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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.

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This commit is contained in:
matlabbe
2020-11-03 16:18:40 -05:00
parent f5c32dd1c3
commit 646ad6ee7b
16 changed files with 1406 additions and 1392 deletions
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src/impl/CommonDataSubscriberRGBD.cpp
+36 -391
View File
@@ -153,77 +153,6 @@ void CommonDataSubscriber::rgbdInfoCallback(
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdScan2dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
*scanMsg, scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdScan3dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanMsg, *scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdScanDescInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
nav_msgs::OdometryConstPtr odomMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
// 1 RGBD camera + Odom
void CommonDataSubscriber::rgbdOdomCallback(
@@ -349,92 +278,6 @@ void CommonDataSubscriber::rgbdOdomInfoCallback(
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomScan2dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
*scanMsg, scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomScan3dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
std::vector<double> current_feature_vector;
std::vector<int> lengths_feature_vector;
rtabmap_ros::ScanDescriptor scanDescriptor;
scanDescriptor.header = scan3dMsg->header;
scanDescriptor.scan_cloud = *scan3dMsg;
scanDescriptor.global_descriptor.type=0;
scanDescriptor.global_descriptor.info=rtabmap::compressData(cv::Mat(1, lengths_feature_vector.size(), CV_32FC1, (void*)lengths_feature_vector.data()));
scanDescriptor.global_descriptor.data=rtabmap::compressData(cv::Mat(1, current_feature_vector.size(), CV_64FC1, (void*)current_feature_vector.data()));
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanMsg, *scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomScanDescInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
#ifdef RTABMAP_SYNC_USER_DATA
// 1 RGBD camera + User Data
@@ -561,82 +404,6 @@ void CommonDataSubscriber::rgbdDataInfoCallback(
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdDataScan2dInfoCallback(
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
*scanMsg, scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdDataScan3dInfoCallback(
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanMsg, *scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdDataScanDescInfoCallback(
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
// 1 RGBD camera + Odom + User Data
void CommonDataSubscriber::rgbdOdomDataCallback(
@@ -762,80 +529,6 @@ void CommonDataSubscriber::rgbdOdomDataInfoCallback(
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomDataScan2dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
sensor_msgs::PointCloud2 scan3dMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
*scanMsg, scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomDataScan3dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
sensor_msgs::LaserScan scanMsg; // Null
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanMsg, *scan3dMsg, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
void CommonDataSubscriber::rgbdOdomDataScanDescInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
cv_bridge::CvImageConstPtr rgb, depth;
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs;
if(!image1Msg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
}
if(!scanDescMsg->global_descriptor.data.empty())
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonSingleDepthCallback(odomMsg, userDataMsg, rgb,
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
rtabmap::uncompressData(image1Msg->descriptors));
}
#endif
void CommonDataSubscriber::setupRGBDCallbacks(
@@ -869,14 +562,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbdOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -884,14 +573,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -899,14 +584,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -930,14 +611,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdOdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -945,14 +622,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -960,14 +633,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -990,14 +659,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdDataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -1005,14 +670,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -1020,14 +681,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -1049,14 +706,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(rgbdScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -1064,14 +717,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -1079,14 +728,10 @@ void CommonDataSubscriber::setupRGBDCallbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL2(rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
src/impl/CommonDataSubscriberRGBD2.cpp
+38 -252
View File
@@ -39,6 +39,8 @@ namespace rtabmap_ros {
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
@@ -126,49 +128,6 @@ void CommonDataSubscriber::rgbd2InfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2Scan2dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2Scan3dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2ScanDescInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // 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);
}
// 2 RGBD + Odom
void CommonDataSubscriber::rgbd2OdomCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -238,48 +197,6 @@ void CommonDataSubscriber::rgbd2OdomInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomScan2dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomScan3dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomScanDescInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // 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);
}
#ifdef RTABMAP_SYNC_USER_DATA
// 2 RGBD + User Data
@@ -351,48 +268,6 @@ void CommonDataSubscriber::rgbd2DataInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2DataScan2dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2DataScan3dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2DataScanDescInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // 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);
}
// 2 RGBD + Odom + User Data
void CommonDataSubscriber::rgbd2OdomDataCallback(
@@ -463,47 +338,6 @@ void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomDataScan2dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomDataScan3dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd2OdomDataScanDescInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
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);
}
#endif
void CommonDataSubscriber::setupRGBD2Callbacks(
@@ -537,14 +371,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd2OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -552,14 +382,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -567,14 +393,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd2OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd2OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -598,14 +420,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -613,14 +431,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -628,14 +442,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -658,14 +468,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -673,14 +479,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -688,14 +490,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd2DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd2DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -717,14 +515,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd2ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -732,14 +526,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -747,14 +537,10 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL3(rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL3(rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
src/impl/CommonDataSubscriberRGBD3.cpp
+38 -303
View File
@@ -40,6 +40,8 @@ namespace rtabmap_ros {
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
@@ -153,60 +155,6 @@ void CommonDataSubscriber::rgbd3InfoCallback(
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3Scan2dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, *scanMsg,
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3Scan3dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, scanMsg,
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3ScanDescInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // 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);
}
// 2 RGBD + Odom
void CommonDataSubscriber::rgbd3OdomCallback(
@@ -297,61 +245,6 @@ void CommonDataSubscriber::rgbd3OdomInfoCallback(
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomScan2dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, *scanMsg,
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomScan3dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, scanMsg,
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomScanDescInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // 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);
}
#ifdef RTABMAP_SYNC_USER_DATA
// 2 RGBD + User Data
@@ -443,61 +336,6 @@ void CommonDataSubscriber::rgbd3DataInfoCallback(
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3DataScan2dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, *scanMsg,
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3DataScan3dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, scanMsg,
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3DataScanDescInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // 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);
}
// 2 RGBD + Odom + User Data
void CommonDataSubscriber::rgbd3OdomDataCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
@@ -587,60 +425,6 @@ void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomDataScan2dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, *scanMsg,
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomDataScan3dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs,
depthMsgs, cameraInfoMsgs, scanMsg,
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd3OdomDataScanDescInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
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);
}
#endif
void CommonDataSubscriber::setupRGBD3Callbacks(
@@ -674,14 +458,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd3OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -689,14 +469,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -704,14 +480,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd3OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd3OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -735,14 +507,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -750,14 +518,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -765,14 +529,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -795,29 +555,20 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
else
{
SYNC_DECL5(rgbd3DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
}
SYNC_DECL5(rgbd3DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_); }
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -825,14 +576,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd3DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd3DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -854,14 +601,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd3ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -869,14 +612,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -884,14 +623,10 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL4(rgbd3Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL4(rgbd3Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
src/impl/CommonDataSubscriberRGBD4.cpp
+38 -276
View File
@@ -41,6 +41,8 @@ namespace rtabmap_ros {
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
@@ -150,54 +152,6 @@ void CommonDataSubscriber::rgbd4InfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4Scan2dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4Scan3dInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4ScanDescInfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
rtabmap_ros::UserDataConstPtr userDataMsg; // 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);
}
// 2 RGBD + Odom
void CommonDataSubscriber::rgbd4OdomCallback(
@@ -278,54 +232,6 @@ void CommonDataSubscriber::rgbd4OdomInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomScan2dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomScan3dInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomScanDescInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
rtabmap_ros::UserDataConstPtr userDataMsg; // 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);
}
#ifdef RTABMAP_SYNC_USER_DATA
// 2 RGBD + User Data
@@ -407,54 +313,6 @@ void CommonDataSubscriber::rgbd4DataInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4DataScan2dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4DataScan3dInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4DataScanDescInfoCallback(
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
nav_msgs::OdometryConstPtr odomMsg; // 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);
}
// 2 RGBD + Odom + User Data
void CommonDataSubscriber::rgbd4OdomDataCallback(
@@ -535,54 +393,6 @@ void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomDataScan2dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomDataScan3dInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
sensor_msgs::LaserScan scanMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd4OdomDataScanDescInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_ros::UserDataConstPtr& userDataMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
IMAGE_CONVERSION();
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);
}
#endif
void CommonDataSubscriber::setupRGBD4Callbacks(
@@ -616,14 +426,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL7(rgbd4OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -631,14 +437,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL7(rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -646,14 +448,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL7(rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -677,14 +475,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -692,14 +486,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -707,14 +497,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -737,14 +523,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScanDesc, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -752,14 +534,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -767,14 +545,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
@@ -796,14 +570,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd4ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
}
else if(subscribeScan2d)
{
@@ -811,14 +581,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
}
else if(subscribeScan3d)
{
@@ -826,14 +592,10 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL5(rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
src/impl/CommonDataSubscriberRGBD5.cpp
+368
View File
@@ -0,0 +1,368 @@
/*
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() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5); \
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
rtabmap_ros::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
std::vector<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; \
if(!image1Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
if(!image2Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
if(!image3Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
if(!image4Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
if(!image5Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
localKeyPoints.push_back(image1Msg->key_points); \
localKeyPoints.push_back(image2Msg->key_points); \
localKeyPoints.push_back(image3Msg->key_points); \
localKeyPoints.push_back(image4Msg->key_points); \
localKeyPoints.push_back(image5Msg->key_points); \
localPoints3d.push_back(image1Msg->points); \
localPoints3d.push_back(image2Msg->points); \
localPoints3d.push_back(image3Msg->points); \
localPoints3d.push_back(image4Msg->points); \
localPoints3d.push_back(image5Msg->points); \
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors));
// 5 RGBD
void CommonDataSubscriber::rgbd5Callback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg)
{
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::rgbd5Scan2dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5Scan3dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5ScanDescCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5InfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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);
}
// 5 RGBD + Odom
void CommonDataSubscriber::rgbd5OdomCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg)
{
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::rgbd5OdomScan2dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5OdomScan3dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5OdomScanDescCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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::rgbd5OdomInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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);
}
void CommonDataSubscriber::setupRGBD5Callbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool subscribeOdom,
bool subscribeUserData,
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
{
ROS_INFO("Setup rgbd5 callback");
rgbdSubs_.resize(5);
for(int i=0; i<5; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
}
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd5OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd5Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
else
{
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(rgbd5Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL5(rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
}
} /* namespace rtabmap_ros */
src/impl/CommonDataSubscriberRGBD6.cpp
+385
View File
@@ -0,0 +1,385 @@
/*
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() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6); \
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
rtabmap_ros::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
rtabmap_ros::toCvShare(image6Msg, imageMsgs[5], depthMsgs[5]); \
if(!depthMsgs[0].get()) \
depthMsgs.clear(); \
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image6Msg->rgb_camera_info); \
std::vector<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; \
if(!image1Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
if(!image2Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
if(!image3Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
if(!image4Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
if(!image5Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
if(!image6Msg->global_descriptor.data.empty()) \
globalDescriptorMsgs.push_back(image6Msg->global_descriptor); \
localKeyPoints.push_back(image1Msg->key_points); \
localKeyPoints.push_back(image2Msg->key_points); \
localKeyPoints.push_back(image3Msg->key_points); \
localKeyPoints.push_back(image4Msg->key_points); \
localKeyPoints.push_back(image5Msg->key_points); \
localKeyPoints.push_back(image6Msg->key_points); \
localPoints3d.push_back(image1Msg->points); \
localPoints3d.push_back(image2Msg->points); \
localPoints3d.push_back(image3Msg->points); \
localPoints3d.push_back(image4Msg->points); \
localPoints3d.push_back(image5Msg->points); \
localPoints3d.push_back(image6Msg->points); \
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors)); \
localDescriptors.push_back(rtabmap::uncompressData(image6Msg->descriptors));
// 6 RGBD
void CommonDataSubscriber::rgbd6Callback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg)
{
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::rgbd6Scan2dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6Scan3dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6ScanDescCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6InfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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);
}
// 6 RGBD + Odom
void CommonDataSubscriber::rgbd6OdomCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg)
{
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::rgbd6OdomScan2dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6OdomScan3dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6OdomScanDescCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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::rgbd6OdomInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
const rtabmap_ros::RGBDImageConstPtr& image5Msg,
const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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);
}
void CommonDataSubscriber::setupRGBD6Callbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool subscribeOdom,
bool subscribeUserData,
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
{
ROS_INFO("Setup rgbd6 callback");
rgbdSubs_.resize(6);
for(int i=0; i<6; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
}
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL8(rgbd6OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
{
SYNC_DECL7(rgbd6Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
}
}
else
{
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(rgbd6Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
{
SYNC_DECL6(rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
}
}
}
} /* namespace rtabmap_ros */