mirror of
https://github.com/introlab/rtabmap_ros.git
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493 lines
19 KiB
C++
493 lines
19 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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#ifndef GUIWRAPPER_H_
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#define GUIWRAPPER_H_
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#include <ros/ros.h>
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#include "rtabmap_ros/Info.h"
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#include "rtabmap_ros/MapData.h"
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#include "rtabmap_ros/OdomInfo.h"
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#include "rtabmap_ros/Goal.h"
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#include "rtabmap/utilite/UEventsHandler.h"
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#include "rtabmap/core/Transform.h"
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#include <tf/transform_listener.h>
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#include <geometry_msgs/TwistStamped.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/LaserScan.h>
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#include <nav_msgs/Odometry.h>
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#include <nav_msgs/Path.h>
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#include <std_msgs/Bool.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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namespace rtabmap
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{
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class MainWindow;
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}
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class QApplication;
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class GuiWrapper : public UEventsHandler
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{
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public:
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GuiWrapper(int & argc, char** argv);
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virtual ~GuiWrapper();
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protected:
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virtual void handleEvent(UEvent * anEvent);
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private:
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void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
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void goalPathCallback(const rtabmap_ros::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
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void goalReachedCallback(const std_msgs::BoolConstPtr & value);
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void setupCallbacks(
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bool subscribeDepth,
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bool subscribeLaserScan2d,
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bool subscribeLaserScan3d,
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bool subscribeOdomInfo,
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bool subscribeStereo,
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int queueSize,
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int depthCameras);
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void commonDepthCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scan2dMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
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void commonDepthCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
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const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
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const sensor_msgs::LaserScanConstPtr& scan2dMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
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void commonStereoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scan2dMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
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void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg);
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// With odom msg
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void depthCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depth2Callback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& image1Msg,
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const sensor_msgs::ImageConstPtr& depth1Msg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
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const sensor_msgs::ImageConstPtr& image2Msg,
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const sensor_msgs::ImageConstPtr& depth2Msg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
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void depthOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
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void depthOdomInfo2Callback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& image1Msg,
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const sensor_msgs::ImageConstPtr& depth1Msg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
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const sensor_msgs::ImageConstPtr& image2Msg,
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const sensor_msgs::ImageConstPtr& depth2Msg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
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void depthScanCallback(
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScanOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScan3dCallback(
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScan3dOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void stereoScanCallback(
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoScanOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoScan3dCallback(
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoScan3dOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoOdomInfoCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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// with TF
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void depthTFCallback(const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthOdomInfoTFCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
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void depthScanTFCallback(
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
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void depthScan3dTFCallback(
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
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void stereoScanTFCallback(
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoScan3dTFCallback(
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoOdomInfoTFCallback(
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const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void stereoTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
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void processRequestedMap(const rtabmap_ros::MapData & map);
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rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
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private:
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rtabmap::MainWindow * mainWindow_;
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std::string cameraNodeName_;
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double lastOdomInfoUpdateTime_;
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// odometry subscription stuffs
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std::string frameId_;
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std::string odomFrameId_;
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bool waitForTransform_;
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double waitForTransformDuration_;
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tf::TransformListener tfListener_;
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message_filters::Subscriber<rtabmap_ros::Info> infoTopic_;
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message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
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message_filters::Subscriber<rtabmap_ros::Goal> goalTopic_;
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message_filters::Subscriber<nav_msgs::Path> pathTopic_;
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ros::Subscriber goalReachedTopic_;
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ros::Subscriber defaultSub_; // odometry only
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std::vector<image_transport::SubscriberFilter*> imageSubs_;
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std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
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std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>* > cameraInfoSubs_;
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message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
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message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
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message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
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image_transport::SubscriberFilter imageRectLeft_;
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image_transport::SubscriberFilter imageRectRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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typedef message_filters::sync_policies::ExactTime<
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rtabmap_ros::Info,
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rtabmap_ros::MapData> MyInfoMapSyncPolicy;
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message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
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typedef message_filters::sync_policies::ExactTime<
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rtabmap_ros::Goal,
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nav_msgs::Path> MyGoalPathSyncPolicy;
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message_filters::Synchronizer<MyGoalPathSyncPolicy> * goalPathSync_;
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// with odom msg
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::LaserScan,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
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message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::LaserScan,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScanOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy> * depthScanOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::PointCloud2,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
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message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::PointCloud2,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScan3dOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy> * depthScan3dOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthSyncPolicy;
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message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy> * depthOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoSyncPolicy;
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message_filters::Synchronizer<MyStereoSyncPolicy> * stereoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::LaserScan,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
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message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::LaserScan,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScanOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy> * stereoScanOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::PointCloud2,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
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message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::PointCloud2,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScan3dOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy> * stereoScan3dOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoOdomInfoSyncPolicy;
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message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy> * stereoOdomInfoSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
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message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthOdomInfo2SyncPolicy;
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message_filters::Synchronizer<MyDepthOdomInfo2SyncPolicy> * depthOdomInfo2Sync_;
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// with odom TF
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::LaserScan,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScanTFSyncPolicy;
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message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::PointCloud2,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthScan3dTFSyncPolicy;
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message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy> * depthScan3dTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
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message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthOdomInfoTFSyncPolicy;
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message_filters::Synchronizer<MyDepthOdomInfoTFSyncPolicy> * depthOdomInfoTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoTFSyncPolicy;
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message_filters::Synchronizer<MyStereoTFSyncPolicy> * stereoTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::LaserScan,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScanTFSyncPolicy;
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message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::PointCloud2,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoScan3dTFSyncPolicy;
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message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy> * stereoScan3dTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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rtabmap_ros::OdomInfo,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoOdomInfoTFSyncPolicy;
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message_filters::Synchronizer<MyStereoOdomInfoTFSyncPolicy> * stereoOdomInfoTFSync_;
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};
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#endif /* GUIWRAPPER_H_ */
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