mirror of
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620 lines
30 KiB
C++
620 lines
30 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_sync/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_conversions/MsgConversion.h>
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namespace rtabmap_sync {
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#define IMAGE_CONVERSION() \
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
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rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
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rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
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rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
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rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
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if(!depthMsgs[0].get()) \
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depthMsgs.clear(); \
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std::vector<sensor_msgs::msg::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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std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
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depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
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depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
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depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
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depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
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std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
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std::vector<std::vector<rtabmap_msgs::msg::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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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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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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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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// 4 RGBD
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void CommonDataSubscriber::rgbd4Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4Scan2dCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4Scan3dCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4ScanDescCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr 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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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4InfoCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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// 2 RGBD + Odom
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void CommonDataSubscriber::rgbd4OdomCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4OdomScan2dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4OdomScan3dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4OdomScanDescCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr 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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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4OdomInfoCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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#ifdef RTABMAP_SYNC_USER_DATA
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// 2 RGBD + User Data
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void CommonDataSubscriber::rgbd4DataCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4DataScan2dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4DataScan3dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4DataScanDescCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr 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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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbd4DataInfoCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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// 2 RGBD + Odom + User Data
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void CommonDataSubscriber::rgbd4OdomDataCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg)
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{
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IMAGE_CONVERSION();
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
|
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
|
}
|
|
void CommonDataSubscriber::rgbd4OdomDataScan2dCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
|
|
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
|
{
|
|
IMAGE_CONVERSION();
|
|
|
|
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
|
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
|
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
|
}
|
|
void CommonDataSubscriber::rgbd4OdomDataScan3dCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
|
|
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
|
{
|
|
IMAGE_CONVERSION();
|
|
|
|
sensor_msgs::msg::LaserScan scanMsg; // Null
|
|
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
|
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
|
}
|
|
void CommonDataSubscriber::rgbd4OdomDataScanDescCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
|
|
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
|
{
|
|
IMAGE_CONVERSION();
|
|
|
|
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
|
if(!scanDescMsg->global_descriptor.data.empty())
|
|
{
|
|
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
|
}
|
|
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
|
}
|
|
void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
|
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4Msg,
|
|
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
|
{
|
|
IMAGE_CONVERSION();
|
|
|
|
sensor_msgs::msg::LaserScan scanMsg; // Null
|
|
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
|
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
|
}
|
|
#endif
|
|
|
|
void CommonDataSubscriber::setupRGBD4Callbacks(
|
|
rclcpp::Node& node,
|
|
const rclcpp::SubscriptionOptions & options,
|
|
bool subscribeOdom,
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
bool subscribeUserData,
|
|
#else
|
|
bool,
|
|
#endif
|
|
bool subscribeScan2d,
|
|
bool subscribeScan3d,
|
|
bool subscribeScanDesc,
|
|
bool subscribeOdomInfo)
|
|
{
|
|
RCLCPP_INFO(node.get_logger(), "Setup rgbd4 callback");
|
|
|
|
rgbdSubs_.resize(4);
|
|
for(int i=0; i<4; ++i)
|
|
{
|
|
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
|
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
|
|
}
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
if(subscribeOdom && subscribeUserData)
|
|
{
|
|
odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
}
|
|
}
|
|
else
|
|
#endif
|
|
if(subscribeOdom)
|
|
{
|
|
odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
}
|
|
}
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
else if(subscribeUserData)
|
|
{
|
|
userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScanDesc, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScan2d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4DataScan3d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4Data, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
}
|
|
}
|
|
#endif
|
|
else
|
|
{
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
|
|
SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL4(CommonDataSubscriber, rgbd4, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
|
}
|
|
}
|
|
}
|
|
|
|
} /* namespace rtabmap_sync */
|