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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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src/impl/CommonDataSubscriberRGBD4.cpp
+8 -1
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@@ -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)