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rtabmap/rtabmapviz: Refactored to support multi-stereo input

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This commit is contained in:
matlabbe
2022-07-13 13:49:15 -04:00
parent 15d52fc0e0
commit bd727daab2
18 changed files with 579 additions and 585 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+3 -16
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@@ -80,12 +80,13 @@ protected:
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
const std::string & name);
virtual void commonDepthCallback(
virtual void commonMultiCameraCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
const sensor_msgs::LaserScan& scanMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
@@ -93,20 +94,6 @@ protected:
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScan& scanMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
const cv::Mat & localDescriptors = cv::Mat()) = 0;
virtual void commonLaserScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -119,7 +106,7 @@ protected:
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
void commonSingleDepthCallback(
void commonSingleCameraCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr & imageMsg,
include/rtabmap_ros/CoreWrapper.h
+4 -16
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@@ -111,12 +111,13 @@ private:
bool odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg, ros::Time stamp);
bool odomTFUpdate(const ros::Time & stamp); // TF odom
virtual void commonDepthCallback(
virtual void commonMultiCameraCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
const sensor_msgs::LaserScan& scanMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
@@ -124,12 +125,13 @@ private:
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
void commonDepthCallbackImpl(
void commonMultiCameraCallbackImpl(
const std::string & odomFrameId,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
const sensor_msgs::LaserScan& scan2dMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
@@ -137,20 +139,6 @@ private:
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints,
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d,
const std::vector<cv::Mat> & localDescriptors);
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const cv_bridge::CvImageConstPtr& leftImageMsg,
const cv_bridge::CvImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfo& leftCamInfoMsg,
const sensor_msgs::CameraInfo& rightCamInfoMsg,
const sensor_msgs::LaserScan& scanMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
const cv::Mat & localDescriptors = cv::Mat());
virtual void commonLaserScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
include/rtabmap_ros/GuiWrapper.h
+2 -1
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@@ -68,12 +68,13 @@ private:
void goalPathCallback(const rtabmap_ros::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
void goalReachedCallback(const std_msgs::BoolConstPtr & value);
virtual void commonDepthCallback(
virtual void commonMultiCameraCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
const sensor_msgs::LaserScan& scan2dMsg,
const sensor_msgs::PointCloud2& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
include/rtabmap_ros/MsgConversion.h
+3
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@@ -210,14 +210,17 @@ bool convertRGBDMsgs(
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
cv::Mat & rgb,
cv::Mat & depth,
std::vector<rtabmap::CameraModel> & cameraModels,
std::vector<rtabmap::StereoCameraModel> & stereoCameraModels,
tf::TransformListener & listener,
double waitForTransform,
bool alreadRectifiedImages,
const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPointsMsgs = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3dMsgs = std::vector<std::vector<rtabmap_ros::Point3f> >(),
const std::vector<cv::Mat> & localDescriptorsMsgs = std::vector<cv::Mat>(),