mirror of
https://github.com/introlab/rtabmap_ros.git
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120 lines
5.7 KiB
C++
120 lines
5.7 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rclcpp/rclcpp.hpp"
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#include <rtabmap_ros/OdometryROS.h>
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#include <rtabmap_ros/visibility.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/time_synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <image_transport/image_transport.hpp>
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#include <image_transport/subscriber_filter.hpp>
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#include <sensor_msgs/msg/image.hpp>
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#include <rtabmap_ros/msg/rgbd_image.hpp>
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#include <cv_bridge/cv_bridge.h>
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namespace rtabmap_ros
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{
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class RGBDOdometry : public rtabmap_ros::OdometryROS
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{
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public:
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RTABMAP_ROS_PUBLIC
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explicit RGBDOdometry(const rclcpp::NodeOptions & options);
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virtual ~RGBDOdometry();
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private:
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virtual void updateParameters(rtabmap::ParametersMap & parameters);
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virtual void onOdomInit();
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void commonCallback(
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const std::vector<cv_bridge::CvImageConstPtr> & rgbImages,
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const std::vector<cv_bridge::CvImageConstPtr> & depthImages,
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const std::vector<sensor_msgs::msg::CameraInfo>& cameraInfos);
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void callback(
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const sensor_msgs::msg::Image::ConstSharedPtr image,
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const sensor_msgs::msg::Image::ConstSharedPtr depth,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo);
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void callbackRGBD(
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image);
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void callbackRGBD2(
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image2);
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void callbackRGBD3(
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image3);
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void callbackRGBD4(
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image3,
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const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image4);
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protected:
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virtual void flushCallbacks();
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private:
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image_transport::SubscriberFilter image_mono_sub_;
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image_transport::SubscriberFilter image_depth_sub_;
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message_filters::Subscriber<sensor_msgs::msg::CameraInfo> info_sub_;
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rclcpp::Subscription<rtabmap_ros::msg::RGBDImage>::SharedPtr rgbdSub_;
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message_filters::Subscriber<rtabmap_ros::msg::RGBDImage> rgbd_image1_sub_;
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message_filters::Subscriber<rtabmap_ros::msg::RGBDImage> rgbd_image2_sub_;
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message_filters::Subscriber<rtabmap_ros::msg::RGBDImage> rgbd_image3_sub_;
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message_filters::Subscriber<rtabmap_ros::msg::RGBDImage> rgbd_image4_sub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyApproxSync2Policy;
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message_filters::Synchronizer<MyApproxSync2Policy> * approxSync2_;
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typedef message_filters::sync_policies::ExactTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyExactSync2Policy;
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message_filters::Synchronizer<MyExactSync2Policy> * exactSync2_;
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typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyApproxSync3Policy;
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message_filters::Synchronizer<MyApproxSync3Policy> * approxSync3_;
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typedef message_filters::sync_policies::ExactTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyExactSync3Policy;
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message_filters::Synchronizer<MyExactSync3Policy> * exactSync3_;
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typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyApproxSync4Policy;
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message_filters::Synchronizer<MyApproxSync4Policy> * approxSync4_;
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typedef message_filters::sync_policies::ExactTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyExactSync4Policy;
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message_filters::Synchronizer<MyExactSync4Policy> * exactSync4_;
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};
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}
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