mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +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).
This commit is contained in:
matlabbe
@@ -0,0 +1,369 @@
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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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#include <rtabmap_ros/CommonDataSubscriber.h>
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namespace rtabmap_ros {
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// RGB + Depth
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void CommonDataSubscriber::depthCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthInfoCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom
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void CommonDataSubscriber::depthOdomCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + User Data
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void CommonDataSubscriber::depthDataCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan2dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan3dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataInfoCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom + User Data
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void CommonDataSubscriber::depthOdomDataCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
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{
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg)
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::setupDepthCallbacks(
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync)
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{
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ROS_INFO("Setup depth callback");
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ros::NodeHandle nh; // public
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ros::NodeHandle pnh("~"); // private
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std::string rgbPrefix = "rgb";
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std::string depthPrefix = "depth";
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ros::NodeHandle rgb_nh(nh, rgbPrefix);
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ros::NodeHandle depth_nh(nh, depthPrefix);
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ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
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ros::NodeHandle depth_pnh(pnh, depthPrefix);
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::ImageTransport depth_it(depth_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
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imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
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imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
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cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
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if(subscribeOdom && subscribeUserData)
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{
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odomSub_.subscribe(nh, "odom", 1);
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userDataSub_.subscribe(nh, "user_data", 1);
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if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL6(depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
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}
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else if(subscribeScan3d)
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{
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subscribedToScan3d_ = true;
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scan3dSub_.subscribe(nh, "scan_cloud", 1);
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SYNC_DECL6(depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
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}
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else if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = true;
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odomInfoSub_.subscribe(nh, "odom_info", 1);
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SYNC_DECL6(depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
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else
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{
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SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
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}
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else if(subscribeOdom)
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{
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odomSub_.subscribe(nh, "odom", 1);
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if(subscribeScan2d)
|
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL5(depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
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}
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else if(subscribeScan3d)
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{
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subscribedToScan3d_ = true;
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scan3dSub_.subscribe(nh, "scan_cloud", 1);
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SYNC_DECL5(depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
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}
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else if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = true;
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odomInfoSub_.subscribe(nh, "odom_info", 1);
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SYNC_DECL5(depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
|
||||
else
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||||
{
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SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
|
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}
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||||
else if(subscribeUserData)
|
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{
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userDataSub_.subscribe(nh, "user_data", 1);
|
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|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
|
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SYNC_DECL5(depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
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}
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else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
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scan3dSub_.subscribe(nh, "scan_cloud", 1);
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SYNC_DECL5(depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL4(depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL4(depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL4(depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
@@ -0,0 +1,386 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_ros/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap_ros/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_ros {
|
||||
|
||||
// 1 RGBD camera
|
||||
void CommonDataSubscriber::rgbdCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan2dCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan3dCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdInfoCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom
|
||||
void CommonDataSubscriber::rgbdOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + User Data
|
||||
void CommonDataSubscriber::rgbdDataCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan2dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan3dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom + User Data
|
||||
void CommonDataSubscriber::rgbdOdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_ros::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->cameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBDCallbacks(
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup rgbd callback");
|
||||
ros::NodeHandle nh; // public
|
||||
ros::NodeHandle pnh("~"); // private
|
||||
|
||||
if(subscribeOdom || subscribeUserData || subscribeScan2d || subscribeScan3d || subscribeOdomInfo)
|
||||
{
|
||||
rgbdSubs_.resize(1);
|
||||
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||
rgbdSubs_[0]->subscribe(nh, "rgbd_image", 1);
|
||||
|
||||
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL4(rgbdOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL4(rgbdOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL4(rgbdOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
else if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL3(rgbdOdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL3(rgbdOdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL3(rgbdOdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL3(rgbdDataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL3(rgbdDataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL3(rgbdDataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL2(rgbdScan2d, approxSync, queueSize, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL2(rgbdScan3d, approxSync, queueSize, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL2(rgbdInfo, approxSync, queueSize, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_FATAL("Not supposed to be here!");
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rgbdSub_ = nh.subscribe("rgbd_image", 1, &CommonDataSubscriber::rgbdCallback, this);
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
rgbdSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
@@ -0,0 +1,385 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_ros/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap_ros/MsgConversion.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
namespace rtabmap_ros {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
|
||||
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||
cameraInfoMsgs.push_back(image2Msg->cameraInfo);
|
||||
|
||||
// 2 RGBD
|
||||
void CommonDataSubscriber::rgbd2Callback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan2dCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan3dCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2InfoCallback(
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd2OdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd2DataCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan2dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan3dCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataInfoCallback(
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd2OdomDataCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan2dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan3dCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD2Callbacks(
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup rgbd2 callback");
|
||||
ros::NodeHandle nh; // public
|
||||
ros::NodeHandle pnh("~"); // private
|
||||
|
||||
rgbdSubs_.resize(2);
|
||||
for(int i=0; i<2; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
||||
}
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL5(rgbd2OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL5(rgbd2OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(rgbd2OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
else if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL4(rgbd2OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL4(rgbd2OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL4(rgbd2OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(nh, "user_data", 1);
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL4(rgbd2DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL4(rgbd2DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL4(rgbd2DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
SYNC_DECL3(rgbd2Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
SYNC_DECL3(rgbd2Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL3(rgbd2Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
@@ -0,0 +1,138 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_ros/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_ros {
|
||||
|
||||
// Stereo
|
||||
void CommonDataSubscriber::stereoCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoInfoCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||
{
|
||||
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||
sensor_msgs::LaserScanConstPtr scan2dMsg; // null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// Stereo + Odom
|
||||
void CommonDataSubscriber::stereoOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
|
||||
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoOdomInfoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg)
|
||||
{
|
||||
sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
|
||||
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||
commonStereoCallback(odomMsg, leftImageMsg, rightImageMsg, leftCamInfoMsg, rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupStereoCallbacks(
|
||||
bool subscribeOdom,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync)
|
||||
{
|
||||
ROS_INFO("Setup stereo callback");
|
||||
ros::NodeHandle nh; // public
|
||||
ros::NodeHandle pnh("~"); // private
|
||||
|
||||
ros::NodeHandle left_nh(nh, "left");
|
||||
ros::NodeHandle right_nh(nh, "right");
|
||||
ros::NodeHandle left_pnh(pnh, "left");
|
||||
ros::NodeHandle right_pnh(pnh, "right");
|
||||
image_transport::ImageTransport left_it(left_nh);
|
||||
image_transport::ImageTransport right_it(right_nh);
|
||||
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
|
||||
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
|
||||
|
||||
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
|
||||
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
|
||||
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
|
||||
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
|
||||
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(nh, "odom", 1);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL6(stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
SYNC_DECL5(stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(stereo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_ros */
|
||||
Reference in New Issue
Block a user