mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Added RGBD3 and RGBD4 callbacks
This commit is contained in:
matlabbe
@@ -142,7 +142,71 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
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SYNC_INIT(rgbd2OdomDataScan3d),
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SYNC_INIT(rgbd2OdomDataInfo),
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SYNC_INIT(rgbd2OdomDataScan2dInfo),
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SYNC_INIT(rgbd2OdomDataScan3dInfo)
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SYNC_INIT(rgbd2OdomDataScan3dInfo),
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// 3 RGBD
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SYNC_INIT(rgbd3),
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SYNC_INIT(rgbd3Scan2d),
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SYNC_INIT(rgbd3Scan3d),
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SYNC_INIT(rgbd3Info),
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SYNC_INIT(rgbd3Scan2dInfo),
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SYNC_INIT(rgbd3Scan3dInfo),
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// 3 RGBD + Odom
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SYNC_INIT(rgbd3Odom),
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SYNC_INIT(rgbd3OdomScan2d),
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SYNC_INIT(rgbd3OdomScan3d),
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SYNC_INIT(rgbd3OdomInfo),
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SYNC_INIT(rgbd3OdomScan2dInfo),
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SYNC_INIT(rgbd3OdomScan3dInfo),
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// 3 RGBD + User Data
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SYNC_INIT(rgbd3Data),
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SYNC_INIT(rgbd3DataScan2d),
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SYNC_INIT(rgbd3DataScan3d),
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SYNC_INIT(rgbd3DataInfo),
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SYNC_INIT(rgbd3DataScan2dInfo),
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SYNC_INIT(rgbd3DataScan3dInfo),
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// 3 RGBD + Odom + User Data
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SYNC_INIT(rgbd3OdomData),
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SYNC_INIT(rgbd3OdomDataScan2d),
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SYNC_INIT(rgbd3OdomDataScan3d),
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SYNC_INIT(rgbd3OdomDataInfo),
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SYNC_INIT(rgbd3OdomDataScan2dInfo),
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SYNC_INIT(rgbd3OdomDataScan3dInfo),
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// 4 RGBD
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SYNC_INIT(rgbd4),
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SYNC_INIT(rgbd4Scan2d),
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SYNC_INIT(rgbd4Scan3d),
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SYNC_INIT(rgbd4Info),
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SYNC_INIT(rgbd4Scan2dInfo),
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SYNC_INIT(rgbd4Scan3dInfo),
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// 4 RGBD + Odom
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SYNC_INIT(rgbd4Odom),
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SYNC_INIT(rgbd4OdomScan2d),
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SYNC_INIT(rgbd4OdomScan3d),
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SYNC_INIT(rgbd4OdomInfo),
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SYNC_INIT(rgbd4OdomScan2dInfo),
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SYNC_INIT(rgbd4OdomScan3dInfo),
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// 4 RGBD + User Data
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SYNC_INIT(rgbd4Data),
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SYNC_INIT(rgbd4DataScan2d),
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SYNC_INIT(rgbd4DataScan3d),
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SYNC_INIT(rgbd4DataInfo),
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SYNC_INIT(rgbd4DataScan2dInfo),
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SYNC_INIT(rgbd4DataScan3dInfo),
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// 4 RGBD + Odom + User Data
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SYNC_INIT(rgbd4OdomData),
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SYNC_INIT(rgbd4OdomDataScan2d),
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SYNC_INIT(rgbd4OdomDataScan3d),
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SYNC_INIT(rgbd4OdomDataInfo),
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SYNC_INIT(rgbd4OdomDataScan2dInfo),
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SYNC_INIT(rgbd4OdomDataScan3dInfo)
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{
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}
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@@ -256,7 +320,33 @@ void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle
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}
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else if(subscribedToRGBD_)
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{
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if(rgbdCameras == 2)
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if(rgbdCameras == 4)
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{
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setupRGBD4Callbacks(
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nh,
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pnh,
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subscribeOdom,
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subscribeUserData,
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subscribeScan2d,
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subscribeScan3d,
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subscribeOdomInfo,
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queueSize_,
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approxSync_);
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}
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else if(rgbdCameras == 3)
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{
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setupRGBD3Callbacks(
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nh,
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pnh,
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subscribeOdom,
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subscribeUserData,
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subscribeScan2d,
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subscribeScan3d,
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subscribeOdomInfo,
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queueSize_,
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approxSync_);
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}
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else if(rgbdCameras == 2)
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{
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setupRGBD2Callbacks(
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nh,
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@@ -402,6 +492,70 @@ CommonDataSubscriber::~CommonDataSubscriber()
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SYNC_DEL(rgbd2OdomDataScan2dInfo);
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SYNC_DEL(rgbd2OdomDataScan3dInfo);
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// 3 RGBD
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SYNC_DEL(rgbd3);
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SYNC_DEL(rgbd3Scan2d);
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SYNC_DEL(rgbd3Scan3d);
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SYNC_DEL(rgbd3Info);
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SYNC_DEL(rgbd3Scan2dInfo);
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SYNC_DEL(rgbd3Scan3dInfo);
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// 3 RGBD + Odom
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SYNC_DEL(rgbd3Odom);
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SYNC_DEL(rgbd3OdomScan2d);
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SYNC_DEL(rgbd3OdomScan3d);
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SYNC_DEL(rgbd3OdomInfo);
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SYNC_DEL(rgbd3OdomScan2dInfo);
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SYNC_DEL(rgbd3OdomScan3dInfo);
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// 3 RGBD + User Data
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SYNC_DEL(rgbd3Data);
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SYNC_DEL(rgbd3DataScan2d);
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SYNC_DEL(rgbd3DataScan3d);
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SYNC_DEL(rgbd3DataInfo);
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SYNC_DEL(rgbd3DataScan2dInfo);
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SYNC_DEL(rgbd3DataScan3dInfo);
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// 3 RGBD + Odom + User Data
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SYNC_DEL(rgbd3OdomData);
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SYNC_DEL(rgbd3OdomDataScan2d);
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SYNC_DEL(rgbd3OdomDataScan3d);
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SYNC_DEL(rgbd3OdomDataInfo);
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SYNC_DEL(rgbd3OdomDataScan2dInfo);
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SYNC_DEL(rgbd3OdomDataScan3dInfo);
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// 4 RGBD
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SYNC_DEL(rgbd4);
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SYNC_DEL(rgbd4Scan2d);
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SYNC_DEL(rgbd4Scan3d);
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SYNC_DEL(rgbd4Info);
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SYNC_DEL(rgbd4Scan2dInfo);
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SYNC_DEL(rgbd4Scan3dInfo);
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// 4 RGBD + Odom
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SYNC_DEL(rgbd4Odom);
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SYNC_DEL(rgbd4OdomScan2d);
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SYNC_DEL(rgbd4OdomScan3d);
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SYNC_DEL(rgbd4OdomInfo);
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SYNC_DEL(rgbd4OdomScan2dInfo);
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SYNC_DEL(rgbd4OdomScan3dInfo);
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// 4 RGBD + User Data
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SYNC_DEL(rgbd4Data);
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SYNC_DEL(rgbd4DataScan2d);
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SYNC_DEL(rgbd4DataScan3d);
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SYNC_DEL(rgbd4DataInfo);
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SYNC_DEL(rgbd4DataScan2dInfo);
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SYNC_DEL(rgbd4DataScan3dInfo);
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// 4 RGBD + Odom + User Data
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SYNC_DEL(rgbd4OdomData);
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SYNC_DEL(rgbd4OdomDataScan2d);
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SYNC_DEL(rgbd4OdomDataScan3d);
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SYNC_DEL(rgbd4OdomDataInfo);
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SYNC_DEL(rgbd4OdomDataScan2dInfo);
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SYNC_DEL(rgbd4OdomDataScan3dInfo);
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for(unsigned int i=0; i<rgbdSubs_.size(); ++i)
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{
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delete rgbdSubs_[i];
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@@ -0,0 +1,588 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_ros/CommonDataSubscriber.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap_ros/MsgConversion.h>
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#include <cv_bridge/cv_bridge.h>
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namespace rtabmap_ros {
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#define IMAGE_CONVERSION() \
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callbackCalled(); \
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3); \
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3); \
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rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
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rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
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rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
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std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
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cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
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cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
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cameraInfoMsgs.push_back(image3Msg->cameraInfo);
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// 3 RGBD
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void CommonDataSubscriber::rgbd3Callback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3Scan2dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3Scan3dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3InfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3Scan2dInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3Scan3dInfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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// 2 RGBD + Odom
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void CommonDataSubscriber::rgbd3OdomCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3OdomScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3OdomScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3OdomInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3OdomScan2dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::rgbd3OdomScan3dInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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||||
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
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||||
IMAGE_CONVERSION();
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||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
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||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
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}
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||||
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd3DataCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd3OdomDataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
|
||||
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::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD3Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup rgbd3 callback");
|
||||
|
||||
rgbdSubs_.resize(3);
|
||||
for(int i=0; i<3; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
||||
}
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL6(rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
else if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL4(rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
@@ -0,0 +1,614 @@
|
||||
/*
|
||||
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_ros/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_ros {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
callbackCalled(); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
|
||||
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]); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image3Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image4Msg->cameraInfo);
|
||||
|
||||
// 4 RGBD
|
||||
void CommonDataSubscriber::rgbd4Callback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4Scan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4Scan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4InfoCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd4OdomCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomScan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomScan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomInfoCallback(
|
||||
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::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd4DataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataScan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataScan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4DataInfoCallback(
|
||||
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::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd4OdomDataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataScan2dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataScan3dCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
|
||||
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::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
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::LaserScanConstPtr scanMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD4Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup rgbd4 callback");
|
||||
|
||||
rgbdSubs_.resize(4);
|
||||
for(int i=0; i<4; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
||||
}
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL7(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
else if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL6(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL6(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
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_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
Reference in New Issue
Block a user