mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 18:27:46 +08:00
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member.
This commit is contained in:
matlabbe
@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <rtabmap_ros/RGBDImage.h>
|
||||
#include <rtabmap_ros/UserData.h>
|
||||
#include <rtabmap_ros/OdomInfo.h>
|
||||
#include <rtabmap_ros/ScanDescriptor.h>
|
||||
#include <rtabmap_ros/CommonDataSubscriberDefines.h>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
@@ -83,9 +84,13 @@ protected:
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
|
||||
virtual void commonStereoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -93,15 +98,20 @@ protected:
|
||||
const cv_bridge::CvImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfo& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfo& rightCamInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
|
||||
virtual void commonLaserScanCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const rtabmap_ros::GlobalDescriptor & globalDescriptor = rtabmap_ros::GlobalDescriptor()) = 0;
|
||||
virtual void commonOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -114,9 +124,13 @@ protected:
|
||||
const cv_bridge::CvImageConstPtr & depthMsg,
|
||||
const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfo & depthCameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
|
||||
const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
|
||||
const cv::Mat & localDescriptors = cv::Mat());
|
||||
|
||||
private:
|
||||
void warningLoop();
|
||||
@@ -128,6 +142,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -145,6 +160,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -155,6 +171,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -166,6 +183,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -176,6 +194,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -186,6 +205,7 @@ private:
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
@@ -193,7 +213,8 @@ private:
|
||||
void setupScanCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool scan2dTopic,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
@@ -222,6 +243,7 @@ private:
|
||||
bool subscribedToRGBD_;
|
||||
bool subscribedToScan2d_;
|
||||
bool subscribedToScan3d_;
|
||||
bool subscribedToScanDescriptor_;
|
||||
bool subscribedToOdomInfo_;
|
||||
std::string name_;
|
||||
|
||||
@@ -244,44 +266,54 @@ private:
|
||||
message_filters::Subscriber<rtabmap_ros::UserData> userDataSub_;
|
||||
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
|
||||
message_filters::Subscriber<rtabmap_ros::ScanDescriptor> scanDescSub_;
|
||||
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
|
||||
|
||||
ros::Subscriber scan2dSubOnly_;
|
||||
ros::Subscriber scan3dSubOnly_;
|
||||
ros::Subscriber scanDescSubOnly_;
|
||||
ros::Subscriber odomSubOnly_;
|
||||
|
||||
// RGB + Depth
|
||||
DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(depthScanDesc, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(depthScanDescInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom
|
||||
DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
DATA_SYNCS4(depthData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthDataScan3d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthDataScanDesc, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(depthDataInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScanDescInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Stereo
|
||||
@@ -296,68 +328,84 @@ private:
|
||||
DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS3(rgbScan2d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbScan3d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbScanDesc, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// RGB-only + Odom
|
||||
DATA_SYNCS3(rgbOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB-only + User Data
|
||||
DATA_SYNCS3(rgbData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbDataScan3d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbDataScanDesc, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbDataInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// RGB-only + Odom + User Data
|
||||
DATA_SYNCS4(rgbOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 1 RGBD
|
||||
void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
|
||||
DATA_SYNCS2(rgbdScan2d, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2)
|
||||
DATA_SYNCS2(rgbdScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS2(rgbdInfo, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(rgbdScan2dInfo, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(rgbdScan3dInfo, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(rgbdScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom
|
||||
DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdOdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdOdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdOdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 1 RGBD + User Data
|
||||
DATA_SYNCS2(rgbdData, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS3(rgbdDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdDataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdDataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdDataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbdDataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom + User Data
|
||||
DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbdOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbdOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbdOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
#ifdef RTABMAP_SYNC_MULTI_RGBD
|
||||
@@ -365,129 +413,161 @@ private:
|
||||
DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbd2ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbd2Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbd2Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbd2Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(rgbd2ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom
|
||||
DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
DATA_SYNCS3(rgbd2Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd2DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd2OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 3 RGBD
|
||||
DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS4(rgbd3Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd3ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd3Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd3Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd3Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS5(rgbd3ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom
|
||||
DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 3 RGBD + User Data
|
||||
DATA_SYNCS4(rgbd3Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd3DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom + User Data
|
||||
DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd3OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd3OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd3OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 4 RGBD
|
||||
DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS5(rgbd4Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd4ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd4Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd4Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd4Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS6(rgbd4ScanDescInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom
|
||||
DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4OdomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 4 RGBD + User Data
|
||||
DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS7(rgbd4DataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom + User Data
|
||||
DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS8(rgbd4OdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
#endif //RTABMAP_SYNC_MULTI_RGBD
|
||||
|
||||
// Scan
|
||||
void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
|
||||
void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
|
||||
void scanDescCallback(const rtabmap_ros::ScanDescriptorConstPtr&);
|
||||
DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS2(scanDescInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// Scan + Odom
|
||||
DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(odomScanDesc, nav_msgs::Odometry, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(odomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// Scan + User Data
|
||||
DATA_SYNCS2(dataScan2d, rtabmap_ros::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(dataScan3d, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(dataScanDesc, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS3(dataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(dataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS3(dataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
|
||||
// Scan + Odom + User Data
|
||||
DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(odomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor);
|
||||
DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Odom
|
||||
|
||||
@@ -103,18 +103,26 @@ private:
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
|
||||
void commonDepthCallbackImpl(
|
||||
const std::string & odomFrameId,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs,
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints,
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d,
|
||||
const std::vector<cv::Mat> & localDescriptors);
|
||||
virtual void commonStereoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -122,15 +130,20 @@ private:
|
||||
const cv_bridge::CvImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfo& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfo& rightCamInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
|
||||
virtual void commonLaserScanCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const rtabmap_ros::GlobalDescriptor & globalDescriptor = rtabmap_ros::GlobalDescriptor());
|
||||
virtual void commonOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
|
||||
@@ -73,9 +73,13 @@ private:
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
|
||||
virtual void commonStereoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
@@ -83,15 +87,20 @@ private:
|
||||
const cv_bridge::CvImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfo& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfo& rightCamInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
|
||||
virtual void commonLaserScanCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
const sensor_msgs::LaserScan& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
|
||||
const rtabmap_ros::GlobalDescriptor & globalDescriptor = rtabmap_ros::GlobalDescriptor());
|
||||
|
||||
virtual void commonOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
|
||||
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
#include <sensor_msgs/LaserScan.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <opencv2/features2d/features2d.hpp>
|
||||
@@ -91,6 +92,12 @@ void keypointToROS(const cv::KeyPoint & kpt, rtabmap_ros::KeyPoint & msg);
|
||||
std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_ros::KeyPoint> & msg);
|
||||
void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_ros::KeyPoint> & msg);
|
||||
|
||||
rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_ros::GlobalDescriptor & msg);
|
||||
void globalDescriptorToROS(const rtabmap::GlobalDescriptor & desc, rtabmap_ros::GlobalDescriptor & msg);
|
||||
|
||||
std::vector<rtabmap::GlobalDescriptor> globalDescriptorsFromROS(const std::vector<rtabmap_ros::GlobalDescriptor> & msg);
|
||||
void globalDescriptorsToROS(const std::vector<rtabmap::GlobalDescriptor> & desc, std::vector<rtabmap_ros::GlobalDescriptor> & msg);
|
||||
|
||||
cv::Point2f point2fFromROS(const rtabmap_ros::Point2f & msg);
|
||||
void point2fToROS(const cv::Point2f & kpt, rtabmap_ros::Point2f & msg);
|
||||
|
||||
@@ -98,10 +105,10 @@ std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_ros::Point2f>
|
||||
void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_ros::Point2f> & msg);
|
||||
|
||||
cv::Point3f point3fFromROS(const rtabmap_ros::Point3f & msg);
|
||||
void point3fToROS(const cv::Point3f & kpt, rtabmap_ros::Point3f & msg);
|
||||
void point3fToROS(const cv::Point3f & pt, rtabmap_ros::Point3f & msg);
|
||||
|
||||
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_ros::Point3f> & msg);
|
||||
void points3fToROS(const std::vector<cv::Point3f> & kpts, std::vector<rtabmap_ros::Point3f> & msg);
|
||||
void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_ros::Point3f> & msg);
|
||||
|
||||
rtabmap::CameraModel cameraModelFromROS(
|
||||
const sensor_msgs::CameraInfo & camInfo,
|
||||
@@ -218,7 +225,7 @@ bool convertStereoMsg(
|
||||
double waitForTransform);
|
||||
|
||||
bool convertScanMsg(
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::LaserScan & scan2dMsg,
|
||||
const std::string & frameId,
|
||||
const std::string & odomFrameId,
|
||||
const ros::Time & odomStamp,
|
||||
@@ -228,7 +235,7 @@ bool convertScanMsg(
|
||||
bool outputInFrameId = false);
|
||||
|
||||
bool convertScan3dMsg(
|
||||
const sensor_msgs::PointCloud2ConstPtr & scan3dMsg,
|
||||
const sensor_msgs::PointCloud2 & scan3dMsg,
|
||||
const std::string & frameId,
|
||||
const std::string & odomFrameId,
|
||||
const ros::Time & odomStamp,
|
||||
|
||||
Reference in New Issue
Block a user