mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 09:47:46 +08:00
386 lines
17 KiB
C++
386 lines
17 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 <rtabmap_ros/CommonDataSubscriber.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/core/Compression.h>
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#include <rtabmap_ros/MsgConversion.h>
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#include <cv_bridge/cv_bridge.h>
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namespace rtabmap_ros {
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#define IMAGE_CONVERSION() \
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callbackCalled(); \
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6); \
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6); \
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rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
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rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
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rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
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rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
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rtabmap_ros::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
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rtabmap_ros::toCvShare(image6Msg, imageMsgs[5], depthMsgs[5]); \
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if(!depthMsgs[0].get()) \
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depthMsgs.clear(); \
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std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
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cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
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cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
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cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
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cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
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cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
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cameraInfoMsgs.push_back(image6Msg->rgb_camera_info); \
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std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs; \
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std::vector<std::vector<rtabmap_ros::KeyPoint> > localKeyPoints; \
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std::vector<std::vector<rtabmap_ros::Point3f> > localPoints3d; \
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std::vector<cv::Mat> localDescriptors; \
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if(!image1Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
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if(!image2Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
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if(!image3Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
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if(!image4Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
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if(!image5Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
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if(!image6Msg->global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(image6Msg->global_descriptor); \
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localKeyPoints.push_back(image1Msg->key_points); \
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localKeyPoints.push_back(image2Msg->key_points); \
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localKeyPoints.push_back(image3Msg->key_points); \
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localKeyPoints.push_back(image4Msg->key_points); \
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localKeyPoints.push_back(image5Msg->key_points); \
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localKeyPoints.push_back(image6Msg->key_points); \
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localPoints3d.push_back(image1Msg->points); \
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localPoints3d.push_back(image2Msg->points); \
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localPoints3d.push_back(image3Msg->points); \
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localPoints3d.push_back(image4Msg->points); \
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localPoints3d.push_back(image5Msg->points); \
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localPoints3d.push_back(image6Msg->points); \
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localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
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localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
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localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
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localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
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localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors)); \
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localDescriptors.push_back(rtabmap::uncompressData(image6Msg->descriptors));
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// 6 RGBD
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void CommonDataSubscriber::rgbd6Callback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6Scan2dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6Scan3dCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6ScanDescCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6InfoCallback(
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::OdometryConstPtr odomMsg; // Null
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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// 6 RGBD + Odom
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void CommonDataSubscriber::rgbd6OdomCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6OdomScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const sensor_msgs::LaserScanConstPtr& scanMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6OdomScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6OdomScanDescCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const rtabmap_ros::ScanDescriptorConstPtr& scanDescMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd6OdomInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::RGBDImageConstPtr& image1Msg,
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const rtabmap_ros::RGBDImageConstPtr& image2Msg,
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const rtabmap_ros::RGBDImageConstPtr& image3Msg,
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const rtabmap_ros::RGBDImageConstPtr& image4Msg,
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const rtabmap_ros::RGBDImageConstPtr& image5Msg,
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const rtabmap_ros::RGBDImageConstPtr& image6Msg,
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const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScan scanMsg; // Null
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sensor_msgs::PointCloud2 scan3dMsg; // Null
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commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::setupRGBD6Callbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeScanDesc,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync)
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{
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ROS_INFO("Setup rgbd6 callback");
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rgbdSubs_.resize(6);
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for(int i=0; i<6; ++i)
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{
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rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
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rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
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}
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if(subscribeOdom)
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{
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odomSub_.subscribe(nh, "odom", queueSize);
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if(subscribeScanDesc)
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{
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subscribedToScanDescriptor_ = true;
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scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
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}
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else if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
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}
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else if(subscribeScan3d)
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{
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subscribedToScan3d_ = true;
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scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
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}
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else if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = true;
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odomInfoSub_.subscribe(nh, "odom_info", queueSize);
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SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
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}
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else
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{
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SYNC_DECL7(CommonDataSubscriber, rgbd6Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
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}
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}
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else
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{
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if(subscribeScanDesc)
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{
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subscribedToScanDescriptor_ = true;
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scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL7(CommonDataSubscriber, rgbd6ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
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}
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else if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL7(CommonDataSubscriber, rgbd6Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
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}
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else if(subscribeScan3d)
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{
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subscribedToScan3d_ = true;
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scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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ROS_WARN("subscribe_odom_info ignored...");
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}
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SYNC_DECL7(CommonDataSubscriber, rgbd6Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
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}
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else if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = true;
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odomInfoSub_.subscribe(nh, "odom_info", queueSize);
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SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
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|
}
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else
|
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{
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SYNC_DECL6(CommonDataSubscriber, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
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|
}
|
|
}
|
|
}
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|
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} /* namespace rtabmap_ros */
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