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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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src/impl/CommonDataSubscriberRGBD5.cpp
+16 -10
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@@ -50,6 +50,12 @@ namespace rtabmap_ros {
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image5Msg->depth_camera_info); \
std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs; \
std::vector<std::vector<rtabmap_ros::KeyPoint> > localKeyPoints; \
std::vector<std::vector<rtabmap_ros::Point3f> > localPoints3d; \
@@ -95,7 +101,7 @@ void CommonDataSubscriber::rgbd5Callback(
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5Scan2dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
@@ -111,7 +117,7 @@ void CommonDataSubscriber::rgbd5Scan2dCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5Scan3dCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
@@ -127,7 +133,7 @@ void CommonDataSubscriber::rgbd5Scan3dCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5ScanDescCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
@@ -146,7 +152,7 @@ void CommonDataSubscriber::rgbd5ScanDescCallback(
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5InfoCallback(
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
@@ -162,7 +168,7 @@ void CommonDataSubscriber::rgbd5InfoCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
// 5 RGBD + Odom
@@ -180,7 +186,7 @@ void CommonDataSubscriber::rgbd5OdomCallback(
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5OdomScan2dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -196,7 +202,7 @@ void CommonDataSubscriber::rgbd5OdomScan2dCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5OdomScan3dCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -212,7 +218,7 @@ void CommonDataSubscriber::rgbd5OdomScan3dCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5OdomScanDescCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -231,7 +237,7 @@ void CommonDataSubscriber::rgbd5OdomScanDescCallback(
{
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
}
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5OdomInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -247,7 +253,7 @@ void CommonDataSubscriber::rgbd5OdomInfoCallback(
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScan scanMsg; // Null
sensor_msgs::PointCloud2 scan3dMsg; // Null
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::setupRGBD5Callbacks(