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).

2026-10-07 18:27:46 +08:00 · 2016-09-26 16:37:31 -04:00
parent 3b6daf7189
commit babb8c8509
24 changed files with 2942 additions and 2920 deletions
@@ -0,0 +1,369 @@
+/*
+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 {
+
+// RGB + Depth
+void CommonDataSubscriber::depthCallback(
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
+{
+	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, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthScan2dCallback(
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::LaserScanConstPtr& scanMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	nav_msgs::OdometryConstPtr odomMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthScan3dCallback(
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::PointCloud2ConstPtr& scanMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	nav_msgs::OdometryConstPtr odomMsg; // Null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthInfoCallback(
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	nav_msgs::OdometryConstPtr odomMsg; // Null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
+}
+
+// RGB + Depth + Odom
+void CommonDataSubscriber::depthOdomCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::LaserScanConstPtr scanMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomScan2dCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::LaserScanConstPtr& scanMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomScan3dCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::PointCloud2ConstPtr& scanMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomInfoCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
+{
+	rtabmap_ros::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
+}
+
+// RGB + Depth + User Data
+void CommonDataSubscriber::depthDataCallback(
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
+{
+	nav_msgs::OdometryConstPtr odomMsg; // Null
+	sensor_msgs::LaserScanConstPtr scanMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthDataScan2dCallback(
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::LaserScanConstPtr& scanMsg)
+{
+	nav_msgs::OdometryConstPtr odomMsg; // null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthDataScan3dCallback(
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::PointCloud2ConstPtr& scanMsg)
+{
+	nav_msgs::OdometryConstPtr odomMsg; // null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthDataInfoCallback(
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
+{
+	nav_msgs::OdometryConstPtr odomMsg; // null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
+}
+
+// RGB + Depth + Odom + User Data
+void CommonDataSubscriber::depthOdomDataCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
+{
+	sensor_msgs::LaserScanConstPtr scanMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomDataScan2dCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::LaserScanConstPtr& scanMsg)
+{
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomDataScan3dCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const sensor_msgs::PointCloud2ConstPtr& scanMsg)
+{
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::depthOdomDataInfoCallback(
+		const nav_msgs::OdometryConstPtr & odomMsg,
+		const rtabmap_ros::UserDataConstPtr & userDataMsg,
+		const sensor_msgs::ImageConstPtr& imageMsg,
+		const sensor_msgs::ImageConstPtr& depthMsg,
+		const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
+		const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
+{
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
+}
+
+void CommonDataSubscriber::setupDepthCallbacks(
+		bool subscribeOdom,
+		bool subscribeUserData,
+		bool subscribeScan2d,
+		bool subscribeScan3d,
+		bool subscribeOdomInfo,
+		int queueSize,
+		bool approxSync)
+{
+	ROS_INFO("Setup depth callback");
+	ros::NodeHandle nh; // public
+	ros::NodeHandle pnh("~"); // private
+
+	std::string rgbPrefix = "rgb";
+	std::string depthPrefix = "depth";
+	ros::NodeHandle rgb_nh(nh, rgbPrefix);
+	ros::NodeHandle depth_nh(nh, depthPrefix);
+	ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
+	ros::NodeHandle depth_pnh(pnh, depthPrefix);
+	image_transport::ImageTransport rgb_it(rgb_nh);
+	image_transport::ImageTransport depth_it(depth_nh);
+	image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
+	image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
+
+	imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
+	imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
+	cameraInfoSub_.subscribe(rgb_nh, "camera_info", 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_DECL6(depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
+		}
+		else if(subscribeScan3d)
+		{
+			subscribedToScan3d_ = true;
+			scan3dSub_.subscribe(nh, "scan_cloud", 1);
+			SYNC_DECL6(depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
+		}
+		else if(subscribeOdomInfo)
+		{
+			subscribedToOdomInfo_ = true;
+			odomInfoSub_.subscribe(nh, "odom_info", 1);
+			SYNC_DECL6(depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
+		}
+		else
+		{
+			SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
+		}
+	}
+	else if(subscribeOdom)
+	{
+		odomSub_.subscribe(nh, "odom", 1);
+
+		if(subscribeScan2d)
+		{
+			subscribedToScan2d_ = true;
+			scanSub_.subscribe(nh, "scan", 1);
+			SYNC_DECL5(depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
+		}
+		else if(subscribeScan3d)
+		{
+			subscribedToScan3d_ = true;
+			scan3dSub_.subscribe(nh, "scan_cloud", 1);
+			SYNC_DECL5(depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
+		}
+		else if(subscribeOdomInfo)
+		{
+			subscribedToOdomInfo_ = true;
+			odomInfoSub_.subscribe(nh, "odom_info", 1);
+			SYNC_DECL5(depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
+		}
+		else
+		{
+			SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
+		}
+	}
+	else if(subscribeUserData)
+	{
+		userDataSub_.subscribe(nh, "user_data", 1);
+
+		if(subscribeScan2d)
+		{
+			subscribedToScan2d_ = true;
+			scanSub_.subscribe(nh, "scan", 1);
+			SYNC_DECL5(depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
+		}
+		else if(subscribeScan3d)
+		{
+			subscribedToScan3d_ = true;
+			scan3dSub_.subscribe(nh, "scan_cloud", 1);
+			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 */