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.

src/impl/CommonDataSubscriberDepth.cpp

@@ -177,6 +177,7 @@ void CommonDataSubscriber::depthOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // RGB + Depth + User Data
 void CommonDataSubscriber::depthDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -324,6 +325,7 @@ void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupDepthCallbacks(
 		ros::NodeHandle & nh,
@@ -353,6 +355,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 	imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
 	cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -399,7 +402,9 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
-	else if(subscribeOdom)
+	else 
+#endif
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
@@ -444,6 +449,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -490,6 +496,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberOdom.cpp

@@ -47,6 +47,7 @@ void CommonDataSubscriber::odomInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
 }
+#ifdef RTABMAP_SYNC_USER_DATA
 void CommonDataSubscriber::odomDataCallback(
 		const nav_msgs::OdometryConstPtr& odomMsg,
 		const rtabmap_ros::UserDataConstPtr & userDataMsg)
@@ -64,6 +65,7 @@ void CommonDataSubscriber::odomDataInfoCallback(
 	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
 	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupOdomCallbacks(
 		ros::NodeHandle & nh,
@@ -79,6 +81,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -93,7 +96,9 @@ void CommonDataSubscriber::setupOdomCallbacks(
 				SYNC_DECL2(odomData, approxSync, queueSize, odomSub_, userDataSub_);
 			}
 		}
-		else if(subscribeOdomInfo)
+		else 
+#endif
+		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
 			odomInfoSub_.subscribe(nh, "odom_info", 1);

src/impl/CommonDataSubscriberRGB.cpp

@@ -177,6 +177,7 @@ void CommonDataSubscriber::rgbOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // RGB + Depth + User Data
 void CommonDataSubscriber::rgbDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -324,6 +325,7 @@ void CommonDataSubscriber::rgbOdomDataScan3dInfoCallback(
 	cv_bridge::CvImageConstPtr depthMsg;// Null
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBCallbacks(
 		ros::NodeHandle & nh,
@@ -347,6 +349,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 	imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
 	cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -393,7 +396,9 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL4(rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
@@ -438,6 +443,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL3(rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -484,6 +490,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL3(rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD.cpp

@@ -192,6 +192,7 @@ void CommonDataSubscriber::rgbdOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 1 RGBD camera + User Data
 void CommonDataSubscriber::rgbdDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -351,6 +352,7 @@ void CommonDataSubscriber::rgbdOdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBDCallbacks(
 		ros::NodeHandle & nh,
@@ -371,7 +373,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 		rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[0]->subscribe(nh, "rgbd_image", 1);
 
-
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
@@ -417,7 +419,9 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL3(rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
 			}
 		}
-		else if(subscribeOdom)
+		else
+#endif			
+		if(subscribeOdom)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
 			if(subscribeScan2d)
@@ -461,6 +465,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL2(rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
 			}
 		}
+#ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -505,6 +510,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL2(rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
 			}
 		}
+#endif
 		else
 		{
 			if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD2.cpp

@@ -202,6 +202,7 @@ void CommonDataSubscriber::rgbd2OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd2DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -361,6 +362,7 @@ void CommonDataSubscriber::rgbd2OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD2Callbacks(
 		ros::NodeHandle & nh,
@@ -381,6 +383,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -426,7 +429,9 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL4(rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
-	else if(subscribeOdom)
+	else 
+#endif
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -470,6 +475,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL3(rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -514,6 +520,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL3(rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD3.cpp

@@ -216,6 +216,7 @@ void CommonDataSubscriber::rgbd3OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd3DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -387,6 +388,7 @@ void CommonDataSubscriber::rgbd3OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD3Callbacks(
 		ros::NodeHandle & nh,
@@ -407,6 +409,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -452,7 +455,9 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL5(rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -496,6 +501,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL4(rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -540,6 +546,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL4(rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD4.cpp

@@ -230,6 +230,7 @@ void CommonDataSubscriber::rgbd4OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd4DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -413,6 +414,7 @@ void CommonDataSubscriber::rgbd4OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD4Callbacks(
 		ros::NodeHandle & nh,
@@ -433,6 +435,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -478,7 +481,9 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -522,6 +527,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -566,6 +572,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberScan.cpp

@@ -111,6 +111,7 @@ void CommonDataSubscriber::odomScan3dInfoCallback(
 	commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 void CommonDataSubscriber::dataScan2dCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
 		const sensor_msgs::LaserScanConstPtr& scanMsg)
@@ -192,6 +193,7 @@ void CommonDataSubscriber::odomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupScanCallbacks(
 		ros::NodeHandle & nh,
@@ -218,6 +220,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 			scan3dSub_.subscribe(nh, "scan_cloud", 1);
 		}
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
@@ -250,7 +253,9 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
-		else if(subscribeOdom)
+		else
+#endif			
+		if(subscribeOdom)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
 
@@ -281,6 +286,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
+#ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -312,6 +318,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
+#endif
 		else
 		{
 			if(scan2dTopic)