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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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include/rtabmap_ros/CommonDataSubscriberDefines.h
+14 -14
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@@ -110,13 +110,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -129,13 +129,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -149,13 +149,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -170,13 +170,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -192,13 +192,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -215,13 +215,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
@@ -239,13 +239,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
{ \ { \
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \ PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \ PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \ PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
} \ } \
else \ else \
{ \ { \
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \ PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \ PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \ PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
} \ } \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \ subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
name_.c_str(), \ name_.c_str(), \
src/CameraNode.cpp
+1 -1
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@@ -278,7 +278,7 @@ int main(int argc, char** argv)
dynamic_reconfigure::Server<rtabmap_ros::CameraConfig> server; dynamic_reconfigure::Server<rtabmap_ros::CameraConfig> server;
dynamic_reconfigure::Server<rtabmap_ros::CameraConfig>::CallbackType f; dynamic_reconfigure::Server<rtabmap_ros::CameraConfig>::CallbackType f;
f = boost::bind(&callback, _1, _2); f = boost::bind(&callback, boost::placeholders::_1, boost::placeholders::_2);
server.setCallback(f); server.setCallback(f);
ros::spin(); ros::spin();
src/CoreWrapper.cpp
+3 -3
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@@ -581,7 +581,7 @@ void CoreWrapper::onInit()
{ {
NODELET_INFO("Subscribe to inter odom + info messages"); NODELET_INFO("Subscribe to inter odom + info messages");
interOdomSync_ = new message_filters::Synchronizer<MyExactInterOdomSyncPolicy>(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_); interOdomSync_ = new message_filters::Synchronizer<MyExactInterOdomSyncPolicy>(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_);
interOdomSync_->registerCallback(boost::bind(&CoreWrapper::interOdomInfoCallback, this, _1, _2)); interOdomSync_->registerCallback(boost::bind(&CoreWrapper::interOdomInfoCallback, this, boost::placeholders::_1, boost::placeholders::_2));
interOdomSyncSub_.subscribe(nh, "inter_odom", 100); interOdomSyncSub_.subscribe(nh, "inter_odom", 100);
interOdomInfoSyncSub_.subscribe(nh, "inter_odom_info", 100); interOdomInfoSyncSub_.subscribe(nh, "inter_odom_info", 100);
} }
@@ -4467,9 +4467,9 @@ void CoreWrapper::publishCurrentGoal(const ros::Time & stamp)
goal.target_pose = poseMsg; goal.target_pose = poseMsg;
mbClient_->sendGoal(goal, mbClient_->sendGoal(goal,
boost::bind(&CoreWrapper::goalDoneCb, this, _1, _2), boost::bind(&CoreWrapper::goalDoneCb, this, boost::placeholders::_1, boost::placeholders::_2),
boost::bind(&CoreWrapper::goalActiveCb, this), boost::bind(&CoreWrapper::goalActiveCb, this),
boost::bind(&CoreWrapper::goalFeedbackCb, this, _1)); boost::bind(&CoreWrapper::goalFeedbackCb, this, boost::placeholders::_1));
lastPublishedMetricGoal_ = currentMetricGoal_; lastPublishedMetricGoal_ = currentMetricGoal_;
} }
else else
src/GuiWrapper.cpp
+2 -2
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@@ -160,7 +160,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
MyInfoMapSyncPolicy(this->getQueueSize()), MyInfoMapSyncPolicy(this->getQueueSize()),
infoTopic_, infoTopic_,
mapDataTopic_); mapDataTopic_);
infoMapSync_->registerCallback(boost::bind(&GuiWrapper::infoMapCallback, this, _1, _2)); infoMapSync_->registerCallback(boost::bind(&GuiWrapper::infoMapCallback, this, boost::placeholders::_1, boost::placeholders::_2));
goalTopic_.subscribe(nh, "goal_node", 1); goalTopic_.subscribe(nh, "goal_node", 1);
pathTopic_.subscribe(nh, "global_path", 1); pathTopic_.subscribe(nh, "global_path", 1);
@@ -168,7 +168,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
MyGoalPathSyncPolicy(this->getQueueSize()), MyGoalPathSyncPolicy(this->getQueueSize()),
goalTopic_, goalTopic_,
pathTopic_); pathTopic_);
goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, _1, _2)); goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, boost::placeholders::_1, boost::placeholders::_2));
goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this); goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this);
setupCallbacks(nh, pnh, ros::this_node::getName()); // do it at the end setupCallbacks(nh, pnh, ros::this_node::getName()); // do it at the end
src/costmap_2d/static_layer.cpp
+1 -1
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@@ -110,7 +110,7 @@ void StaticLayer::onInitialize()
dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh); dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb = boost::bind( dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb = boost::bind(
&StaticLayer::reconfigureCB, this, _1, _2); &StaticLayer::reconfigureCB, this, boost::placeholders::_1, boost::placeholders::_2);
dsrv_->setCallback(cb); dsrv_->setCallback(cb);
} }
src/costmap_2d/voxel_layer.cpp
+1 -1
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@@ -77,7 +77,7 @@ void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
{ {
voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh); voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb = boost::bind( dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb = boost::bind(
&VoxelLayer::reconfigureCB, this, _1, _2); &VoxelLayer::reconfigureCB, this, boost::placeholders::_1, boost::placeholders::_2);
voxel_dsrv_->setCallback(cb); voxel_dsrv_->setCallback(cb);
} }
src/costmap_2d/voxel_markers.cpp
+1 -1
View File
@@ -149,7 +149,7 @@ ros::Subscriber sub;
void connectCb() void connectCb()
{ {
ros::NodeHandle n; ros::NodeHandle n;
sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, _1)); sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, boost::placeholders::_1));
} }
void disconnectCb() void disconnectCb()
src/nodelets/data_odom_sync.cpp
+1 -1
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@@ -75,7 +75,7 @@ private:
private_nh.param("queue_size", queueSize, queueSize); 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_ = 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_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image_in"), 1, hintsDepth); 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_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_); 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); image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
src/nodelets/point_cloud_aggregator.cpp
+6 -6
View File
@@ -125,12 +125,12 @@ private:
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
getName().c_str(), getName().c_str(),
@@ -149,12 +149,12 @@ private:
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
getName().c_str(), getName().c_str(),
@@ -171,12 +171,12 @@ private:
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_); approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
getName().c_str(), getName().c_str(),
src/nodelets/point_cloud_assembler.cpp
+2 -2
View File
@@ -170,7 +170,7 @@ private:
syncOdomSub_.subscribe(nh, "odom", 1); syncOdomSub_.subscribe(nh, "odom", 1);
syncOdomInfoSub_.subscribe(nh, "odom_info", 1); syncOdomInfoSub_.subscribe(nh, "odom_info", 1);
exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(queueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
getName().c_str(), getName().c_str(),
syncCloudSub_.getTopic().c_str(), syncCloudSub_.getTopic().c_str(),
@@ -184,7 +184,7 @@ private:
syncCloudSub_.subscribe(nh, "cloud", 1); syncCloudSub_.subscribe(nh, "cloud", 1);
syncOdomSub_.subscribe(nh, "odom", 1); syncOdomSub_.subscribe(nh, "odom", 1);
exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(queueSize), syncCloudSub_, syncOdomSub_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
getName().c_str(), getName().c_str(),
syncCloudSub_.getTopic().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_); approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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_); approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), disparitySub_, disparityCameraInfoSub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageDepthSub_, cameraInfoSub_); 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_ = 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"); 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_); approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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_); approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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_); approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncStereo_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_); 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_ = 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_ = 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"); ros::NodeHandle rgb_nh(nh, "rgb");
src/nodelets/pointcloud_to_depthimage.cpp
+2 -2
View File
@@ -129,13 +129,13 @@ private:
if(approx) if(approx)
{ {
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_); 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 else
{ {
fixedFrameId_.clear(); fixedFrameId_.clear();
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_); 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); 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_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageSub_, cameraInfoSub_); 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"); ros::NodeHandle rgb_nh(nh, "rgb");
src/nodelets/rgbd_odometry.cpp
+20 -20
View File
@@ -183,7 +183,7 @@ private:
rgbd_image2_sub_); rgbd_image2_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
@@ -191,7 +191,7 @@ private:
MyExactSync2Policy(queueSize_), MyExactSync2Policy(queueSize_),
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s",
getName().c_str(), getName().c_str(),
@@ -211,7 +211,7 @@ private:
rgbd_image3_sub_); rgbd_image3_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
@@ -220,7 +220,7 @@ private:
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
getName().c_str(), getName().c_str(),
@@ -242,7 +242,7 @@ private:
rgbd_image4_sub_); rgbd_image4_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
@@ -252,7 +252,7 @@ private:
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
getName().c_str(), getName().c_str(),
@@ -276,7 +276,7 @@ private:
rgbd_image5_sub_); rgbd_image5_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
@@ -287,7 +287,7 @@ private:
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_sub_, rgbd_image4_sub_,
rgbd_image5_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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s \\\n %s",
getName().c_str(), getName().c_str(),
@@ -340,12 +340,12 @@ private:
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
@@ -719,13 +719,13 @@ protected:
{ {
delete approxSync_; delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_); 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_) if(exactSync_)
{ {
delete exactSync_; delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_); 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_) if(approxSync2_)
{ {
@@ -734,7 +734,7 @@ protected:
MyApproxSync2Policy(queueSize_), MyApproxSync2Policy(queueSize_),
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_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_) if(exactSync2_)
{ {
@@ -743,7 +743,7 @@ protected:
MyExactSync2Policy(queueSize_), MyExactSync2Policy(queueSize_),
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_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_) if(approxSync3_)
{ {
@@ -753,7 +753,7 @@ protected:
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_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_) if(exactSync3_)
{ {
@@ -763,7 +763,7 @@ protected:
rgbd_image1_sub_, rgbd_image1_sub_,
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_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_) if(approxSync4_)
{ {
@@ -774,7 +774,7 @@ protected:
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_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_) if(exactSync4_)
{ {
@@ -785,7 +785,7 @@ protected:
rgbd_image2_sub_, rgbd_image2_sub_,
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_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_) if(approxSync5_)
{ {
@@ -797,7 +797,7 @@ protected:
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_sub_, rgbd_image4_sub_,
rgbd_image5_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_) if(exactSync5_)
{ {
@@ -809,7 +809,7 @@ protected:
rgbd_image3_sub_, rgbd_image3_sub_,
rgbd_image4_sub_, rgbd_image4_sub_,
rgbd_image5_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_); approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_); 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"); 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_); approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxCloudSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_); 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", 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_); approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
if(approxSyncMaxInterval > 0.0) if(approxSyncMaxInterval > 0.0)
approxScanSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_); 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", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
@@ -460,25 +460,25 @@ protected:
{ {
delete approxScanSync_; delete approxScanSync_;
approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_); 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_) if(exactScanSync_)
{ {
delete exactScanSync_; delete exactScanSync_;
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_); 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_) if(approxCloudSync_)
{ {
delete approxCloudSync_; delete approxCloudSync_;
approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_); 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_) if(exactCloudSync_)
{ {
delete exactCloudSync_; delete exactCloudSync_;
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_); 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_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval>0.0) if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_); 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_; delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_); 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_) if(exactSync_)
{ {
delete exactSync_; delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_); 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_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
if(approxSyncMaxInterval>0.0) if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_); 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"); 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_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval>0.0) if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); 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 else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_); 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); imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
src/rviz/MapGraphDisplay.cpp
-2
View File
@@ -25,8 +25,6 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
#include <boost/bind.hpp>
#include <OgreSceneNode.h> #include <OgreSceneNode.h>
#include <OgreSceneManager.h> #include <OgreSceneManager.h>
#include <OgreManualObject.h> #include <OgreManualObject.h>