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merged master->ros2

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This commit is contained in:
matlabbe
2024-06-12 22:51:30 -07:00
parent 911e4e8941 ae44e1a215
commit d3d874c862
35 changed files with 857 additions and 771 deletions
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rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
+28 -17
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@@ -73,12 +73,23 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
{
bool approxSync = true;
std::string roiStr;
int queueSize = 10;
int topicQueueSize = 1;
int syncQueueSize = 10;
int qos = 0;
double approxSyncMaxInterval = 0.0;
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
queueSize = this->declare_parameter("queue_size", queueSize);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
syncQueueSize = queueSize;
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
"to \"sync_queue_size\" and will be removed "
"in future versions! The value (%d) is copied to "
"\"sync_queue_size\".", syncQueueSize);
}
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
qos = this->declare_parameter("qos", qos);
int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
maxDepth_ = this->declare_parameter("max_depth", maxDepth_);
@@ -141,49 +152,49 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
if(approxSync)
{
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSyncDepth_->registerCallback(std::bind(&PointCloudXYZRGB::depthCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(syncQueueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSyncDisparity_->registerCallback(std::bind(&PointCloudXYZRGB::disparityCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(syncQueueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval > 0.0)
approxSyncStereo_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSyncStereo_->registerCallback(std::bind(&PointCloudXYZRGB::stereoCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_->registerCallback(std::bind(&PointCloudXYZRGB::depthCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(syncQueueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
exactSyncDisparity_->registerCallback(std::bind(&PointCloudXYZRGB::disparityCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(syncQueueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSyncStereo_->registerCallback(std::bind(&PointCloudXYZRGB::stereoCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
}
PointCloudXYZRGB::~PointCloudXYZRGB()