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Added RTABMAP_SYNC_USER_DATA (default OFF) and RTABMAP_SYNC_MULTI_RGBD (default ON, OFF on windows) build options. Fixed some compilation errors on Windows.

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This commit is contained in:
matlabbe
2020-03-12 01:03:35 -04:00
parent c73ddc0577
commit aec4fe6bcc
14 changed files with 234 additions and 39 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+21 -1
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@@ -158,6 +158,7 @@ private:
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
#ifdef RTABMAP_SYNC_MULTI_RGBD
void setupRGBD2Callbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
@@ -187,7 +188,8 @@ private:
bool subscribeScan3d,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool approxSync);
#endif
void setupScanCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
@@ -264,6 +266,7 @@ private:
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);
#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);
@@ -279,6 +282,7 @@ private:
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);
#endif
// Stereo
DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
@@ -304,6 +308,7 @@ private:
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);
#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);
@@ -319,6 +324,7 @@ private:
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);
#endif
// 1 RGBD
void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
@@ -336,6 +342,7 @@ private:
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);
#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);
@@ -351,7 +358,9 @@ private:
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);
#endif
#ifdef RTABMAP_SYNC_MULTI_RGBD
// 2 RGBD
DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -368,6 +377,7 @@ private:
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);
#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);
@@ -383,6 +393,7 @@ private:
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);
#endif
// 3 RGBD
DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
@@ -400,6 +411,7 @@ private:
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);
#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);
@@ -415,6 +427,7 @@ private:
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);
#endif
// 4 RGBD
DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
@@ -432,6 +445,7 @@ private:
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);
#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);
@@ -447,6 +461,8 @@ private:
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);
#endif
#endif //RTABMAP_SYNC_MULTI_RGBD
// Scan
void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
@@ -460,6 +476,7 @@ private:
DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, 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);
@@ -471,14 +488,17 @@ private:
DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
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);
#endif
// Odom
void odomCallback(const nav_msgs::OdometryConstPtr&);
DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_ros::OdomInfo);
#ifdef RTABMAP_SYNC_USER_DATA
// Odom + User Data
DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_ros::UserData);
DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::OdomInfo);
#endif
};
} /* namespace rtabmap_ros */