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Added queue_size to individual odom and odom_info subscribers when using message_filters

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This commit is contained in:
matlabbe
2020-08-18 17:37:28 -04:00
parent e96f72d4ab
commit 7c48684736
9 changed files with 126 additions and 126 deletions
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src/impl/CommonDataSubscriberDepth.cpp
+18 -18
View File
@@ -487,7 +487,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
@@ -497,7 +497,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -512,7 +512,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -527,7 +527,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(depthOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -538,7 +538,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -550,7 +550,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
@@ -559,7 +559,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -574,7 +574,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -589,7 +589,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -600,7 +600,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -621,7 +621,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -637,7 +637,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -652,7 +652,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(depthDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -663,7 +663,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -681,7 +681,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScanDescInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -696,7 +696,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScan2dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -711,7 +711,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(depthScan3dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -722,7 +722,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
src/impl/CommonDataSubscriberOdom.cpp
+3 -3
View File
@@ -79,7 +79,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeUserData || subscribeOdomInfo)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeUserData)
@@ -88,7 +88,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
}
else
@@ -101,7 +101,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
}
}
src/impl/CommonDataSubscriberRGB.cpp
+18 -18
View File
@@ -481,7 +481,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
@@ -491,7 +491,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -506,7 +506,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -521,7 +521,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -532,7 +532,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -544,7 +544,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
@@ -553,7 +553,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -583,7 +583,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -594,7 +594,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbOdomInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -615,7 +615,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -631,7 +631,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -646,7 +646,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -657,7 +657,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbDataInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -675,7 +675,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScanDescInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -690,7 +690,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScan2dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -705,7 +705,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbScan3dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -716,7 +716,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
src/impl/CommonDataSubscriberRGBD.cpp
+18 -18
View File
@@ -861,7 +861,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
{
@@ -870,7 +870,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
@@ -885,7 +885,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
@@ -900,7 +900,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbdOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
@@ -911,7 +911,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -923,7 +923,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
@@ -931,7 +931,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
@@ -946,7 +946,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
@@ -961,7 +961,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdOdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
@@ -972,7 +972,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdOdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -991,7 +991,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
@@ -1006,7 +1006,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
@@ -1021,7 +1021,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbdDataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
@@ -1032,7 +1032,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdDataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -1050,7 +1050,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), scanDescSub_, odomInfoSub_);
}
else
@@ -1065,7 +1065,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_, odomInfoSub_);
}
else
@@ -1080,7 +1080,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbdScan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_, odomInfoSub_);
}
else
@@ -1091,7 +1091,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
}
else
src/impl/CommonDataSubscriberRGBD2.cpp
+18 -18
View File
@@ -529,7 +529,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
{
@@ -538,7 +538,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
@@ -553,7 +553,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
@@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd2OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
@@ -579,7 +579,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -591,7 +591,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
@@ -599,7 +599,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
@@ -614,7 +614,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
@@ -629,7 +629,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
@@ -640,7 +640,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -659,7 +659,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
@@ -674,7 +674,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
@@ -689,7 +689,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd2DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
@@ -700,7 +700,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -718,7 +718,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_, odomInfoSub_);
}
else
@@ -733,7 +733,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_, odomInfoSub_);
}
else
@@ -748,7 +748,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd2Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_, odomInfoSub_);
}
else
@@ -759,7 +759,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(rgbd2Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
src/impl/CommonDataSubscriberRGBD3.cpp
+18 -18
View File
@@ -666,7 +666,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDescriptor)
{
@@ -675,7 +675,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
@@ -690,7 +690,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
@@ -705,7 +705,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd3OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
@@ -716,7 +716,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -728,7 +728,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
@@ -736,7 +736,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
@@ -751,7 +751,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
@@ -766,7 +766,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
@@ -777,7 +777,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -796,7 +796,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
@@ -811,7 +811,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
@@ -826,7 +826,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd3DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
@@ -837,7 +837,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -855,7 +855,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_, odomInfoSub_);
}
else
@@ -870,7 +870,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
}
else
@@ -885,7 +885,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd3Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
}
else
@@ -896,7 +896,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
src/impl/CommonDataSubscriberRGBD4.cpp
+18 -18
View File
@@ -608,7 +608,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
{
@@ -617,7 +617,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -632,7 +632,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -647,7 +647,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -658,7 +658,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -670,7 +670,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
@@ -678,7 +678,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -693,7 +693,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -708,7 +708,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -719,7 +719,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -738,7 +738,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -753,7 +753,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -768,7 +768,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -779,7 +779,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -797,7 +797,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -812,7 +812,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -827,7 +827,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -838,7 +838,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
src/impl/CommonDataSubscriberScan.cpp
+12 -12
View File
@@ -301,7 +301,7 @@ void CommonDataSubscriber::setupScanCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(scanDescTopic)
@@ -309,7 +309,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -322,7 +322,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
}
else
@@ -335,7 +335,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL4(odomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -348,14 +348,14 @@ void CommonDataSubscriber::setupScanCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(scanDescTopic)
{
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -368,7 +368,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
}
else
@@ -381,7 +381,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -400,7 +400,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -413,7 +413,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScan2dInfo, approxSync, queueSize, userDataSub_, scanSub_, odomInfoSub_);
}
else
@@ -426,7 +426,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -439,7 +439,7 @@ void CommonDataSubscriber::setupScanCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
if(scanDescTopic)
{
SYNC_DECL2(scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
src/impl/CommonDataSubscriberStereo.cpp
+3 -3
View File
@@ -115,12 +115,12 @@ void CommonDataSubscriber::setupStereoCallbacks(
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else
@@ -133,7 +133,7 @@ void CommonDataSubscriber::setupStereoCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else