mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 18:27:46 +08:00
370 lines
16 KiB
C++
370 lines
16 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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namespace rtabmap_ros {
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// RGB + Depth
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void CommonDataSubscriber::depthCallback(
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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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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dCallback(
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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& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dCallback(
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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::PointCloud2ConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthInfoCallback(
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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 rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom
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void CommonDataSubscriber::depthOdomCallback(
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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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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan2dCallback(
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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& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomScan3dCallback(
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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::PointCloud2ConstPtr& scanMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomInfoCallback(
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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 rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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rtabmap_ros::UserDataConstPtr userDataMsg; // Null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + User Data
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void CommonDataSubscriber::depthDataCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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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{
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nav_msgs::OdometryConstPtr odomMsg; // Null
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan2dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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& scanMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataScan3dCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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::PointCloud2ConstPtr& scanMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthDataInfoCallback(
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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 rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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nav_msgs::OdometryConstPtr odomMsg; // null
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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// RGB + Depth + Odom + User Data
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void CommonDataSubscriber::depthOdomDataCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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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{
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sensor_msgs::LaserScanConstPtr scanMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan2dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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& scanMsg)
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{
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataScan3dCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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::PointCloud2ConstPtr& scanMsg)
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthOdomDataInfoCallback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const rtabmap_ros::UserDataConstPtr & userDataMsg,
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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 rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
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{
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sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
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sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
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commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::setupDepthCallbacks(
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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 subscribeOdomInfo,
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int queueSize,
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bool approxSync)
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{
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ROS_INFO("Setup depth callback");
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std::string rgbPrefix = "rgb";
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std::string depthPrefix = "depth";
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ros::NodeHandle rgb_nh(nh, rgbPrefix);
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ros::NodeHandle depth_nh(nh, depthPrefix);
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ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
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ros::NodeHandle depth_pnh(pnh, depthPrefix);
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::ImageTransport depth_it(depth_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
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imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
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imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
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cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
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if(subscribeOdom && subscribeUserData)
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{
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odomSub_.subscribe(nh, "odom", 1);
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userDataSub_.subscribe(nh, "user_data", 1);
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if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL6(depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL6(depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL6(depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
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else
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{
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SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
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}
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else if(subscribeOdom)
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{
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odomSub_.subscribe(nh, "odom", 1);
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if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL5(depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL5(depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL5(depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
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else
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{
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SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
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}
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else if(subscribeUserData)
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{
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userDataSub_.subscribe(nh, "user_data", 1);
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if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL5(depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL5(depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL5(depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
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else
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{
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SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
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}
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else
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{
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if(subscribeScan2d)
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{
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subscribedToScan2d_ = true;
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scanSub_.subscribe(nh, "scan", 1);
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SYNC_DECL4(depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL4(depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, 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", 1);
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SYNC_DECL4(depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
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}
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else
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{
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SYNC_DECL3(depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
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}
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}
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}
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} /* namespace rtabmap_ros */
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