mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-08 02:37:45 +08:00
Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.
This commit is contained in:
matlabbe
@@ -40,7 +40,7 @@ void CommonDataSubscriber::depthCallback(
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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@@ -52,7 +52,7 @@ void CommonDataSubscriber::depthScan2dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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@@ -64,7 +64,7 @@ void CommonDataSubscriber::depthScan3dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthInfoCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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@@ -76,7 +76,7 @@ void CommonDataSubscriber::depthInfoCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dInfoCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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@@ -88,7 +88,7 @@ void CommonDataSubscriber::depthScan2dInfoCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dInfoCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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@@ -100,7 +100,7 @@ void CommonDataSubscriber::depthScan3dInfoCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom
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@@ -114,7 +114,7 @@ void CommonDataSubscriber::depthOdomCallback(
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -126,7 +126,7 @@ void CommonDataSubscriber::depthOdomScan2dCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -138,7 +138,7 @@ void CommonDataSubscriber::depthOdomScan3dCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -150,7 +150,7 @@ void CommonDataSubscriber::depthOdomInfoCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan2dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -162,7 +162,7 @@ void CommonDataSubscriber::depthOdomScan2dInfoCallback(
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan3dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -174,7 +174,7 @@ void CommonDataSubscriber::depthOdomScan3dInfoCallback(
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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// RGB + Depth + User Data
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@@ -188,7 +188,7 @@ void CommonDataSubscriber::depthDataCallback(
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan2dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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@@ -200,7 +200,7 @@ void CommonDataSubscriber::depthDataScan2dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan3dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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@@ -212,7 +212,7 @@ void CommonDataSubscriber::depthDataScan3dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataInfoCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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@@ -224,7 +224,7 @@ void CommonDataSubscriber::depthDataInfoCallback(
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan2dInfoCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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@@ -236,7 +236,7 @@ void CommonDataSubscriber::depthDataScan2dInfoCallback(
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan3dInfoCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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@@ -248,7 +248,7 @@ void CommonDataSubscriber::depthDataScan3dInfoCallback(
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom + User Data
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@@ -262,7 +262,7 @@ void CommonDataSubscriber::depthOdomDataCallback(
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -274,7 +274,7 @@ void CommonDataSubscriber::depthOdomDataScan2dCallback(
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{
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -286,7 +286,7 @@ void CommonDataSubscriber::depthOdomDataScan3dCallback(
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -298,7 +298,7 @@ void CommonDataSubscriber::depthOdomDataInfoCallback(
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan2dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -310,7 +310,7 @@ void CommonDataSubscriber::depthOdomDataScan2dInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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@@ -322,7 +322,7 @@ void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::setupDepthCallbacks(
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@@ -44,7 +44,7 @@ void CommonDataSubscriber::rgbdCallback(
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbdScan2dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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@@ -57,7 +57,7 @@ void CommonDataSubscriber::rgbdScan2dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbdScan3dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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@@ -70,7 +70,7 @@ void CommonDataSubscriber::rgbdScan3dCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbdInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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@@ -83,7 +83,7 @@ void CommonDataSubscriber::rgbdInfoCallback(
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbdScan2dInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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@@ -96,7 +96,7 @@ void CommonDataSubscriber::rgbdScan2dInfoCallback(
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan3dInfoCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
@@ -109,7 +109,7 @@ void CommonDataSubscriber::rgbdScan3dInfoCallback(
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom
|
||||
@@ -124,7 +124,7 @@ void CommonDataSubscriber::rgbdOdomCallback(
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -137,7 +137,7 @@ void CommonDataSubscriber::rgbdOdomScan2dCallback(
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -150,7 +150,7 @@ void CommonDataSubscriber::rgbdOdomScan3dCallback(
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -163,7 +163,7 @@ void CommonDataSubscriber::rgbdOdomInfoCallback(
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -176,7 +176,7 @@ void CommonDataSubscriber::rgbdOdomScan2dInfoCallback(
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -189,7 +189,7 @@ void CommonDataSubscriber::rgbdOdomScan3dInfoCallback(
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + User Data
|
||||
@@ -204,7 +204,7 @@ void CommonDataSubscriber::rgbdDataCallback(
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan2dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -217,7 +217,7 @@ void CommonDataSubscriber::rgbdDataScan2dCallback(
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan3dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -230,7 +230,7 @@ void CommonDataSubscriber::rgbdDataScan3dCallback(
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -243,7 +243,7 @@ void CommonDataSubscriber::rgbdDataInfoCallback(
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan2dInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -256,7 +256,7 @@ void CommonDataSubscriber::rgbdDataScan2dInfoCallback(
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan3dInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -269,7 +269,7 @@ void CommonDataSubscriber::rgbdDataScan3dInfoCallback(
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom + User Data
|
||||
@@ -284,7 +284,7 @@ void CommonDataSubscriber::rgbdOdomDataCallback(
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -297,7 +297,7 @@ void CommonDataSubscriber::rgbdOdomDataScan2dCallback(
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -310,7 +310,7 @@ void CommonDataSubscriber::rgbdOdomDataScan3dCallback(
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -323,7 +323,7 @@ void CommonDataSubscriber::rgbdOdomDataInfoCallback(
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan2dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -336,7 +336,7 @@ void CommonDataSubscriber::rgbdOdomDataScan2dInfoCallback(
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan3dInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -349,7 +349,7 @@ void CommonDataSubscriber::rgbdOdomDataScan3dInfoCallback(
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBDCallbacks(
|
||||
|
||||
@@ -39,8 +39,8 @@ namespace rtabmap_ros {
|
||||
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->cameraInfo);
|
||||
cameraInfoMsgs.push_back(image1Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgbCameraInfo);
|
||||
|
||||
// 2 RGBD
|
||||
void CommonDataSubscriber::rgbd2Callback(
|
||||
|
||||
@@ -40,9 +40,9 @@ namespace rtabmap_ros {
|
||||
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image3Msg->cameraInfo);
|
||||
cameraInfoMsgs.push_back(image1Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgbCameraInfo);
|
||||
|
||||
// 3 RGBD
|
||||
void CommonDataSubscriber::rgbd3Callback(
|
||||
|
||||
@@ -41,10 +41,10 @@ namespace rtabmap_ros {
|
||||
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image3Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image4Msg->cameraInfo);
|
||||
cameraInfoMsgs.push_back(image1Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgbCameraInfo); \
|
||||
cameraInfoMsgs.push_back(image4Msg->rgbCameraInfo);
|
||||
|
||||
// 4 RGBD
|
||||
void CommonDataSubscriber::rgbd4Callback(
|
||||
|
||||
@@ -38,10 +38,11 @@ void CommonDataSubscriber::stereoCallback(
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
@@ -52,9 +53,10 @@ void CommonDataSubscriber::stereoInfoCallback(
|
||||
{
|
||||
callbackCalled();
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scan2dMsg; // null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// Stereo + Odom
|
||||
@@ -66,10 +68,11 @@ void CommonDataSubscriber::stereoOdomCallback(
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -80,9 +83,10 @@ void CommonDataSubscriber::stereoOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg)
|
||||
{
|
||||
callbackCalled();
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupStereoCallbacks(
|
||||
|
||||
Reference in New Issue
Block a user