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use boost::placeholders::_N instead of deprecated _N, don't include depreacated boost/bind.hpp

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This commit is contained in:
Lucas Walter
2022-05-09 08:57:23 -07:00
parent e90fd96471
commit b896bb2da8
22 changed files with 86 additions and 88 deletions
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src/nodelets/data_odom_sync.cpp
+1 -1
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@@ -75,7 +75,7 @@ private:
private_nh.param("queue_size", queueSize, queueSize);
sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_, odom_sub_);
sync_->registerCallback(boost::bind(&DataOdomSyncNodelet::callback, this, _1, _2, _3, _4));
sync_->registerCallback(boost::bind(&DataOdomSyncNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image_in"), 1, hintsDepth);
src/nodelets/data_throttle.cpp
+2 -2
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@@ -111,12 +111,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, _1, _2, _3));
approxSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, _1, _2, _3));
exactSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
src/nodelets/point_cloud_aggregator.cpp
+6 -6
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@@ -125,12 +125,12 @@ private:
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
approxSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
exactSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
exactSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
getName().c_str(),
@@ -149,12 +149,12 @@ private:
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
approxSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
exactSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
exactSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
getName().c_str(),
@@ -171,12 +171,12 @@ private:
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
approxSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
exactSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
exactSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
getName().c_str(),
src/nodelets/point_cloud_assembler.cpp
+2 -2
View File
@@ -170,7 +170,7 @@ private:
syncOdomSub_.subscribe(nh, "odom", 1);
syncOdomInfoSub_.subscribe(nh, "odom_info", 1);
exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(queueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
exactInfoSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdomInfo, this, _1, _2, _3));
exactInfoSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdomInfo, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
getName().c_str(),
syncCloudSub_.getTopic().c_str(),
@@ -184,7 +184,7 @@ private:
syncCloudSub_.subscribe(nh, "cloud", 1);
syncOdomSub_.subscribe(nh, "odom", 1);
exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(queueSize), syncCloudSub_, syncOdomSub_);
exactSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdom, this, _1, _2));
exactSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdom, this, boost::placeholders::_1, boost::placeholders::_2));
subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
getName().c_str(),
syncCloudSub_.getTopic().c_str(),
src/nodelets/point_cloud_xyz.cpp
+4 -4
View File
@@ -174,20 +174,20 @@ private:
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDepth_->registerCallback(boost::bind(&PointCloudXYZ::callback, this, _1, _2));
approxSyncDepth_->registerCallback(boost::bind(&PointCloudXYZ::callback, this, boost::placeholders::_1, boost::placeholders::_2));
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), disparitySub_, disparityCameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZ::callbackDisparity, this, _1, _2));
approxSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZ::callbackDisparity, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageDepthSub_, cameraInfoSub_);
exactSyncDepth_->registerCallback(boost::bind(&PointCloudXYZ::callback, this, _1, _2));
exactSyncDepth_->registerCallback(boost::bind(&PointCloudXYZ::callback, this, boost::placeholders::_1, boost::placeholders::_2));
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(queueSize), disparitySub_, disparityCameraInfoSub_);
exactSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZ::callbackDisparity, this, _1, _2));
exactSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZ::callbackDisparity, this, boost::placeholders::_1, boost::placeholders::_2));
}
ros::NodeHandle depth_nh(nh, "depth");
src/nodelets/point_cloud_xyzrgb.cpp
+6 -6
View File
@@ -200,28 +200,28 @@ private:
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, _1, _2, _3));
approxSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, _1, _2, _3));
approxSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval > 0.0)
approxSyncStereo_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, _1, _2, _3, _4));
approxSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, _1, _2, _3));
exactSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
exactSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, _1, _2, _3));
exactSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, _1, _2, _3, _4));
exactSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
ros::NodeHandle rgb_nh(nh, "rgb");
src/nodelets/pointcloud_to_depthimage.cpp
+2 -2
View File
@@ -129,13 +129,13 @@ private:
if(approx)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_);
approxSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, _1, _2));
approxSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
fixedFrameId_.clear();
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_);
exactSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, _1, _2));
exactSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
pointCloudSub_.subscribe(nh, "cloud", 1);
src/nodelets/rgb_sync.cpp
+2 -2
View File
@@ -108,12 +108,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&RgbSync::callback, this, _1, _2));
approxSync_->registerCallback(boost::bind(&RgbSync::callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
exactSync_->registerCallback(boost::bind(&RgbSync::callback, this, _1, _2));
exactSync_->registerCallback(boost::bind(&RgbSync::callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
ros::NodeHandle rgb_nh(nh, "rgb");
src/nodelets/rgbd_odometry.cpp
+20 -20
View File
@@ -183,7 +183,7 @@ private:
rgbd_image2_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, _1, _2));
approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
@@ -191,7 +191,7 @@ private:
MyExactSync2Policy(queueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, _1, _2));
exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s",
getName().c_str(),
@@ -211,7 +211,7 @@ private:
rgbd_image3_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, _1, _2, _3));
approxSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
@@ -220,7 +220,7 @@ private:
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
exactSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, _1, _2, _3));
exactSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
getName().c_str(),
@@ -242,7 +242,7 @@ private:
rgbd_image4_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, _1, _2, _3, _4));
approxSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
@@ -252,7 +252,7 @@ private:
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
exactSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, _1, _2, _3, _4));
exactSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
getName().c_str(),
@@ -276,7 +276,7 @@ private:
rgbd_image5_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5));
approxSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
}
else
{
@@ -287,7 +287,7 @@ private:
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5));
exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s \\\n %s",
getName().c_str(),
@@ -340,12 +340,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
@@ -719,13 +719,13 @@ protected:
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
if(approxSync2_)
{
@@ -734,7 +734,7 @@ protected:
MyApproxSync2Policy(queueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, _1, _2));
approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
}
if(exactSync2_)
{
@@ -743,7 +743,7 @@ protected:
MyExactSync2Policy(queueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, _1, _2));
exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
}
if(approxSync3_)
{
@@ -753,7 +753,7 @@ protected:
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
approxSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, _1, _2, _3));
approxSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
if(exactSync3_)
{
@@ -763,7 +763,7 @@ protected:
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
exactSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, _1, _2, _3));
exactSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
if(approxSync4_)
{
@@ -774,7 +774,7 @@ protected:
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
approxSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, _1, _2, _3, _4));
approxSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(exactSync4_)
{
@@ -785,7 +785,7 @@ protected:
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
exactSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, _1, _2, _3, _4));
exactSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(approxSync5_)
{
@@ -797,7 +797,7 @@ protected:
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
approxSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5));
approxSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
}
if(exactSync5_)
{
@@ -809,7 +809,7 @@ protected:
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, _1, _2, _3, _4, _5));
exactSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
}
}
src/nodelets/rgbd_sync.cpp
+2 -2
View File
@@ -121,12 +121,12 @@ private:
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
ros::NodeHandle rgb_nh(nh, "rgb");
src/nodelets/rgbdicp_odometry.cpp
+8 -8
View File
@@ -160,12 +160,12 @@ private:
approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
if(approxSyncMaxInterval > 0.0)
approxCloudSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s, \n %s",
@@ -185,12 +185,12 @@ private:
approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
if(approxSyncMaxInterval > 0.0)
approxScanSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
@@ -460,25 +460,25 @@ protected:
{
delete approxScanSync_;
approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(exactScanSync_)
{
delete exactScanSync_;
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(approxCloudSync_)
{
delete approxCloudSync_;
approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(exactCloudSync_)
{
delete exactCloudSync_;
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
}
src/nodelets/stereo_odometry.cpp
+4 -4
View File
@@ -133,12 +133,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
@@ -496,13 +496,13 @@ protected:
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
}
src/nodelets/stereo_sync.cpp
+2 -2
View File
@@ -108,12 +108,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
ros::NodeHandle left_nh(nh, "left");
src/nodelets/stereo_throttle.cpp
+2 -2
View File
@@ -106,12 +106,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);