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Added RGBDImages msg. Added rgbdx_sync to sync up to 8 cameras. For rtabmap node, rgbd_cameras=0 means subscribing to a rgbd_images topic (containing N cameras).

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This commit is contained in:
matlabbe
2021-08-02 17:47:30 -04:00
parent d2465851de
commit 523b001ca3
22 changed files with 1265 additions and 230 deletions
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src/CommonDataSubscriber.cpp
+84 -8
View File
@@ -163,6 +163,34 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
SYNC_INIT(rgbdOdomDataScanDesc),
SYNC_INIT(rgbdOdomDataInfo),
#endif
// X RGBD
SYNC_INIT(rgbdXScan2d),
SYNC_INIT(rgbdXScan3d),
SYNC_INIT(rgbdXScanDesc),
SYNC_INIT(rgbdXInfo),
// X RGBD + Odom
SYNC_INIT(rgbdXOdom),
SYNC_INIT(rgbdXOdomScan2d),
SYNC_INIT(rgbdXOdomScan3d),
SYNC_INIT(rgbdXOdomScanDesc),
SYNC_INIT(rgbdXOdomInfo),
#ifdef RTABMAP_SYNC_USER_DATA
// X RGBD + User Data
SYNC_INIT(rgbdXData),
SYNC_INIT(rgbdXDataScan2d),
SYNC_INIT(rgbdXDataScan3d),
SYNC_INIT(rgbdXDataScanDesc),
SYNC_INIT(rgbdXDataInfo),
// X RGBD + Odom + User Data
SYNC_INIT(rgbdXOdomData),
SYNC_INIT(rgbdXOdomDataScan2d),
SYNC_INIT(rgbdXOdomDataScan3d),
SYNC_INIT(rgbdXOdomDataScanDesc),
SYNC_INIT(rgbdXOdomDataInfo),
#endif
#ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD
@@ -438,11 +466,6 @@ void CommonDataSubscriber::setupCallbacks(
pnh.param("approx_sync", approxSync_, approxSync_);
}
if(rgbdCameras <= 0 && subscribedToRGBD_)
{
rgbdCameras = 1;
}
ROS_INFO("%s: subscribe_depth = %s", name.c_str(), subscribedToDepth_?"true":"false");
ROS_INFO("%s: subscribe_rgb = %s", name.c_str(), subscribedToRGB_?"true":"false");
ROS_INFO("%s: subscribe_stereo = %s", name.c_str(), subscribedToStereo_?"true":"false");
@@ -496,9 +519,30 @@ void CommonDataSubscriber::setupCallbacks(
}
else if(subscribedToRGBD_)
{
#ifdef RTABMAP_SYNC_MULTI_RGBD
if(rgbdCameras == 6)
if(rgbdCameras == 0)
{
setupRGBDXCallbacks(
nh,
pnh,
subscribedToOdom_,
subscribeUserData,
subscribeScan2d,
subscribeScan3d,
subscribeScanDesc,
subscribeOdomInfo,
queueSize_,
approxSync_);
}
#ifdef RTABMAP_SYNC_MULTI_RGBD
else if(rgbdCameras >= 6)
{
if(rgbdCameras > 6)
{
ROS_ERROR("Cannot synchronize more than 6 rgbd topics (rgbd_cameras is set to %d). Set "
"rgbd_cameras=0 to use RGBDImages interface instead, then "
"synchronize RGBDImage topics yourself.", rgbdCameras);
}
setupRGBD6Callbacks(
nh,
pnh,
@@ -570,7 +614,10 @@ void CommonDataSubscriber::setupCallbacks(
#else
if(rgbdCameras>1)
{
ROS_FATAL("Cannot synchronize more than 1 rgbd topic (rtabmap_ros has been built without RTABMAP_SYNC_MULTI_RGBD option)");
ROS_FATAL("Cannot synchronize more than 1 rgbd topic (rtabmap_ros has "
"been built without RTABMAP_SYNC_MULTI_RGBD option). Set rgbd_cameras=0 to "
"use RGBDImages interface instead without recompiling with RTABMAP_SYNC_MULTI_RGBD, "
"but you will have to synchronize RGBDImage topics yourself.");
}
#endif
else
@@ -749,6 +796,35 @@ CommonDataSubscriber::~CommonDataSubscriber()
SYNC_DEL(rgbdOdomDataInfo);
#endif
// X RGBD
SYNC_DEL(rgbdXScan2d);
SYNC_DEL(rgbdXScan3d);
SYNC_DEL(rgbdXScanDesc);
SYNC_DEL(rgbdXInfo);
// X RGBD + Odom
SYNC_DEL(rgbdXOdom);
SYNC_DEL(rgbdXOdomScan2d);
SYNC_DEL(rgbdXOdomScan3d);
SYNC_DEL(rgbdXOdomScanDesc);
SYNC_DEL(rgbdXOdomInfo);
#ifdef RTABMAP_SYNC_USER_DATA
// X RGBD + User Data
SYNC_DEL(rgbdXData);
SYNC_DEL(rgbdXDataScan2d);
SYNC_DEL(rgbdXDataScan3d);
SYNC_DEL(rgbdXDataScanDesc);
SYNC_DEL(rgbdXDataInfo);
// X RGBD + Odom + User Data
SYNC_DEL(rgbdXOdomData);
SYNC_DEL(rgbdXOdomDataScan2d);
SYNC_DEL(rgbdXOdomDataScan3d);
SYNC_DEL(rgbdXOdomDataScanDesc);
SYNC_DEL(rgbdXOdomDataInfo);
#endif
#ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD
SYNC_DEL(rgbd2);
src/MsgConversion.cpp
+16 -11
View File
@@ -163,38 +163,43 @@ void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb,
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
if(!image->rgb.data.empty())
toCvShare(*image, image, rgb, depth);
}
void toCvShare(const rtabmap_ros::RGBDImage & image, const boost::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
if(!image.rgb.data.empty())
{
rgb = cv_bridge::toCvShare(image->rgb, image);
rgb = cv_bridge::toCvShare(image.rgb, trackedObject);
}
else if(!image->rgb_compressed.data.empty())
else if(!image.rgb_compressed.data.empty())
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
rgb = cv_bridge::toCvCopy(image->rgb_compressed);
rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif
}
if(!image->depth.data.empty())
if(!image.depth.data.empty())
{
depth = cv_bridge::toCvShare(image->depth, image);
depth = cv_bridge::toCvShare(image.depth, trackedObject);
}
else if(!image->depth_compressed.data.empty())
else if(!image.depth_compressed.data.empty())
{
if(image->depth_compressed.format.compare("jpg")==0)
if(image.depth_compressed.format.compare("jpg")==0)
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
depth = cv_bridge::toCvCopy(image->depth_compressed);
depth = cv_bridge::toCvCopy(image.depth_compressed);
#endif
}
else
{
cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>();
ptr->header = image->depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image->depth_compressed.data);
ptr->header = image.depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image.depth_compressed.data);
ROS_ASSERT(ptr->image.empty() || ptr->image.type() == CV_32FC1 || ptr->image.type() == CV_16UC1);
ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr;
src/RGBDXSyncNode.cpp
+47
View File
@@ -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_ros/rgbdx_sync", remap, nargv);
ros::spin();
return 0;
}
src/impl/CommonDataSubscriberDepth.cpp
+32 -32
View File
@@ -498,11 +498,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(depthOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -513,11 +513,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -528,22 +528,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
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(depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
}
}
else
@@ -560,11 +560,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, depthOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -575,11 +575,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
SYNC_DECL5(CommonDataSubscriber, depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -590,22 +590,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL5(CommonDataSubscriber, depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
SYNC_DECL4(CommonDataSubscriber, depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -622,11 +622,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, depthDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -638,11 +638,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
SYNC_DECL5(CommonDataSubscriber, depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -653,22 +653,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL5(CommonDataSubscriber, depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
SYNC_DECL4(CommonDataSubscriber, depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
}
}
#endif
@@ -682,11 +682,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScanDescInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -697,11 +697,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScan2dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -712,22 +712,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScan3dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
SYNC_DECL3(CommonDataSubscriber, depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
}
}
}
src/impl/CommonDataSubscriberOdom.cpp
+3 -3
View File
@@ -89,11 +89,11 @@ void CommonDataSubscriber::setupOdomCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(odomData, approxSync, queueSize, odomSub_, userDataSub_);
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
}
}
else
@@ -102,7 +102,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
}
}
else
src/impl/CommonDataSubscriberRGB.cpp
+32 -32
View File
@@ -492,11 +492,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -507,11 +507,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -522,22 +522,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
}
}
else
@@ -554,11 +554,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -569,11 +569,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -584,22 +584,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbOdomInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -616,11 +616,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -632,11 +632,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -647,22 +647,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL4(CommonDataSubscriber, rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbDataInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
}
}
#endif
@@ -676,11 +676,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScanDescInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_);
SYNC_DECL3(CommonDataSubscriber, rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_);
}
}
else if(subscribeScan2d)
@@ -691,11 +691,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScan2dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_);
SYNC_DECL3(CommonDataSubscriber, rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_);
}
}
else if(subscribeScan3d)
@@ -706,22 +706,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScan3dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_);
SYNC_DECL3(CommonDataSubscriber, rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_);
}
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(rgb, approxSync, queueSize, imageSub_, cameraInfoSub_);
SYNC_DECL2(CommonDataSubscriber, rgb, approxSync, queueSize, imageSub_, cameraInfoSub_);
}
}
}
src/impl/CommonDataSubscriberRGBD.cpp
+19 -19
View File
@@ -565,7 +565,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -576,7 +576,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -587,17 +587,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
SYNC_DECL3(CommonDataSubscriber, rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
}
}
else
@@ -614,7 +614,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -625,7 +625,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -636,17 +636,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdOdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
{
SYNC_DECL2(rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
SYNC_DECL2(CommonDataSubscriber, rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -662,7 +662,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdDataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -673,7 +673,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -684,17 +684,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdDataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
{
SYNC_DECL2(rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
SYNC_DECL2(CommonDataSubscriber, rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
}
}
#endif
@@ -709,7 +709,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_);
SYNC_DECL2(CommonDataSubscriber, rgbdScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -720,7 +720,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
SYNC_DECL2(CommonDataSubscriber, rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -731,13 +731,13 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
SYNC_DECL2(CommonDataSubscriber, rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
}
else
{
src/impl/CommonDataSubscriberRGBD2.cpp
+20 -20
View File
@@ -374,7 +374,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -385,7 +385,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -396,17 +396,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
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(rgbd2OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
}
}
else
@@ -423,7 +423,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -434,7 +434,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -445,17 +445,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
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(rgbd2OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
SYNC_DECL3(CommonDataSubscriber, rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -471,7 +471,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -482,7 +482,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -493,17 +493,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
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(rgbd2DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
SYNC_DECL3(CommonDataSubscriber, rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
}
}
#endif
@@ -518,7 +518,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
SYNC_DECL3(CommonDataSubscriber, rgbd2ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -529,7 +529,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -540,17 +540,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbd2Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
{
SYNC_DECL2(rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
SYNC_DECL2(CommonDataSubscriber, rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
}
}
}
src/impl/CommonDataSubscriberRGBD3.cpp
+20 -20
View File
@@ -461,7 +461,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -472,7 +472,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -483,17 +483,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
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(rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
}
}
else
@@ -510,7 +510,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -521,7 +521,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -532,17 +532,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
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(rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
SYNC_DECL4(CommonDataSubscriber, rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -558,7 +558,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_); }
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_); }
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
@@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -579,17 +579,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
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(rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
SYNC_DECL4(CommonDataSubscriber, rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
}
}
#endif
@@ -604,7 +604,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd3ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -615,7 +615,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -626,17 +626,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
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(rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
SYNC_DECL3(CommonDataSubscriber, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
}
}
}
src/impl/CommonDataSubscriberRGBD4.cpp
+20 -20
View File
@@ -429,7 +429,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -440,7 +440,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -451,17 +451,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
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(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
}
}
else
@@ -478,7 +478,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -489,7 +489,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -500,17 +500,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
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(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
SYNC_DECL5(CommonDataSubscriber, rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
}
}
#ifdef RTABMAP_SYNC_USER_DATA
@@ -526,7 +526,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -537,7 +537,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -548,17 +548,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
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(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
SYNC_DECL5(CommonDataSubscriber, rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
}
}
#endif
@@ -573,7 +573,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd4ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -584,7 +584,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -595,17 +595,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
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(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
SYNC_DECL4(CommonDataSubscriber, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
}
}
}
src/impl/CommonDataSubscriberRGBD5.cpp
+10 -10
View File
@@ -282,7 +282,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -293,7 +293,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -304,17 +304,17 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
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(rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd5Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
SYNC_DECL6(CommonDataSubscriber, rgbd5Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
else
@@ -328,7 +328,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -339,7 +339,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -350,17 +350,17 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
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(rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
SYNC_DECL5(CommonDataSubscriber, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
}
src/impl/CommonDataSubscriberRGBD6.cpp
+10 -10
View File
@@ -299,7 +299,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -310,7 +310,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -321,17 +321,17 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
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(rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
{
SYNC_DECL7(rgbd6Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
SYNC_DECL7(CommonDataSubscriber, rgbd6Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
}
}
else
@@ -345,7 +345,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd6ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -356,7 +356,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd6Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -367,17 +367,17 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
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(rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
SYNC_DECL6(CommonDataSubscriber, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
}
}
}
src/impl/CommonDataSubscriberRGBDX.cpp
+535
View File
@@ -0,0 +1,535 @@
/*
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_ros/CommonDataSubscriber.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap_ros/MsgConversion.h>
#include <cv_bridge/cv_bridge.h>
namespace rtabmap_ros {
#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<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs; \
std::vector<std::vector<rtabmap_ros::KeyPoint> > localKeyPoints; \
std::vector<std::vector<rtabmap_ros::Point3f> > localPoints3d; \
std::vector<cv::Mat> localDescriptors; \
for(size_t i=0; i<imageMsgs.size(); ++i) \
{ \
rtabmap_ros::toCvShare(imagesMsg->rgbd_images[i], imagesMsg, imageMsgs[i], depthMsgs[i]); \
cameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].rgb_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_ros::RGBDImagesConstPtr& imagesMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXScan2dCallback(
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXScan3dCallback(
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXScanDescCallback(
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXInfoCallback(
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
// X RGBD + Odom
void CommonDataSubscriber::rgbdXOdomCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomScan2dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomScan3dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomScanDescCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
#ifdef RTABMAP_SYNC_USER_DATA
// X RGBD + User Data
void CommonDataSubscriber::rgbdXDataCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXDataScan2dCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXDataScan3dCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXDataScanDescCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXDataInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
// X RGBD + Odom + User Data
void CommonDataSubscriber::rgbdXOdomDataCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomDataScan2dCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
IMAGE_CONVERSION();
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomDataScan3dCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomDataScanDescCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbdXOdomDataInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImagesConstPtr& imagesMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, 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_ros */
src/impl/CommonDataSubscriberScan.cpp
+20 -20
View File
@@ -310,11 +310,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_);
SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_);
}
}
else if(scan2dTopic)
@@ -323,11 +323,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_);
SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_);
}
}
else
@@ -336,11 +336,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(odomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_);
SYNC_DECL3(CommonDataSubscriber, odomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_);
}
}
}
@@ -356,11 +356,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_);
SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_);
}
}
else if(scan2dTopic)
@@ -369,11 +369,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(odomScan2d, approxSync, queueSize, odomSub_, scanSub_);
SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync, queueSize, odomSub_, scanSub_);
}
}
else
@@ -382,11 +382,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(odomScan3d, approxSync, queueSize, odomSub_, scan3dSub_);
SYNC_DECL2(CommonDataSubscriber, odomScan3d, approxSync, queueSize, odomSub_, scan3dSub_);
}
}
}
@@ -401,11 +401,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_);
SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_);
}
}
else if(scan2dTopic)
@@ -418,7 +418,7 @@ void CommonDataSubscriber::setupScanCallbacks(
}
else
{
SYNC_DECL2(dataScan2d, approxSync, queueSize, userDataSub_, scanSub_);
SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync, queueSize, userDataSub_, scanSub_);
}
}
else
@@ -427,11 +427,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(dataScan3d, approxSync, queueSize, userDataSub_, scan3dSub_);
SYNC_DECL2(CommonDataSubscriber, dataScan3d, approxSync, queueSize, userDataSub_, scan3dSub_);
}
}
}
@@ -442,15 +442,15 @@ void CommonDataSubscriber::setupScanCallbacks(
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
if(scanDescTopic)
{
SYNC_DECL2(scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
}
else if(scan2dTopic)
{
SYNC_DECL2(scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_);
SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(scan3dInfo, approxSync, queueSize, scan3dSub_, odomInfoSub_);
SYNC_DECL2(CommonDataSubscriber, scan3dInfo, approxSync, queueSize, scan3dSub_, odomInfoSub_);
}
}
}
src/impl/CommonDataSubscriberStereo.cpp
+4 -4
View File
@@ -121,11 +121,11 @@ void CommonDataSubscriber::setupStereoCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else
{
SYNC_DECL5(stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
SYNC_DECL5(CommonDataSubscriber, stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
}
}
else
@@ -134,11 +134,11 @@ void CommonDataSubscriber::setupStereoCallbacks(
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else
{
SYNC_DECL4(stereo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
SYNC_DECL4(CommonDataSubscriber, stereo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
}
}
}
src/nodelets/rgbdx_sync.cpp
+307
View File
@@ -0,0 +1,307 @@
/*
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.h>
#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_ros/RGBDImages.h"
#include "rtabmap_ros/CommonDataSubscriber.h"
namespace rtabmap_ros
{
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;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("queue_size", queueSize, queueSize);
pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
NODELET_INFO("%s: rgbd_cameras = %d", getName().c_str(), rgbdCameras);
rgbdImagesPub_ = nh.advertise<rtabmap_ros::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_ros::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]));
}
else if(rgbdCameras==3)
{
SYNC_DECL3(RGBDXSync, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
}
else if(rgbdCameras==4)
{
SYNC_DECL4(RGBDXSync, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
}
else if(rgbdCameras==5)
{
SYNC_DECL5(RGBDXSync, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
else if(rgbdCameras==6)
{
SYNC_DECL6(RGBDXSync, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
}
else if(rgbdCameras==7)
{
SYNC_DECL7(RGBDXSync, rgbd7, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
}
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]));
}
warningThread_ = new boost::thread(boost::bind(&RGBDXSync::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());
}
}
}
DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS5(rgbd5, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS6(rgbd6, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS7(rgbd7, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS8(rgbd8, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
private:
boost::thread * warningThread_;
bool callbackCalled_;
ros::Publisher rgbdImagesPub_;
std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_;
};
void RGBDXSync::rgbd2Callback(
const rtabmap_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2,
const rtabmap_ros::RGBDImageConstPtr& image3)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2,
const rtabmap_ros::RGBDImageConstPtr& image3,
const rtabmap_ros::RGBDImageConstPtr& image4)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2,
const rtabmap_ros::RGBDImageConstPtr& image3,
const rtabmap_ros::RGBDImageConstPtr& image4,
const rtabmap_ros::RGBDImageConstPtr& image5)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2,
const rtabmap_ros::RGBDImageConstPtr& image3,
const rtabmap_ros::RGBDImageConstPtr& image4,
const rtabmap_ros::RGBDImageConstPtr& image5,
const rtabmap_ros::RGBDImageConstPtr& image6)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDImageConstPtr& image0,
const rtabmap_ros::RGBDImageConstPtr& image1,
const rtabmap_ros::RGBDImageConstPtr& image2,
const rtabmap_ros::RGBDImageConstPtr& image3,
const rtabmap_ros::RGBDImageConstPtr& image4,
const rtabmap_ros::RGBDImageConstPtr& image5,
const rtabmap_ros::RGBDImageConstPtr& image6,
const rtabmap_ros::RGBDImageConstPtr& image7)
{
callbackCalled_ = true;
rtabmap_ros::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_ros::RGBDXSync, nodelet::Nodelet);
}