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Added OdomInfo + scan2d/scan3d synchronization interface

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This commit is contained in:
matlabbe
2017-04-02 16:55:38 -04:00
parent 89bc0c29ca
commit ed3508fe4b
6 changed files with 652 additions and 25 deletions
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src/CommonDataSubscriber.cpp
+49 -1
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@@ -46,24 +46,32 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
SYNC_INIT(depthScan2d),
SYNC_INIT(depthScan3d),
SYNC_INIT(depthInfo),
SYNC_INIT(depthScan2dInfo),
SYNC_INIT(depthScan3dInfo),
// RGB + Depth + Odom
SYNC_INIT(depthOdom),
SYNC_INIT(depthOdomScan2d),
SYNC_INIT(depthOdomScan3d),
SYNC_INIT(depthOdomInfo),
SYNC_INIT(depthOdomScan2dInfo),
SYNC_INIT(depthOdomScan3dInfo),
// RGB + Depth + User Data
SYNC_INIT(depthData),
SYNC_INIT(depthDataScan2d),
SYNC_INIT(depthDataScan3d),
SYNC_INIT(depthDataInfo),
SYNC_INIT(depthDataScan2dInfo),
SYNC_INIT(depthDataScan3dInfo),
// RGB + Depth + Odom + User Data
SYNC_INIT(depthOdomData),
SYNC_INIT(depthOdomDataScan2d),
SYNC_INIT(depthOdomDataScan3d),
SYNC_INIT(depthOdomDataInfo),
SYNC_INIT(depthOdomDataScan2dInfo),
SYNC_INIT(depthOdomDataScan3dInfo),
// Stereo
SYNC_INIT(stereo),
@@ -77,48 +85,64 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
SYNC_INIT(rgbdScan2d),
SYNC_INIT(rgbdScan3d),
SYNC_INIT(rgbdInfo),
SYNC_INIT(rgbdScan2dInfo),
SYNC_INIT(rgbdScan3dInfo),
// 1 RGBD + Odom
SYNC_INIT(rgbdOdom),
SYNC_INIT(rgbdOdomScan2d),
SYNC_INIT(rgbdOdomScan3d),
SYNC_INIT(rgbdOdomInfo),
SYNC_INIT(rgbdOdomScan2dInfo),
SYNC_INIT(rgbdOdomScan3dInfo),
// 1 RGBD + User Data
SYNC_INIT(rgbdData),
SYNC_INIT(rgbdDataScan2d),
SYNC_INIT(rgbdDataScan3d),
SYNC_INIT(rgbdDataInfo),
SYNC_INIT(rgbdDataScan2dInfo),
SYNC_INIT(rgbdDataScan3dInfo),
// 1 RGBD + Odom + User Data
SYNC_INIT(rgbdOdomData),
SYNC_INIT(rgbdOdomDataScan2d),
SYNC_INIT(rgbdOdomDataScan3d),
SYNC_INIT(rgbdOdomDataInfo),
SYNC_INIT(rgbdOdomDataScan2dInfo),
SYNC_INIT(rgbdOdomDataScan3dInfo),
// 2 RGBD
SYNC_INIT(rgbd2),
SYNC_INIT(rgbd2Scan2d),
SYNC_INIT(rgbd2Scan3d),
SYNC_INIT(rgbd2Info),
SYNC_INIT(rgbd2Scan2dInfo),
SYNC_INIT(rgbd2Scan3dInfo),
// 2 RGBD + Odom
SYNC_INIT(rgbd2Odom),
SYNC_INIT(rgbd2OdomScan2d),
SYNC_INIT(rgbd2OdomScan3d),
SYNC_INIT(rgbd2OdomInfo),
SYNC_INIT(rgbd2OdomScan2dInfo),
SYNC_INIT(rgbd2OdomScan3dInfo),
// 2 RGBD + User Data
SYNC_INIT(rgbd2Data),
SYNC_INIT(rgbd2DataScan2d),
SYNC_INIT(rgbd2DataScan3d),
SYNC_INIT(rgbd2DataInfo),
SYNC_INIT(rgbd2DataScan2dInfo),
SYNC_INIT(rgbd2DataScan3dInfo),
// 2 RGBD + Odom + User Data
SYNC_INIT(rgbd2OdomData),
SYNC_INIT(rgbd2OdomDataScan2d),
SYNC_INIT(rgbd2OdomDataScan3d),
SYNC_INIT(rgbd2OdomDataInfo)
SYNC_INIT(rgbd2OdomDataInfo),
SYNC_INIT(rgbd2OdomDataScan2dInfo),
SYNC_INIT(rgbd2OdomDataScan3dInfo)
{
}
@@ -280,24 +304,32 @@ CommonDataSubscriber::~CommonDataSubscriber()
SYNC_DEL(depthScan2d);
SYNC_DEL(depthScan3d);
SYNC_DEL(depthInfo);
SYNC_DEL(depthScan2dInfo);
SYNC_DEL(depthScan3dInfo);
// RGB + Depth + Odom
SYNC_DEL(depthOdom);
SYNC_DEL(depthOdomScan2d);
SYNC_DEL(depthOdomScan3d);
SYNC_DEL(depthOdomInfo);
SYNC_DEL(depthOdomScan2dInfo);
SYNC_DEL(depthOdomScan3dInfo);
// RGB + Depth + User Data
SYNC_DEL(depthData);
SYNC_DEL(depthDataScan2d);
SYNC_DEL(depthDataScan3d);
SYNC_DEL(depthDataInfo);
SYNC_DEL(depthDataScan2dInfo);
SYNC_DEL(depthDataScan3dInfo);
// RGB + Depth + Odom + User Data
SYNC_DEL(depthOdomData);
SYNC_DEL(depthOdomDataScan2d);
SYNC_DEL(depthOdomDataScan3d);
SYNC_DEL(depthOdomDataInfo);
SYNC_DEL(depthOdomDataScan2dInfo);
SYNC_DEL(depthOdomDataScan3dInfo);
// Stereo
SYNC_DEL(stereo);
@@ -311,48 +343,64 @@ CommonDataSubscriber::~CommonDataSubscriber()
SYNC_DEL(rgbdScan2d);
SYNC_DEL(rgbdScan3d);
SYNC_DEL(rgbdInfo);
SYNC_DEL(rgbdScan2dInfo);
SYNC_DEL(rgbdScan3dInfo);
// 1 RGBD + Odom
SYNC_DEL(rgbdOdom);
SYNC_DEL(rgbdOdomScan2d);
SYNC_DEL(rgbdOdomScan3d);
SYNC_DEL(rgbdOdomInfo);
SYNC_DEL(rgbdOdomScan2dInfo);
SYNC_DEL(rgbdOdomScan3dInfo);
// 1 RGBD + User Data
SYNC_DEL(rgbdData);
SYNC_DEL(rgbdDataScan2d);
SYNC_DEL(rgbdDataScan3d);
SYNC_DEL(rgbdDataInfo);
SYNC_DEL(rgbdDataScan2dInfo);
SYNC_DEL(rgbdDataScan3dInfo);
// 1 RGBD + Odom + User Data
SYNC_DEL(rgbdOdomData);
SYNC_DEL(rgbdOdomDataScan2d);
SYNC_DEL(rgbdOdomDataScan3d);
SYNC_DEL(rgbdOdomDataInfo);
SYNC_DEL(rgbdOdomDataScan2dInfo);
SYNC_DEL(rgbdOdomDataScan3dInfo);
// 2 RGBD
SYNC_DEL(rgbd2);
SYNC_DEL(rgbd2Scan2d);
SYNC_DEL(rgbd2Scan3d);
SYNC_DEL(rgbd2Info);
SYNC_DEL(rgbd2Scan2dInfo);
SYNC_DEL(rgbd2Scan3dInfo);
// 2 RGBD + Odom
SYNC_DEL(rgbd2Odom);
SYNC_DEL(rgbd2OdomScan2d);
SYNC_DEL(rgbd2OdomScan3d);
SYNC_DEL(rgbd2OdomInfo);
SYNC_DEL(rgbd2OdomScan2dInfo);
SYNC_DEL(rgbd2OdomScan3dInfo);
// 2 RGBD + User Data
SYNC_DEL(rgbd2Data);
SYNC_DEL(rgbd2DataScan2d);
SYNC_DEL(rgbd2DataScan3d);
SYNC_DEL(rgbd2DataInfo);
SYNC_DEL(rgbd2DataScan2dInfo);
SYNC_DEL(rgbd2DataScan3dInfo);
// 2 RGBD + Odom + User Data
SYNC_DEL(rgbd2OdomData);
SYNC_DEL(rgbd2OdomDataScan2d);
SYNC_DEL(rgbd2OdomDataScan3d);
SYNC_DEL(rgbd2OdomDataInfo);
SYNC_DEL(rgbd2OdomDataScan2dInfo);
SYNC_DEL(rgbd2OdomDataScan3dInfo);
for(unsigned int i=0; i<rgbdSubs_.size(); ++i)
{