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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
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+8
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@@ -103,6 +103,7 @@ add_message_files(
Point3f.msg Point3f.msg
Goal.msg Goal.msg
RGBDImage.msg RGBDImage.msg
RGBDImages.msg
UserData.msg UserData.msg
GPS.msg GPS.msg
Path.msg Path.msg
@@ -200,6 +201,7 @@ SET(rtabmap_sync_lib_src
src/impl/CommonDataSubscriberStereo.cpp src/impl/CommonDataSubscriberStereo.cpp
src/impl/CommonDataSubscriberRGB.cpp src/impl/CommonDataSubscriberRGB.cpp
src/impl/CommonDataSubscriberRGBD.cpp src/impl/CommonDataSubscriberRGBD.cpp
src/impl/CommonDataSubscriberRGBDX.cpp
src/impl/CommonDataSubscriberScan.cpp src/impl/CommonDataSubscriberScan.cpp
src/impl/CommonDataSubscriberOdom.cpp src/impl/CommonDataSubscriberOdom.cpp
src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
@@ -240,6 +242,7 @@ SET(rtabmap_plugins_lib_src
src/nodelets/point_cloud_assembler.cpp src/nodelets/point_cloud_assembler.cpp
src/nodelets/undistort_depth.cpp src/nodelets/undistort_depth.cpp
src/nodelets/imu_to_tf.cpp src/nodelets/imu_to_tf.cpp
src/nodelets/rgbdx_sync.cpp
) )
IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10) IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
@@ -322,6 +325,10 @@ add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
target_link_libraries(rtabmap_rgbd_sync ${Libraries}) target_link_libraries(rtabmap_rgbd_sync ${Libraries})
set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync") set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
target_link_libraries(rtabmap_rgbdx_sync ${Libraries})
set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp) add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
target_link_libraries(rtabmap_stereo_sync ${Libraries}) target_link_libraries(rtabmap_stereo_sync ${Libraries})
set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync") set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
@@ -555,6 +562,7 @@ install(TARGETS
rtabmap_point_cloud_assembler rtabmap_point_cloud_assembler
rtabmap_camera rtabmap_camera
rtabmap_rgbd_sync rtabmap_rgbd_sync
rtabmap_rgbdx_sync
rtabmap_rgbd_relay rtabmap_rgbd_relay
rtabmap_wifi_signal_sub rtabmap_wifi_signal_sub
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
include/rtabmap_ros/CommonDataSubscriber.h
+44
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@@ -46,6 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <nav_msgs/Odometry.h> #include <nav_msgs/Odometry.h>
#include <rtabmap_ros/RGBDImage.h> #include <rtabmap_ros/RGBDImage.h>
#include <rtabmap_ros/RGBDImages.h>
#include <rtabmap_ros/UserData.h> #include <rtabmap_ros/UserData.h>
#include <rtabmap_ros/OdomInfo.h> #include <rtabmap_ros/OdomInfo.h>
#include <rtabmap_ros/ScanDescriptor.h> #include <rtabmap_ros/ScanDescriptor.h>
@@ -176,6 +177,17 @@ private:
bool subscribeOdomInfo, bool subscribeOdomInfo,
int queueSize, int queueSize,
bool approxSync); bool approxSync);
void setupRGBDXCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool subscribeOdom,
bool subscribeUserData,
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
#ifdef RTABMAP_SYNC_MULTI_RGBD #ifdef RTABMAP_SYNC_MULTI_RGBD
void setupRGBD2Callbacks( void setupRGBD2Callbacks(
ros::NodeHandle & nh, ros::NodeHandle & nh,
@@ -278,6 +290,8 @@ private:
//for rgbd callback //for rgbd callback
ros::Subscriber rgbdSub_; ros::Subscriber rgbdSub_;
std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_; std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_;
ros::Subscriber rgbdXSubOnly_;
message_filters::Subscriber<rtabmap_ros::RGBDImages> rgbdXSub_;
//stereo callback //stereo callback
image_transport::SubscriberFilter imageRectLeft_; image_transport::SubscriberFilter imageRectLeft_;
@@ -419,6 +433,36 @@ private:
DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo); DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
#endif #endif
// X RGBD
void rgbdXCallback(const rtabmap_ros::RGBDImagesConstPtr&);
DATA_SYNCS2(rgbdXScan2d, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
DATA_SYNCS2(rgbdXScan3d, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2)
DATA_SYNCS2(rgbdXScanDesc, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
DATA_SYNCS2(rgbdXInfo, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
// X RGBD + Odom
DATA_SYNCS2(rgbdXOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImages);
DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
#ifdef RTABMAP_SYNC_USER_DATA
// X RGBD + User Data
DATA_SYNCS2(rgbdXData, rtabmap_ros::UserData, rtabmap_ros::RGBDImages);
DATA_SYNCS3(rgbdXDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
DATA_SYNCS3(rgbdXDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
DATA_SYNCS3(rgbdXDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
// X RGBD + Odom + User Data
DATA_SYNCS3(rgbdXOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages);
DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
#endif
#ifdef RTABMAP_SYNC_MULTI_RGBD #ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD // 2 RGBD
DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage); DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
include/rtabmap_ros/CommonDataSubscriberDefines.h
+21 -21
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@@ -105,18 +105,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
if(PREFIX##ExactSync_) delete PREFIX##ExactSync_; if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
// Sync declarations // Sync declarations
#define SYNC_DECL2(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \ #define SYNC_DECL2(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -124,18 +124,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB0.getTopic().c_str(), \ SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str()); SUB1.getTopic().c_str());
#define SYNC_DECL3(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \ #define SYNC_DECL3(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -144,18 +144,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB1.getTopic().c_str(), \ SUB1.getTopic().c_str(), \
SUB2.getTopic().c_str()); SUB2.getTopic().c_str());
#define SYNC_DECL4(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \ #define SYNC_DECL4(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -165,18 +165,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB2.getTopic().c_str(), \ SUB2.getTopic().c_str(), \
SUB3.getTopic().c_str()); SUB3.getTopic().c_str());
#define SYNC_DECL5(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \ #define SYNC_DECL5(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -187,18 +187,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB3.getTopic().c_str(), \ SUB3.getTopic().c_str(), \
SUB4.getTopic().c_str()); SUB4.getTopic().c_str());
#define SYNC_DECL6(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \ #define SYNC_DECL6(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -210,18 +210,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB4.getTopic().c_str(), \ SUB4.getTopic().c_str(), \
SUB5.getTopic().c_str()); SUB5.getTopic().c_str());
#define SYNC_DECL7(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \ #define SYNC_DECL7(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -234,18 +234,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
SUB5.getTopic().c_str(), \ SUB5.getTopic().c_str(), \
SUB6.getTopic().c_str()); SUB6.getTopic().c_str());
#define SYNC_DECL8(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \ #define SYNC_DECL8(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
if(APPROX) \ if(APPROX) \
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
include/rtabmap_ros/MsgConversion.h
+1
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@@ -74,6 +74,7 @@ rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ig
void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth); void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth); void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
void toCvShare(const rtabmap_ros::RGBDImage & image, const boost::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_ros::RGBDImage & msg, const std::string & sensorFrameId); void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_ros::RGBDImage & msg, const std::string & sensorFrameId);
rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & image); rtabmap::SensorData rgbdImageFromROS(const rtabmap_ros::RGBDImageConstPtr & image);
msg/RGBDImages.msg
+4
View File
@@ -0,0 +1,4 @@
Header header
rtabmap_ros/RGBDImage[] rgbd_images
nodelet_plugins.xml
+8
View File
@@ -128,6 +128,14 @@
</description> </description>
</class> </class>
<class name="rtabmap_ros/rgbdx_sync"
type="rtabmap_ros::RGBDXSync"
base_class_type="nodelet::Nodelet">
<description>
This is my nodelet.
</description>
</class>
<class name="rtabmap_ros/rgbd_relay" <class name="rtabmap_ros/rgbd_relay"
type="rtabmap_ros::RGBDRelay" type="rtabmap_ros::RGBDRelay"
base_class_type="nodelet::Nodelet"> base_class_type="nodelet::Nodelet">
src/CommonDataSubscriber.cpp
+84 -8
View File
@@ -163,6 +163,34 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
SYNC_INIT(rgbdOdomDataScanDesc), SYNC_INIT(rgbdOdomDataScanDesc),
SYNC_INIT(rgbdOdomDataInfo), SYNC_INIT(rgbdOdomDataInfo),
#endif #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 #ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD // 2 RGBD
@@ -438,11 +466,6 @@ void CommonDataSubscriber::setupCallbacks(
pnh.param("approx_sync", approxSync_, approxSync_); 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_depth = %s", name.c_str(), subscribedToDepth_?"true":"false");
ROS_INFO("%s: subscribe_rgb = %s", name.c_str(), subscribedToRGB_?"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"); ROS_INFO("%s: subscribe_stereo = %s", name.c_str(), subscribedToStereo_?"true":"false");
@@ -496,9 +519,30 @@ void CommonDataSubscriber::setupCallbacks(
} }
else if(subscribedToRGBD_) else if(subscribedToRGBD_)
{ {
#ifdef RTABMAP_SYNC_MULTI_RGBD if(rgbdCameras == 0)
if(rgbdCameras == 6)
{ {
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( setupRGBD6Callbacks(
nh, nh,
pnh, pnh,
@@ -570,7 +614,10 @@ void CommonDataSubscriber::setupCallbacks(
#else #else
if(rgbdCameras>1) 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 #endif
else else
@@ -749,6 +796,35 @@ CommonDataSubscriber::~CommonDataSubscriber()
SYNC_DEL(rgbdOdomDataInfo); SYNC_DEL(rgbdOdomDataInfo);
#endif #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 #ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD // 2 RGBD
SYNC_DEL(rgbd2); 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) 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 #ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this."); ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else #else
rgb = cv_bridge::toCvCopy(image->rgb_compressed); rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif #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 #ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this."); ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else #else
depth = cv_bridge::toCvCopy(image->depth_compressed); depth = cv_bridge::toCvCopy(image.depth_compressed);
#endif #endif
} }
else else
{ {
cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>(); cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>();
ptr->header = image->depth_compressed.header; ptr->header = image.depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image->depth_compressed.data); ptr->image = rtabmap::uncompressImage(image.depth_compressed.data);
ROS_ASSERT(ptr->image.empty() || ptr->image.type() == CV_32FC1 || ptr->image.type() == CV_16UC1); 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; ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr; 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan2d)
@@ -513,11 +513,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan3d)
@@ -528,22 +528,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_); SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
} }
} }
else else
@@ -560,11 +560,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan2d)
@@ -575,11 +575,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan3d)
@@ -590,22 +590,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #ifdef RTABMAP_SYNC_USER_DATA
@@ -622,11 +622,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan2d)
@@ -638,11 +638,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan3d)
@@ -653,22 +653,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_); SYNC_DECL4(CommonDataSubscriber, depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
} }
} }
#endif #endif
@@ -682,11 +682,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_); SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
} }
} }
else if(subscribeScan2d) else if(subscribeScan2d)
@@ -697,11 +697,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_); SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
} }
} }
else if(subscribeScan3d) else if(subscribeScan3d)
@@ -712,22 +712,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_); SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
} }
} }
else if(subscribeOdomInfo) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
} }
else else
{ {
SYNC_DECL2(odomData, approxSync, queueSize, odomSub_, userDataSub_); SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
} }
} }
else else
@@ -102,7 +102,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_); SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
} }
} }
else else
src/impl/CommonDataSubscriberRGB.cpp
+32 -32
View File
@@ -492,11 +492,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan2d)
@@ -507,11 +507,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeScan3d)
@@ -522,22 +522,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_); SYNC_DECL4(CommonDataSubscriber, rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
} }
} }
else else
@@ -554,11 +554,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_); SYNC_DECL4(CommonDataSubscriber, rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
} }
} }
else if(subscribeScan2d) else if(subscribeScan2d)
@@ -569,11 +569,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_); SYNC_DECL4(CommonDataSubscriber, rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
} }
} }
else if(subscribeScan3d) else if(subscribeScan3d)
@@ -584,22 +584,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_); SYNC_DECL4(CommonDataSubscriber, rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
} }
} }
else if(subscribeOdomInfo) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_); SYNC_DECL3(CommonDataSubscriber, rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
} }
} }
#ifdef RTABMAP_SYNC_USER_DATA #ifdef RTABMAP_SYNC_USER_DATA
@@ -616,11 +616,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_); SYNC_DECL4(CommonDataSubscriber, rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
} }
} }
else if(subscribeScan2d) else if(subscribeScan2d)
@@ -632,11 +632,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_); SYNC_DECL4(CommonDataSubscriber, rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
} }
} }
else if(subscribeScan3d) else if(subscribeScan3d)
@@ -647,22 +647,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL4(rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_); SYNC_DECL4(CommonDataSubscriber, rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
} }
} }
else if(subscribeOdomInfo) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_); SYNC_DECL3(CommonDataSubscriber, rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
} }
} }
#endif #endif
@@ -676,11 +676,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_); SYNC_DECL3(CommonDataSubscriber, rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_);
} }
} }
else if(subscribeScan2d) else if(subscribeScan2d)
@@ -691,11 +691,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_); SYNC_DECL3(CommonDataSubscriber, rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_);
} }
} }
else if(subscribeScan3d) else if(subscribeScan3d)
@@ -706,22 +706,22 @@ void CommonDataSubscriber::setupRGBCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_); SYNC_DECL3(CommonDataSubscriber, rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_);
} }
} }
else if(subscribeOdomInfo) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
} }
else 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; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -576,7 +576,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -587,17 +587,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0])); SYNC_DECL3(CommonDataSubscriber, rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
} }
} }
else else
@@ -614,7 +614,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -625,7 +625,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -636,17 +636,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL2(rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0])); SYNC_DECL2(CommonDataSubscriber, rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
} }
} }
#ifdef RTABMAP_SYNC_USER_DATA #ifdef RTABMAP_SYNC_USER_DATA
@@ -662,7 +662,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -673,7 +673,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -684,17 +684,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL2(rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0])); SYNC_DECL2(CommonDataSubscriber, rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
} }
} }
#endif #endif
@@ -709,7 +709,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -720,7 +720,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -731,13 +731,13 @@ void CommonDataSubscriber::setupRGBDCallbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_); SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
} }
else else
{ {
src/impl/CommonDataSubscriberRGBD2.cpp
+20 -20
View File
@@ -374,7 +374,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -385,7 +385,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -396,17 +396,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 else
@@ -423,7 +423,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -434,7 +434,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -445,17 +445,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #ifdef RTABMAP_SYNC_USER_DATA
@@ -471,7 +471,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -482,7 +482,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -493,17 +493,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1])); SYNC_DECL3(CommonDataSubscriber, rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
} }
} }
#endif #endif
@@ -518,7 +518,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -529,7 +529,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -540,17 +540,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -472,7 +472,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -483,17 +483,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 else
@@ -510,7 +510,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -521,7 +521,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -532,17 +532,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #ifdef RTABMAP_SYNC_USER_DATA
@@ -558,7 +558,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
subscribedToScan2d_ = true; subscribedToScan2d_ = true;
@@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -579,17 +579,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #endif
@@ -604,7 +604,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -615,7 +615,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -626,17 +626,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -440,7 +440,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -451,17 +451,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 else
@@ -478,7 +478,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -489,7 +489,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -500,17 +500,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #ifdef RTABMAP_SYNC_USER_DATA
@@ -526,7 +526,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -537,7 +537,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -548,17 +548,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 #endif
@@ -573,7 +573,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -584,7 +584,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -595,17 +595,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -293,7 +293,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -304,17 +304,17 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 else
@@ -328,7 +328,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -339,7 +339,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -350,17 +350,17 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -310,7 +310,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -321,17 +321,17 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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 else
@@ -345,7 +345,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan2d)
{ {
@@ -356,7 +356,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeScan3d)
{ {
@@ -367,17 +367,17 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
subscribedToOdomInfo_ = false; subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored..."); 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) else if(subscribeOdomInfo)
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_); SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_);
} }
} }
else if(scan2dTopic) else if(scan2dTopic)
@@ -323,11 +323,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL3(odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_); SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_);
} }
} }
else else
@@ -336,11 +336,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
} }
else else
{ {
SYNC_DECL2(odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_); SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_);
} }
} }
else if(scan2dTopic) else if(scan2dTopic)
@@ -369,11 +369,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
} }
else else
{ {
SYNC_DECL2(odomScan2d, approxSync, queueSize, odomSub_, scanSub_); SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync, queueSize, odomSub_, scanSub_);
} }
} }
else else
@@ -382,11 +382,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
} }
else 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
} }
else else
{ {
SYNC_DECL2(dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_); SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_);
} }
} }
else if(scan2dTopic) else if(scan2dTopic)
@@ -418,7 +418,7 @@ void CommonDataSubscriber::setupScanCallbacks(
} }
else else
{ {
SYNC_DECL2(dataScan2d, approxSync, queueSize, userDataSub_, scanSub_); SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync, queueSize, userDataSub_, scanSub_);
} }
} }
else else
@@ -427,11 +427,11 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
} }
else 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); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
if(scanDescTopic) if(scanDescTopic)
{ {
SYNC_DECL2(scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_); SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
} }
else if(scan2dTopic) else if(scan2dTopic)
{ {
SYNC_DECL2(scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_); SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_);
} }
else 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; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 else
{ {
SYNC_DECL5(stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_); SYNC_DECL5(CommonDataSubscriber, stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
} }
} }
else else
@@ -134,11 +134,11 @@ void CommonDataSubscriber::setupStereoCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); 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 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);
}