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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-09 03:07:45 +08:00
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node).
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matlabbe
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
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#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
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#define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS2(PREFIX, MSG0, MSG1) \
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DATA_SYNC2(PREFIX, Approximate, MSG0, MSG1) \
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DATA_SYNC2(PREFIX, Exact, MSG0, MSG1) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&);
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#define DATA_SYNC3(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS3(PREFIX, MSG0, MSG1, MSG2) \
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DATA_SYNC3(PREFIX, Approximate, MSG0, MSG1, MSG2) \
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DATA_SYNC3(PREFIX, Exact, MSG0, MSG1, MSG2) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&); \
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#define DATA_SYNC4(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS4(PREFIX, MSG0, MSG1, MSG2, MSG3) \
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DATA_SYNC4(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3) \
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DATA_SYNC4(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&); \
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#define DATA_SYNC5(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS5(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4) \
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DATA_SYNC5(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4) \
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DATA_SYNC5(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&); \
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#define DATA_SYNC6(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS6(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
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DATA_SYNC6(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
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DATA_SYNC6(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&); \
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// Constructor
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#define SYNC_INIT(PREFIX) \
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PREFIX##ApproximateSync_(0), \
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PREFIX##ExactSync_(0)
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// Destructor
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#define SYNC_DEL(PREFIX) \
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if(PREFIX##ApproximateSync_) delete PREFIX##ApproximateSync_; \
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if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
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// Sync declarations
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#define SYNC_DECL2(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
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} \
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s", \
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ros::this_node::getName().c_str(), \
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APPROX?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str());
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#define SYNC_DECL3(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
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} \
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s", \
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ros::this_node::getName().c_str(), \
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APPROX?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str(), \
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SUB2.getTopic().c_str());
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#define SYNC_DECL4(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
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} \
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s", \
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ros::this_node::getName().c_str(), \
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APPROX?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str(), \
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SUB2.getTopic().c_str(), \
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SUB3.getTopic().c_str());
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#define SYNC_DECL5(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
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} \
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s", \
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ros::this_node::getName().c_str(), \
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approxSync?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str(), \
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SUB2.getTopic().c_str(), \
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SUB3.getTopic().c_str(), \
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SUB4.getTopic().c_str());
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#define SYNC_DECL6(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
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} \
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s", \
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ros::this_node::getName().c_str(), \
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APPROX?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str(), \
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SUB2.getTopic().c_str(), \
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SUB3.getTopic().c_str(), \
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SUB4.getTopic().c_str(), \
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SUB5.getTopic().c_str());
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#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
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