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Added multi-cameras demo: demo_two_kinects.launch

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This commit is contained in:
Mathieu Labbe
2015-05-31 01:28:54 -04:00
parent fcd343cdd9
commit 96d3ad35e2
8 changed files with 1254 additions and 365 deletions
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src/GuiWrapper.h
+55 -4
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@@ -73,7 +73,13 @@ protected:
private:
void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeOdomInfo, bool subscribeStereo, int queueSize);
void setupCallbacks(
bool subscribeDepth,
bool subscribeLaserScan,
bool subscribeOdomInfo,
bool subscribeStereo,
int queueSize,
int depthCameras);
void commonDepthCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -82,6 +88,13 @@ private:
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void commonDepthCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
@@ -99,12 +112,29 @@ private:
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depth2Callback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& image1Msg,
const sensor_msgs::ImageConstPtr& depth1Msg,
const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
const sensor_msgs::ImageConstPtr& image2Msg,
const sensor_msgs::ImageConstPtr& depth2Msg,
const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
void depthOdomInfoCallback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageMsg,
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
void depthOdomInfo2Callback(
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& image1Msg,
const sensor_msgs::ImageConstPtr& depth1Msg,
const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
const sensor_msgs::ImageConstPtr& image2Msg,
const sensor_msgs::ImageConstPtr& depth2Msg,
const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
void depthScanCallback(
const sensor_msgs::LaserScanConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -185,9 +215,9 @@ private:
message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
ros::Subscriber defaultSub_; // odometry only
image_transport::SubscriberFilter imageSub_;
image_transport::SubscriberFilter imageDepthSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
std::vector<image_transport::SubscriberFilter*> imageSubs_;
std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>* > cameraInfoSubs_;
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
@@ -252,6 +282,27 @@ private:
sensor_msgs::CameraInfo> MyStereoOdomInfoSyncPolicy;
message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy> * stereoOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
typedef message_filters::sync_policies::ApproximateTime<
rtabmap_ros::OdomInfo,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthOdomInfo2SyncPolicy;
message_filters::Synchronizer<MyDepthOdomInfo2SyncPolicy> * depthOdomInfo2Sync_;
// with odom TF
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::LaserScan,