mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-08 02:37:45 +08:00
Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option.
This commit is contained in:
matlabbe
@@ -210,6 +210,28 @@ private:
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync);
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void setupRGBD5Callbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeScanDesc,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync);
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void setupRGBD6Callbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeScanDesc,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync);
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#endif
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void setupScanCallbacks(
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ros::NodeHandle & nh,
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@@ -373,9 +395,6 @@ private:
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DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2)
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DATA_SYNCS2(rgbdScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS2(rgbdInfo, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS3(rgbdScan2dInfo, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS3(rgbdScan3dInfo, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS3(rgbdScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 1 RGBD + Odom
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DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImage);
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@@ -383,9 +402,6 @@ private:
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DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdOdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdOdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdOdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#ifdef RTABMAP_SYNC_USER_DATA
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// 1 RGBD + User Data
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@@ -394,9 +410,6 @@ private:
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DATA_SYNCS3(rgbdDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS3(rgbdDataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS3(rgbdDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdDataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdDataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbdDataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 1 RGBD + Odom + User Data
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DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
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@@ -404,9 +417,6 @@ private:
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DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbdOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbdOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbdOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#endif
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#ifdef RTABMAP_SYNC_MULTI_RGBD
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@@ -416,9 +426,6 @@ private:
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DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS3(rgbd2ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS3(rgbd2Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbd2Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbd2Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS4(rgbd2ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 2 RGBD + Odom
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DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -426,9 +433,6 @@ private:
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DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#ifdef RTABMAP_SYNC_USER_DATA
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// 2 RGBD + User Data
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@@ -437,9 +441,6 @@ private:
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DATA_SYNCS4(rgbd2DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS4(rgbd2DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd2DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 2 RGBD + Odom + User Data
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DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -447,9 +448,6 @@ private:
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DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#endif
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// 3 RGBD
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@@ -458,9 +456,6 @@ private:
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DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS4(rgbd3ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS4(rgbd3Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd3Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd3Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd3ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 3 RGBD + Odom
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DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -468,9 +463,6 @@ private:
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DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#ifdef RTABMAP_SYNC_USER_DATA
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// 3 RGBD + User Data
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@@ -479,9 +471,6 @@ private:
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DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 3 RGBD + Odom + User Data
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DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -489,9 +478,6 @@ private:
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DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd3OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd3OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd3OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#endif
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// 4 RGBD
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@@ -500,9 +486,6 @@ private:
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DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd4ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS5(rgbd4Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd4Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd4Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd4ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 4 RGBD + Odom
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DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -510,9 +493,6 @@ private:
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DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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#ifdef RTABMAP_SYNC_USER_DATA
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// 4 RGBD + User Data
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@@ -521,9 +501,6 @@ private:
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DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
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DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
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// 4 RGBD + Odom + User Data
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DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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@@ -531,10 +508,36 @@ private:
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DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
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DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 5 RGBD
|
||||
DATA_SYNCS5(rgbd5, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS6(rgbd5Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd5Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd5ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd5Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 5 RGBD + Odom
|
||||
DATA_SYNCS6(rgbd5Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 6 RGBD
|
||||
DATA_SYNCS6(rgbd6, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS7(rgbd6Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd6Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd6ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd6Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 6 RGBD + Odom
|
||||
DATA_SYNCS7(rgbd6Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
|
||||
#endif //RTABMAP_SYNC_MULTI_RGBD
|
||||
|
||||
// Scan
|
||||
|
||||
@@ -247,7 +247,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
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)); \
|
||||
} \
|
||||
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 \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
|
||||
Reference in New Issue
Block a user