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merged master->ros2

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This commit is contained in:
matlabbe
2024-01-03 18:11:16 -08:00
parent 2f365ab7e1
commit 80ae448d1b
14 changed files with 493 additions and 131 deletions
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rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp
+13
View File
@@ -95,6 +95,14 @@ private:
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5);
void callbackRGBD6(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6);
protected:
virtual void flushCallbacks();
@@ -110,6 +118,7 @@ private:
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image3_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image4_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image5_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image6_sub_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
@@ -131,6 +140,10 @@ private:
message_filters::Synchronizer<MyApproxSync5Policy> * approxSync5_;
typedef message_filters::sync_policies::ExactTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyExactSync5Policy;
message_filters::Synchronizer<MyExactSync5Policy> * exactSync5_;
typedef message_filters::sync_policies::ApproximateTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyApproxSync6Policy;
message_filters::Synchronizer<MyApproxSync6Policy> * approxSync6_;
typedef message_filters::sync_policies::ExactTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyExactSync6Policy;
message_filters::Synchronizer<MyExactSync6Policy> * exactSync6_;
int queueSize_;
bool keepColor_;
};
rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp
+23
View File
@@ -84,6 +84,19 @@ private:
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4);
void callbackRGBD5(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5);
void callbackRGBD6(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6);
protected:
@@ -101,6 +114,8 @@ private:
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image2_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image3_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image4_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image5_sub_;
message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage> rgbd_image6_sub_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
@@ -118,6 +133,14 @@ private:
message_filters::Synchronizer<MyApproxSync4Policy> * approxSync4_;
typedef message_filters::sync_policies::ExactTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyExactSync4Policy;
message_filters::Synchronizer<MyExactSync4Policy> * exactSync4_;
typedef message_filters::sync_policies::ApproximateTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyApproxSync5Policy;
message_filters::Synchronizer<MyApproxSync5Policy> * approxSync5_;
typedef message_filters::sync_policies::ExactTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyExactSync5Policy;
message_filters::Synchronizer<MyExactSync5Policy> * exactSync5_;
typedef message_filters::sync_policies::ApproximateTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyApproxSync6Policy;
message_filters::Synchronizer<MyApproxSync6Policy> * approxSync6_;
typedef message_filters::sync_policies::ExactTime<rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage> MyExactSync6Policy;
message_filters::Synchronizer<MyExactSync6Policy> * exactSync6_;
int queueSize_;
bool keepColor_;