image2,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image3,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image4,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image5,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image6,
|
||||
const rtabmap_msgs::RGBDImageConstPtr& image7)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
rtabmap_msgs::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(8);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
output.rgbd_images[6]=(*image6);
|
||||
output.rgbd_images[7]=(*image7);
|
||||
rgbdImagesPub_.publish(output);
|
||||
}
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_sync::RGBDXSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,268 @@
|
||||
/*
|
||||
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 <ros/ros.h>
|
||||
#include <pluginlib/class_list_macros.hpp>
|
||||
#include <nodelet/nodelet.h>
|
||||
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/CompressedImage.h>
|
||||
#include <sensor_msgs/image_encodings.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
#include "rtabmap_msgs/RGBDImage.h"
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
class StereoSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
StereoSync() :
|
||||
compressedRate_(0),
|
||||
warningThread_(0),
|
||||
callbackCalled_(false),
|
||||
approxSync_(0),
|
||||
exactSync_(0)
|
||||
{}
|
||||
|
||||
virtual ~StereoSync()
|
||||
{
|
||||
if(approxSync_)
|
||||
delete approxSync_;
|
||||
if(exactSync_)
|
||||
delete exactSync_;
|
||||
|
||||
if(warningThread_)
|
||||
{
|
||||
callbackCalled_=true;
|
||||
warningThread_->join();
|
||||
delete warningThread_;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = false;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
if(approxSync)
|
||||
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
pnh.param("compressed_rate", compressedRate_, compressedRate_);
|
||||
|
||||
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
|
||||
NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
|
||||
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
|
||||
NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image", 1);
|
||||
rgbdImageCompressedPub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image/compressed", 1);
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
if(approxSyncMaxInterval>0.0)
|
||||
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
|
||||
approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
|
||||
}
|
||||
|
||||
ros::NodeHandle left_nh(nh, "left");
|
||||
ros::NodeHandle right_nh(nh, "right");
|
||||
ros::NodeHandle left_pnh(pnh, "left");
|
||||
ros::NodeHandle right_pnh(pnh, "right");
|
||||
image_transport::ImageTransport rgb_it(left_nh);
|
||||
image_transport::ImageTransport depth_it(right_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), left_pnh);
|
||||
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), right_pnh);
|
||||
|
||||
imageLeftSub_.subscribe(rgb_it, left_nh.resolveName("image_rect"), 1, hintsRgb);
|
||||
imageRightSub_.subscribe(depth_it, right_nh.resolveName("image_rect"), 1, hintsDepth);
|
||||
cameraInfoLeftSub_.subscribe(left_nh, "camera_info", 1);
|
||||
cameraInfoRightSub_.subscribe(right_nh, "camera_info", 1);
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
|
||||
getName().c_str(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
|
||||
imageLeftSub_.getTopic().c_str(),
|
||||
imageRightSub_.getTopic().c_str(),
|
||||
cameraInfoLeftSub_.getTopic().c_str(),
|
||||
cameraInfoRightSub_.getTopic().c_str());
|
||||
|
||||
warningThread_ = new boost::thread(boost::bind(&StereoSync::warningLoop, this, subscribedTopicsMsg, approxSync));
|
||||
NODELET_INFO("%s", subscribedTopicsMsg.c_str());
|
||||
}
|
||||
|
||||
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void callback(
|
||||
const sensor_msgs::ImageConstPtr& imageLeft,
|
||||
const sensor_msgs::ImageConstPtr& imageRight,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
double leftStamp = imageLeft->header.stamp.toSec();
|
||||
double rightStamp = imageRight->header.stamp.toSec();
|
||||
double leftInfoStamp = cameraInfoLeft->header.stamp.toSec();
|
||||
double rightInfoStamp = cameraInfoRight->header.stamp.toSec();
|
||||
|
||||
double stampDiff = fabs(leftStamp - rightStamp);
|
||||
if(stampDiff > 0.010)
|
||||
{
|
||||
NODELET_WARN("The time difference between left and right frames is "
|
||||
"high (diff=%fs, left=%fs, right=%fs). If your left and right cameras are hardware "
|
||||
"synchronized, use approx_sync:=false. Otherwise, you may want "
|
||||
"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations.",
|
||||
stampDiff,
|
||||
leftStamp,
|
||||
rightStamp);
|
||||
}
|
||||
|
||||
rtabmap_msgs::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfoLeft->header.frame_id;
|
||||
msg.header.stamp = imageLeft->header.stamp>imageRight->header.stamp?imageLeft->header.stamp:imageRight->header.stamp;
|
||||
msg.rgb_camera_info = *cameraInfoLeft;
|
||||
msg.depth_camera_info = *cameraInfoRight;
|
||||
|
||||
if(rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
|
||||
{
|
||||
NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = ros::Time::now();
|
||||
|
||||
rtabmap_msgs::RGBDImage msgCompressed = msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
|
||||
imageDepthPtr->toCompressedImageMsg(msgCompressed.depth_compressed, cv_bridge::JPG);
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_.getNumSubscribers())
|
||||
{
|
||||
msg.rgb = *imageLeft;
|
||||
msg.depth = *imageRight;
|
||||
rgbdImagePub_.publish(msg);
|
||||
}
|
||||
|
||||
if( leftStamp != imageLeft->header.stamp.toSec() ||
|
||||
rightStamp != imageRight->header.stamp.toSec())
|
||||
{
|
||||
NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"left%f->%f right=%f->%f",
|
||||
leftStamp, imageLeft->header.stamp.toSec(),
|
||||
rightStamp, imageRight->header.stamp.toSec());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
double compressedRate_;
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
ros::Time lastCompressedPublished_;
|
||||
|
||||
ros::Publisher rgbdImagePub_;
|
||||
ros::Publisher rgbdImageCompressedPub_;
|
||||
|
||||
image_transport::SubscriberFilter imageLeftSub_;
|
||||
image_transport::SubscriberFilter imageRightSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeftSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRightSub_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
|
||||
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_sync::StereoSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user