feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
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@@ -0,0 +1,38 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
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#include <memory>
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#include "rtabmap_sync/rgbd_sync.hpp"
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#include "rclcpp/rclcpp.hpp"
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<rtabmap_sync::RGBDSync>(rclcpp::NodeOptions()));
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rclcpp::shutdown();
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return 0;
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}
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@@ -0,0 +1,38 @@
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/*
|
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
*/
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#include <memory>
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#include "rtabmap_sync/rgbdx_sync.hpp"
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#include "rclcpp/rclcpp.hpp"
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<rtabmap_sync::RGBDXSync>(rclcpp::NodeOptions()));
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rclcpp::shutdown();
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return 0;
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}
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@@ -0,0 +1,38 @@
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/*
|
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
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||||
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||||
#include <memory>
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#include "rtabmap_sync/rgb_sync.hpp"
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#include "rclcpp/rclcpp.hpp"
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<rtabmap_sync::RGBSync>(rclcpp::NodeOptions()));
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rclcpp::shutdown();
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return 0;
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}
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@@ -0,0 +1,38 @@
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/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
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||||
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||||
#include <memory>
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#include "rtabmap_sync/stereo_sync.hpp"
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#include "rclcpp/rclcpp.hpp"
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<rtabmap_sync::StereoSync>(rclcpp::NodeOptions()));
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rclcpp::shutdown();
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return 0;
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}
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@@ -0,0 +1,759 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
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#include <rtabmap_sync/CommonDataSubscriber.h>
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namespace rtabmap_sync {
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// RGB + Depth
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void CommonDataSubscriber::depthCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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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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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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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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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scan2dMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScanDescCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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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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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
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if(!scanMsg->global_descriptor.data.empty())
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{
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globalDescriptor.push_back(scanMsg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
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}
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void CommonDataSubscriber::depthInfoCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scan2dMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan2dInfoCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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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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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
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}
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void CommonDataSubscriber::depthScan3dInfoCallback(
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
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{
|
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
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}
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void CommonDataSubscriber::depthScanDescInfoCallback(
|
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const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
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const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
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commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom
|
||||
void CommonDataSubscriber::depthOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
void CommonDataSubscriber::depthDataCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScanDescCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan2dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScan3dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthDataScanDescInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
void CommonDataSubscriber::depthOdomDataCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::depthOdomDataScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupDepthCallbacks(
|
||||
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 depth callback");
|
||||
|
||||
image_transport::TransportHints hints(&node);
|
||||
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScan2d, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomScan3d, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthOdom, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScan2d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataScan3d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthData, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, depth, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,116 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
void CommonDataSubscriber::odomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan::SharedPtr scan2dMsg; // Null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
void CommonDataSubscriber::odomDataCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
|
||||
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupOdomCallbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup scan callback");
|
||||
|
||||
if(subscribeUserData || subscribeOdomInfo)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
odomSubOnly_ = node.create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_), std::bind(&CommonDataSubscriber::odomCallback, this, std::placeholders::_1));
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
odomSubOnly_->get_topic_name());
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,758 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// RGB
|
||||
void CommonDataSubscriber::rgbCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan2dCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan3dCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScanDescCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbInfoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan2dInfoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScan3dInfoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbScanDescInfoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Odom
|
||||
void CommonDataSubscriber::rgbOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
void CommonDataSubscriber::rgbDataCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScanDescCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan2dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScan3dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbDataScanDescInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
void CommonDataSubscriber::rgbOdomDataCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::rgbOdomDataScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imageMsg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr depthMsg;// Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptor;
|
||||
if(!scanMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptor.push_back(scanMsg->global_descriptor);
|
||||
}
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBCallbacks(
|
||||
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 rgb-only callback");
|
||||
|
||||
image_transport::TransportHints hints(&node);
|
||||
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan2d, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomScan3d, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbOdom, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScan2d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataScan3d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbData, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScanDesc, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScan2d, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbScan3d, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgb, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,786 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// 1 RGBD camera
|
||||
void CommonDataSubscriber::rgbdCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan2dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScan3dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdScanDescCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdInfoCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom
|
||||
void CommonDataSubscriber::rgbdOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 1 RGBD camera + User Data
|
||||
void CommonDataSubscriber::rgbdDataCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataScanDescCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdDataInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
|
||||
// 1 RGBD camera + Odom + User Data
|
||||
void CommonDataSubscriber::rgbdOdomDataCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
*scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg ,rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataScanDescCallback(
|
||||
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::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
if(!scanDescMsg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg ,rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
void CommonDataSubscriber::rgbdOdomDataInfoCallback(
|
||||
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::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
|
||||
cv_bridge::CvImageConstPtr rgb, depth;
|
||||
rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
||||
if(!image1Msg->global_descriptor.data.empty())
|
||||
{
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
|
||||
}
|
||||
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
|
||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
|
||||
rtabmap::uncompressData(image1Msg->descriptors));
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupRGBDCallbacks(
|
||||
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 rgbd callback");
|
||||
|
||||
if(subscribeOdom ||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
subscribeUserData ||
|
||||
#endif
|
||||
subscribeScan2d ||
|
||||
subscribeScan3d ||
|
||||
subscribeScanDesc ||
|
||||
subscribeOdomInfo)
|
||||
{
|
||||
rgbdSubs_.resize(1);
|
||||
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdOdom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan2d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataScan3d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdData, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdScan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("Not supposed to be here!");
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rgbdSub_ = node.create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_), std::bind(&CommonDataSubscriber::rgbdCallback, this, std::placeholders::_1));
|
||||
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
rgbdSub_->get_topic_name());
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,562 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear(); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
if(!image1Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
|
||||
if(!image2Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors));
|
||||
|
||||
// 2 RGBD
|
||||
void CommonDataSubscriber::rgbd2Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan2dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2Scan3dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2ScanDescCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd2InfoCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd2OdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd2OdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd2DataCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2DataScanDescCallback(
|
||||
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::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbd2DataInfoCallback(
|
||||
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::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd2OdomDataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan2dCallback(
|
||||
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 sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScan3dCallback(
|
||||
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 sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd2OdomDataScanDescCallback(
|
||||
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::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::rgbd2OdomDataInfoCallback(
|
||||
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::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::setupRGBD2Callbacks(
|
||||
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 rgbd2 callback");
|
||||
|
||||
rgbdSubs_.resize(2);
|
||||
for(int i=0; i<2; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScanDesc, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScan2d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataScan3d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Data, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbd2, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,651 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear(); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
if(!image1Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
|
||||
if(!image2Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
|
||||
if(!image3Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors));
|
||||
|
||||
// 3 RGBD
|
||||
void CommonDataSubscriber::rgbd3Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3Scan2dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3Scan3dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3ScanDescCallback(
|
||||
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::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd3InfoCallback(
|
||||
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::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd3OdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd3OdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd3DataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan2dCallback(
|
||||
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 sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScan3dCallback(
|
||||
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 sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3DataScanDescCallback(
|
||||
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::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbd3DataInfoCallback(
|
||||
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::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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);
|
||||
}
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd3OdomDataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan2dCallback(
|
||||
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 sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg,
|
||||
scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScan3dCallback(
|
||||
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 sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs,
|
||||
depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg,
|
||||
*scan3dMsg, odomInfoMsg, globalDescriptorMsgs,
|
||||
localKeyPoints, localPoints3d, localDescriptors);
|
||||
}
|
||||
void CommonDataSubscriber::rgbd3OdomDataScanDescCallback(
|
||||
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::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::rgbd3OdomDataInfoCallback(
|
||||
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::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::setupRGBD3Callbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeOdom,
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
bool subscribeUserData,
|
||||
#else
|
||||
bool,
|
||||
#endif
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDescriptor,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup rgbd3 callback");
|
||||
|
||||
rgbdSubs_.resize(3);
|
||||
for(int i=0; i<3; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScanDesc, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScan2d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataScan3d, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Data, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDescriptor)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbd3, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,619 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear(); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
if(!image1Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
|
||||
if(!image2Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
|
||||
if(!image3Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
|
||||
if(!image4Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localKeyPoints.push_back(image4Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localPoints3d.push_back(image4Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors));
|
||||
|
||||
// 4 RGBD
|
||||
void CommonDataSubscriber::rgbd4Callback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd4Scan2dCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4Scan3dCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4ScanDescCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4InfoCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd4OdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd4OdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4OdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4OdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd4OdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
void CommonDataSubscriber::rgbd4DataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd4DataScan2dCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbd4DataScan3dCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbd4DataScanDescCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbd4DataInfoCallback(
|
||||
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();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbd4OdomDataCallback(
|
||||
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)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::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_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosOdom_).get_rmw_qos_profile(), 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_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosOdom_).get_rmw_qos_profile(), 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_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosOdom_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosScan_).get_rmw_qos_profile(), 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_).reliability(qosOdom_).get_rmw_qos_profile(), 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 */
|
||||
@@ -0,0 +1,371 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
rtabmap_conversions::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear(); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image5Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
if(!image1Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
|
||||
if(!image2Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
|
||||
if(!image3Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
|
||||
if(!image4Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
|
||||
if(!image5Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localKeyPoints.push_back(image4Msg->key_points); \
|
||||
localKeyPoints.push_back(image5Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localPoints3d.push_back(image4Msg->points); \
|
||||
localPoints3d.push_back(image5Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors));
|
||||
|
||||
// 5 RGBD
|
||||
void CommonDataSubscriber::rgbd5Callback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd5Scan2dCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5Scan3dCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5ScanDescCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5InfoCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 5 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd5OdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd5OdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5OdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5OdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd5OdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD5Callbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeOdom,
|
||||
bool /*subscribeUserData*/,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup rgbd5 callback");
|
||||
|
||||
rgbdSubs_.resize(5);
|
||||
for(int i=0; i<5; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd5Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd5ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, rgbd5, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,389 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);} \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6); \
|
||||
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||
rtabmap_conversions::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||
rtabmap_conversions::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||
rtabmap_conversions::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||
rtabmap_conversions::toCvShare(image5Msg, imageMsgs[4], depthMsgs[4]); \
|
||||
rtabmap_conversions::toCvShare(image6Msg, imageMsgs[5], depthMsgs[5]); \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear(); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
cameraInfoMsgs.push_back(image1Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image2Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image3Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
|
||||
cameraInfoMsgs.push_back(image6Msg->rgb_camera_info); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image4Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image5Msg->depth_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(image6Msg->depth_camera_info); \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
if(!image1Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor); \
|
||||
if(!image2Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image2Msg->global_descriptor); \
|
||||
if(!image3Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image3Msg->global_descriptor); \
|
||||
if(!image4Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image4Msg->global_descriptor); \
|
||||
if(!image5Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image5Msg->global_descriptor); \
|
||||
if(!image6Msg->global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(image6Msg->global_descriptor); \
|
||||
localKeyPoints.push_back(image1Msg->key_points); \
|
||||
localKeyPoints.push_back(image2Msg->key_points); \
|
||||
localKeyPoints.push_back(image3Msg->key_points); \
|
||||
localKeyPoints.push_back(image4Msg->key_points); \
|
||||
localKeyPoints.push_back(image5Msg->key_points); \
|
||||
localKeyPoints.push_back(image6Msg->key_points); \
|
||||
localPoints3d.push_back(image1Msg->points); \
|
||||
localPoints3d.push_back(image2Msg->points); \
|
||||
localPoints3d.push_back(image3Msg->points); \
|
||||
localPoints3d.push_back(image4Msg->points); \
|
||||
localPoints3d.push_back(image5Msg->points); \
|
||||
localPoints3d.push_back(image6Msg->points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image1Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image2Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image3Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image4Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image5Msg->descriptors)); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(image6Msg->descriptors));
|
||||
|
||||
// 6 RGBD
|
||||
void CommonDataSubscriber::rgbd6Callback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd6Scan2dCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6Scan3dCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6ScanDescCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6InfoCallback(
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// 6 RGBD + Odom
|
||||
void CommonDataSubscriber::rgbd6OdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbd6OdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6OdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6OdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbd6OdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
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::RGBDImage::ConstSharedPtr image5Msg,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6Msg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupRGBD6Callbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeOdom,
|
||||
bool /*subscribeUserData*/,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup rgbd6 callback");
|
||||
|
||||
rgbdSubs_.resize(6);
|
||||
for(int i=0; i<6; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL6(CommonDataSubscriber, rgbd6, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,539 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
#define IMAGE_CONVERSION() \
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imagesMsg->header.stamp);} \
|
||||
UASSERT(!imagesMsg->rgbd_images.empty()); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(imagesMsg->rgbd_images.size()); \
|
||||
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(imagesMsg->rgbd_images.size()); \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
|
||||
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
|
||||
std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
|
||||
std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
|
||||
std::vector<cv::Mat> localDescriptors; \
|
||||
for(size_t i=0; i<imageMsgs.size(); ++i) \
|
||||
{ \
|
||||
rtabmap_conversions::toCvShare(imagesMsg->rgbd_images[i], imagesMsg, imageMsgs[i], depthMsgs[i]); \
|
||||
cameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].rgb_camera_info); \
|
||||
depthCameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].depth_camera_info); \
|
||||
if(!imagesMsg->rgbd_images[i].global_descriptor.data.empty()) \
|
||||
globalDescriptorMsgs.push_back(imagesMsg->rgbd_images[i].global_descriptor); \
|
||||
localKeyPoints.push_back(imagesMsg->rgbd_images[i].key_points); \
|
||||
localPoints3d.push_back(imagesMsg->rgbd_images[i].points); \
|
||||
localDescriptors.push_back(rtabmap::uncompressData(imagesMsg->rgbd_images[i].descriptors)); \
|
||||
} \
|
||||
if(!depthMsgs[0].get()) \
|
||||
depthMsgs.clear();
|
||||
|
||||
// X RGBD
|
||||
void CommonDataSubscriber::rgbdXCallback(
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbdXScan2dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXScan3dCallback(
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXScanDescCallback(
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXInfoCallback(
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
// X RGBD + Odom
|
||||
void CommonDataSubscriber::rgbdXOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbdXOdomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXOdomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXOdomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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::rgbdXOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// X RGBD + User Data
|
||||
void CommonDataSubscriber::rgbdXDataCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbdXDataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbdXDataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbdXDataScanDescCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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::rgbdXDataInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
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);
|
||||
}
|
||||
|
||||
// X RGBD + Odom + User Data
|
||||
void CommonDataSubscriber::rgbdXOdomDataCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
|
||||
{
|
||||
IMAGE_CONVERSION();
|
||||
|
||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
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::rgbdXOdomDataScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
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::rgbdXOdomDataScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
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::rgbdXOdomDataScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
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::rgbdXOdomDataInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
|
||||
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::setupRGBDXCallbacks(
|
||||
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 rgbdX callback");
|
||||
|
||||
rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan2d, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan3d, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXOdom, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan2d, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan3d, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXData, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
if(subscribeScanDesc)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScanDesc, approxSync_, syncQueueSize_, rgbdXSub_, scanDescSub_);
|
||||
}
|
||||
else if(subscribeScan2d)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScan2d, approxSync_, syncQueueSize_, rgbdXSub_, scanSub_);
|
||||
}
|
||||
else if(subscribeScan3d)
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = false;
|
||||
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
||||
}
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXScan3d, approxSync_, syncQueueSize_, rgbdXSub_, scan3dSub_);
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync_, syncQueueSize_, rgbdXSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
rgbdXSub_.unsubscribe();
|
||||
rgbdXSubOnly_ = node.create_subscription<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_), std::bind(&CommonDataSubscriber::rgbdXCallback, this, std::placeholders::_1));
|
||||
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
rgbdXSubOnly_->get_topic_name());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,497 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
void CommonDataSubscriber::scan2dCallback(
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scan3dCallback(
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scanDescCallback(
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::scan2dInfoCallback(
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scan3dInfoCallback(
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::scanDescInfoCallback(
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::odomScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
void CommonDataSubscriber::dataScan2dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan3dCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScanDescCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan2dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScan3dInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::dataScanDescInfoCallback(
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::odomDataScan2dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan3dCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScanDescCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan2dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScan3dInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::odomDataScanDescInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
||||
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(scanMsg->header.stamp);}
|
||||
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
|
||||
}
|
||||
#endif
|
||||
|
||||
void CommonDataSubscriber::setupScanCallbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool scan2dTopic,
|
||||
bool scanDescTopic,
|
||||
bool subscribeOdom,
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
bool subscribeUserData,
|
||||
#else
|
||||
bool,
|
||||
#endif
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup scan callback");
|
||||
|
||||
if(subscribeOdom ||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
subscribeUserData ||
|
||||
#endif
|
||||
subscribeOdomInfo)
|
||||
{
|
||||
if(scanDescTopic)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
else
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
||||
}
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
if(subscribeOdom && subscribeUserData)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL3(CommonDataSubscriber, odomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync_, syncQueueSize_, odomSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync_, syncQueueSize_, odomSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, odomScan3d, approxSync_, syncQueueSize_, odomSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
else if(subscribeUserData)
|
||||
{
|
||||
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(scanDescTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_);
|
||||
}
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync_, syncQueueSize_, userDataSub_, scanSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, dataScan3d, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(scanDescTopic)
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync_, syncQueueSize_, scanDescSub_, odomInfoSub_);
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync_, syncQueueSize_, scanSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, scan3dInfo, approxSync_, syncQueueSize_, scan3dSub_, odomInfoSub_);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(scanDescTopic)
|
||||
{
|
||||
subscribedToScanDescriptor_ = true;
|
||||
scanDescSubOnly_ = node.create_subscription<rtabmap_msgs::msg::ScanDescriptor>("scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_), std::bind(&CommonDataSubscriber::scanDescCallback, this, std::placeholders::_1));
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
scanDescSubOnly_->get_topic_name());
|
||||
}
|
||||
else if(scan2dTopic)
|
||||
{
|
||||
subscribedToScan2d_ = true;
|
||||
scan2dSubOnly_ = node.create_subscription<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_), std::bind(&CommonDataSubscriber::scan2dCallback, this, std::placeholders::_1));
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
scan2dSubOnly_->get_topic_name());
|
||||
}
|
||||
else
|
||||
{
|
||||
subscribedToScan3d_ = true;
|
||||
scan3dSubOnly_ = node.create_subscription<sensor_msgs::msg::PointCloud2>("scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_), std::bind(&CommonDataSubscriber::scan3dCallback, this, std::placeholders::_1));
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
scan3dSubOnly_->get_topic_name());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
|
||||
@@ -0,0 +1,115 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/core/Compression.h>
|
||||
#include <rtabmap_conversions/MsgConversion.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// SensorData
|
||||
void CommonDataSubscriber::sensorDataCallback(
|
||||
const rtabmap_msgs::msg::SensorData::ConstSharedPtr sensorDataMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(sensorDataMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSensorDataCallback(sensorDataMsg, odomMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::sensorDataInfoCallback(
|
||||
const rtabmap_msgs::msg::SensorData::ConstSharedPtr sensorDataMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(sensorDataMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
|
||||
commonSensorDataCallback(sensorDataMsg, odomMsg, odomInfoMsg);
|
||||
}
|
||||
// SensorData + Odom
|
||||
void CommonDataSubscriber::sensorDataOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::SensorData::ConstSharedPtr sensorDataMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(sensorDataMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
|
||||
commonSensorDataCallback(sensorDataMsg, odomMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::sensorDataOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const rtabmap_msgs::msg::SensorData::ConstSharedPtr sensorDataMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(sensorDataMsg->header.stamp);}
|
||||
commonSensorDataCallback(sensorDataMsg, odomMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupSensorDataCallbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeOdom,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup SensorData callback");
|
||||
|
||||
sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
sensorDataSub_.unsubscribe();
|
||||
sensorDataSubOnly_ = node.create_subscription<rtabmap_msgs::msg::SensorData>("sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_), std::bind(&CommonDataSubscriber::sensorDataCallback, this, std::placeholders::_1));
|
||||
|
||||
subscribedTopicsMsg_ =
|
||||
uFormat("\n%s subscribed to:\n %s",
|
||||
node.get_name(),
|
||||
sensorDataSubOnly_->get_topic_name());
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,136 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/CommonDataSubscriber.h>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
// Stereo
|
||||
void CommonDataSubscriber::stereoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(leftImageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoInfoCallback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(leftImageMsg->header.stamp);}
|
||||
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
// Stereo + Odom
|
||||
void CommonDataSubscriber::stereoOdomCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(leftImageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scanMsg; // null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
void CommonDataSubscriber::stereoOdomInfoCallback(
|
||||
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg,
|
||||
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
||||
{
|
||||
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(leftImageMsg->header.stamp);}
|
||||
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
||||
sensor_msgs::msg::LaserScan scan2dMsg; // Null
|
||||
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
|
||||
commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
|
||||
}
|
||||
|
||||
void CommonDataSubscriber::setupStereoCallbacks(
|
||||
rclcpp::Node& node,
|
||||
const rclcpp::SubscriptionOptions & options,
|
||||
bool subscribeOdom,
|
||||
bool subscribeOdomInfo)
|
||||
{
|
||||
RCLCPP_INFO(node.get_logger(), "Setup stereo callback");
|
||||
|
||||
image_transport::TransportHints hints(&node);
|
||||
imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
|
||||
cameraInfoLeft_.subscribe(&node, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
|
||||
cameraInfoRight_.subscribe(&node, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdom)
|
||||
{
|
||||
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL5(CommonDataSubscriber, stereoOdom, approxSync_, syncQueueSize_, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
subscribedToOdomInfo_ = true;
|
||||
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
||||
SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync_, syncQueueSize_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
|
||||
}
|
||||
else
|
||||
{
|
||||
SYNC_DECL4(CommonDataSubscriber, stereo, approxSync_, syncQueueSize_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
@@ -0,0 +1,202 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "rtabmap_sync/rgb_sync.hpp"
|
||||
|
||||
#include <sensor_msgs/msg/compressed_image.hpp>
|
||||
#include <sensor_msgs/image_encodings.hpp>
|
||||
|
||||
#ifdef PRE_ROS_IRON
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#else
|
||||
#include <cv_bridge/cv_bridge.hpp>
|
||||
#endif
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
#include "rtabmap_conversions/MsgConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
|
||||
Node("rgbd_sync", options),
|
||||
compressedRate_(0),
|
||||
approxSync_(0),
|
||||
exactSync_(0)
|
||||
{
|
||||
int topicQueueSize = 10;
|
||||
int syncQueueSize = 10;
|
||||
bool approxSync = true;
|
||||
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
approxSync = this->declare_parameter("approx_sync", approxSync);
|
||||
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
|
||||
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
|
||||
int queueSize = this->declare_parameter("queue_size", -1);
|
||||
if(queueSize != -1)
|
||||
{
|
||||
syncQueueSize = queueSize;
|
||||
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
|
||||
"to \"sync_queue_size\" and will be removed "
|
||||
"in future versions! The value (%d) is copied to "
|
||||
"\"sync_queue_size\".", syncQueueSize);
|
||||
}
|
||||
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
|
||||
qos = this->declare_parameter("qos", qos);
|
||||
int qosCaminfo = this->declare_parameter("qos_camera_info", qos);
|
||||
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCaminfo);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize), imageSub_, cameraInfoSub_);
|
||||
if(approxSyncMaxInterval > 0.0)
|
||||
approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
approxSync_->registerCallback(std::bind(&RGBSync::callback, this, std::placeholders::_1, std::placeholders::_2));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize), imageSub_, cameraInfoSub_);
|
||||
exactSync_->registerCallback(std::bind(&RGBSync::callback, this, std::placeholders::_1, std::placeholders::_2));
|
||||
}
|
||||
|
||||
image_transport::TransportHints hints(this);
|
||||
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCaminfo).get_rmw_qos_profile());
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
|
||||
get_name(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval!=std::numeric_limits<double>::max()?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
|
||||
imageSub_.getSubscriber().getTopic().c_str(),
|
||||
cameraInfoSub_.getSubscriber()->get_topic_name());
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
|
||||
|
||||
syncDiagnostic_.reset(new SyncDiagnostic(this));
|
||||
syncDiagnostic_->init(imageSub_.getSubscriber().getTopic(),
|
||||
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ ros2 topic hz my_topic\") and the timestamps in their "
|
||||
"header are set. Ajusting topic_queue_size (%d) and sync_queue_size (%d) "
|
||||
"can also help for better synchronization if framerates and/or delays are different. %s%s",
|
||||
this->get_name(),
|
||||
topicQueueSize,
|
||||
syncQueueSize,
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str()));
|
||||
}
|
||||
|
||||
|
||||
RGBSync::~RGBSync()
|
||||
{
|
||||
if(approxSync_)
|
||||
delete approxSync_;
|
||||
if(exactSync_)
|
||||
delete exactSync_;
|
||||
}
|
||||
|
||||
void RGBSync::callback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr image,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image->header.stamp);
|
||||
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
double stamp = rtabmap_conversions::timestampFromROS(image->header.stamp);
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfo->header.frame_id;
|
||||
msg.header.stamp = image->header.stamp;
|
||||
msg.rgb_camera_info = *cameraInfo;
|
||||
|
||||
if(rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
|
||||
{
|
||||
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = now();
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage msgCompressed = msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
rgbdImageCompressedPub_->publish(msgCompressed);
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_->get_subscription_count())
|
||||
{
|
||||
msg.rgb = *image;
|
||||
rgbdImagePub_->publish(msg);
|
||||
}
|
||||
|
||||
if( stamp != rtabmap_conversions::timestampFromROS(image->header.stamp))
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"%f->%f",
|
||||
stamp, rtabmap_conversions::timestampFromROS(image->header.stamp));
|
||||
}
|
||||
}
|
||||
syncDiagnostic_->tickOutput(image->header.stamp);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
|
||||
// Register the component with class_loader.
|
||||
// This acts as a sort of entry point, allowing the component to be discoverable when its library
|
||||
// is being loaded into a running process.
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::RGBSync)
|
||||
|
||||
@@ -0,0 +1,290 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/rgbd_sync.hpp>
|
||||
|
||||
#include <sensor_msgs/msg/compressed_image.hpp>
|
||||
#include <sensor_msgs/image_encodings.hpp>
|
||||
|
||||
#ifdef PRE_ROS_IRON
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#else
|
||||
#include <cv_bridge/cv_bridge.hpp>
|
||||
#endif
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/core/util2d.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
#include "rtabmap_conversions/MsgConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
|
||||
Node("rgbd_sync", options),
|
||||
depthScale_(1.0),
|
||||
decimation_(1),
|
||||
compressedRate_(0),
|
||||
approxSyncMaxInterval_(0.0),
|
||||
approxSyncDepth_(0),
|
||||
exactSyncDepth_(0)
|
||||
{
|
||||
int topicQueueSize = 10;
|
||||
int syncQueueSize = 10;
|
||||
bool approxSync = true;
|
||||
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
|
||||
approxSync = this->declare_parameter("approx_sync", approxSync);
|
||||
approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_);
|
||||
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
|
||||
int queueSize = this->declare_parameter("queue_size", -1);
|
||||
if(queueSize != -1)
|
||||
{
|
||||
syncQueueSize = queueSize;
|
||||
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
|
||||
"to \"sync_queue_size\" and will be removed "
|
||||
"in future versions! The value (%d) is copied to "
|
||||
"\"sync_queue_size\".", syncQueueSize);
|
||||
}
|
||||
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
|
||||
qos = this->declare_parameter("qos", qos);
|
||||
int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
|
||||
depthScale_ = this->declare_parameter("depth_scale", depthScale_);
|
||||
decimation_ = this->declare_parameter("decimation", decimation_);
|
||||
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
|
||||
|
||||
if(decimation_<1)
|
||||
{
|
||||
decimation_ = 1;
|
||||
}
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: decimation = %d", get_name(), decimation_);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
if(approxSyncMaxInterval_ > 0.0)
|
||||
approxSyncDepth_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval_));
|
||||
approxSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
|
||||
}
|
||||
|
||||
std::string rgbImageTransport = this->declare_parameter<std::string>("rgb_image_transport", "raw");
|
||||
std::string depthImageTransport = this->declare_parameter<std::string>("depth_image_transport", "raw");
|
||||
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
|
||||
std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
|
||||
imageSub_.subscribe(this, rgbTopic, rgbImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
imageDepthSub_.subscribe(this, depthTopic, depthImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
|
||||
get_name(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
|
||||
imageSub_.getSubscriber().getTopic().c_str(),
|
||||
imageDepthSub_.getSubscriber().getTopic().c_str(),
|
||||
cameraInfoSub_.getSubscriber()->get_topic_name());
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
|
||||
|
||||
syncDiagnostic_.reset(new SyncDiagnostic(this));
|
||||
syncDiagnostic_->init(imageSub_.getSubscriber().getTopic(),
|
||||
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. Ajusting topic_queue_size (%d) and sync_queue_size (%d) "
|
||||
"can also help for better synchronization if framerates and/or delays are different. %s%s",
|
||||
get_name(),
|
||||
topicQueueSize,
|
||||
syncQueueSize,
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str()));
|
||||
}
|
||||
|
||||
RGBDSync::~RGBDSync()
|
||||
{
|
||||
delete approxSyncDepth_;
|
||||
delete exactSyncDepth_;
|
||||
}
|
||||
|
||||
void RGBDSync::callback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr image,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr depth,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image->header.stamp);
|
||||
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
double rgbStamp = rtabmap_conversions::timestampFromROS(image->header.stamp);
|
||||
double depthStamp = rtabmap_conversions::timestampFromROS(depth->header.stamp);
|
||||
|
||||
double stampDiff = fabs(rgbStamp - depthStamp);
|
||||
if(stampDiff > 0.010 && approxSyncMaxInterval_ == 0.0)
|
||||
{
|
||||
RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is "
|
||||
"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
|
||||
"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use "
|
||||
"approx_sync=false if streams have all the exact same timestamp. Setting approx_sync_max_interval "
|
||||
"will suppress this warning.",
|
||||
stampDiff,
|
||||
rgbStamp,
|
||||
depthStamp);
|
||||
}
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage::UniquePtr msg(new rtabmap_msgs::msg::RGBDImage);
|
||||
msg->header.frame_id = cameraInfo->header.frame_id;
|
||||
msg->header.stamp = rgbStamp>depthStamp?image->header.stamp:depth->header.stamp;
|
||||
if(decimation_>1 && !(depth->width % decimation_ == 0 && depth->height % decimation_ == 0))
|
||||
{
|
||||
RCLCPP_WARN(this->get_logger(), "Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
|
||||
"Images won't be resized.", decimation_, depth->width, depth->height);
|
||||
decimation_ = 1;
|
||||
}
|
||||
if(decimation_>1)
|
||||
{
|
||||
rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
|
||||
sensor_msgs::msg::CameraInfo info;
|
||||
rtabmap_conversions::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
|
||||
info.header = cameraInfo->header;
|
||||
msg->rgb_camera_info = info;
|
||||
msg->depth_camera_info = info;
|
||||
}
|
||||
else
|
||||
{
|
||||
msg->rgb_camera_info = *cameraInfo;
|
||||
msg->depth_camera_info = *cameraInfo;
|
||||
}
|
||||
|
||||
cv::Mat rgbMat;
|
||||
cv::Mat depthMat;
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
|
||||
rgbMat = imagePtr->image;
|
||||
depthMat = imageDepthPtr->image;
|
||||
|
||||
if(decimation_>1)
|
||||
{
|
||||
rgbMat = rtabmap::util2d::decimate(rgbMat, decimation_);
|
||||
depthMat = rtabmap::util2d::decimate(depthMat, decimation_);
|
||||
}
|
||||
|
||||
if(depthScale_ != 1.0)
|
||||
{
|
||||
depthMat*=depthScale_;
|
||||
}
|
||||
|
||||
if(rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
|
||||
{
|
||||
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = now();
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_msgs::msg::RGBDImage);
|
||||
msgCompressed->header = msg->header;
|
||||
msgCompressed->rgb_camera_info = msg->rgb_camera_info;
|
||||
msgCompressed->depth_camera_info = msg->depth_camera_info;
|
||||
|
||||
cv_bridge::CvImage cvImg;
|
||||
cvImg.header = image->header;
|
||||
cvImg.image = rgbMat;
|
||||
cvImg.encoding = image->encoding;
|
||||
cvImg.toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
msgCompressed->depth_compressed.header = imageDepthPtr->header;
|
||||
msgCompressed->depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
|
||||
|
||||
msgCompressed->depth_compressed.format = "png";
|
||||
|
||||
rgbdImageCompressedPub_->publish(std::move(msgCompressed));
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_->get_subscription_count())
|
||||
{
|
||||
cv_bridge::CvImage cvImg;
|
||||
cvImg.header = image->header;
|
||||
cvImg.image = rgbMat;
|
||||
cvImg.encoding = image->encoding;
|
||||
cvImg.toImageMsg(msg->rgb);
|
||||
|
||||
cv_bridge::CvImage cvDepth;
|
||||
cvDepth.header = depth->header;
|
||||
cvDepth.image = depthMat;
|
||||
cvDepth.encoding = depth->encoding;
|
||||
cvDepth.toImageMsg(msg->depth);
|
||||
|
||||
rgbdImagePub_->publish(std::move(msg));
|
||||
}
|
||||
|
||||
if( rgbStamp != rtabmap_conversions::timestampFromROS(image->header.stamp) ||
|
||||
depthStamp != rtabmap_conversions::timestampFromROS(depth->header.stamp))
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"rgb=%f->%f depth=%f->%f",
|
||||
rgbStamp, rtabmap_conversions::timestampFromROS(image->header.stamp),
|
||||
depthStamp, rtabmap_conversions::timestampFromROS(depth->header.stamp));
|
||||
}
|
||||
}
|
||||
syncDiagnostic_->tickOutput(image->header.stamp);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
|
||||
// Register the component with class_loader.
|
||||
// This acts as a sort of entry point, allowing the component to be discoverable when its library
|
||||
// is being loaded into a running process.
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::RGBDSync)
|
||||
@@ -0,0 +1,322 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/rgbdx_sync.hpp>
|
||||
#include <rtabmap/utilite/ULogger.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
|
||||
Node("rgbd_sync", options),
|
||||
SYNC_INIT(rgbd2),
|
||||
SYNC_INIT(rgbd3),
|
||||
SYNC_INIT(rgbd4),
|
||||
SYNC_INIT(rgbd5),
|
||||
SYNC_INIT(rgbd6),
|
||||
SYNC_INIT(rgbd7),
|
||||
SYNC_INIT(rgbd8)
|
||||
{
|
||||
int topicQueueSize = 10;
|
||||
int syncQueueSize = 10;
|
||||
bool approxSync = true;
|
||||
int rgbdCameras = 2;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
|
||||
approxSync = this->declare_parameter("approx_sync", approxSync);
|
||||
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
|
||||
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
|
||||
int queueSize = this->declare_parameter("queue_size", -1);
|
||||
if(queueSize != -1)
|
||||
{
|
||||
syncQueueSize = queueSize;
|
||||
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
|
||||
"to \"sync_queue_size\" and will be removed "
|
||||
"in future versions! The value (%d) is copied to "
|
||||
"\"sync_queue_size\".", syncQueueSize);
|
||||
}
|
||||
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
|
||||
qos = this->declare_parameter("qos", qos);
|
||||
rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
|
||||
if(approxSync)
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: rgbd_cameras = %d", get_name(), rgbdCameras);
|
||||
|
||||
rgbdImagesPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
|
||||
UASSERT(rgbdCameras>=2 && rgbdCameras<=8);
|
||||
|
||||
rgbdSubs_.resize(rgbdCameras);
|
||||
for(int i=0; i<rgbdCameras; ++i)
|
||||
{
|
||||
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
|
||||
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
}
|
||||
|
||||
std::string name_ = get_name();
|
||||
std::string subscribedTopicsMsg_;
|
||||
if(rgbdCameras==2)
|
||||
{
|
||||
SYNC_DECL2(RGBDXSync, rgbd2, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd2ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==3)
|
||||
{
|
||||
SYNC_DECL3(RGBDXSync, rgbd3, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd3ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==4)
|
||||
{
|
||||
SYNC_DECL4(RGBDXSync, rgbd4, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd4ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==5)
|
||||
{
|
||||
SYNC_DECL5(RGBDXSync, rgbd5, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd5ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==6)
|
||||
{
|
||||
SYNC_DECL6(RGBDXSync, rgbd6, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd6ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==7)
|
||||
{
|
||||
SYNC_DECL7(RGBDXSync, rgbd7, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd7ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
else if(rgbdCameras==8)
|
||||
{
|
||||
SYNC_DECL8(RGBDXSync, rgbd8, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]), (*rgbdSubs_[7]));
|
||||
if(approxSync && approxSyncMaxInterval>0.0)
|
||||
{
|
||||
rgbd8ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
}
|
||||
}
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("%s%s", subscribedTopicsMsg_.c_str(),
|
||||
approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).c_str():"");
|
||||
RCLCPP_INFO(this->get_logger(), subscribedTopicsMsg.c_str());
|
||||
|
||||
// Setup diagnostic
|
||||
syncDiagnostic_.reset(new SyncDiagnostic(this));
|
||||
syncDiagnostic_->init("",
|
||||
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. Ajusting topic_queue_size (%d) and sync_queue_size (%d) "
|
||||
"can also help for better synchronization if framerates and/or delays are different.%s%s",
|
||||
get_name(),
|
||||
topicQueueSize,
|
||||
syncQueueSize,
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str()));
|
||||
}
|
||||
|
||||
RGBDXSync::~RGBDXSync()
|
||||
{
|
||||
SYNC_DEL(rgbd2);
|
||||
SYNC_DEL(rgbd3);
|
||||
SYNC_DEL(rgbd4);
|
||||
SYNC_DEL(rgbd5);
|
||||
SYNC_DEL(rgbd6);
|
||||
SYNC_DEL(rgbd7);
|
||||
SYNC_DEL(rgbd8);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd2Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(2);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd3Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(3);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd4Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(4);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd5Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(5);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd6Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(6);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd7Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(7);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
output.rgbd_images[6]=(*image6);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
void RGBDXSync::rgbd8Callback(
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6,
|
||||
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image7)
|
||||
{
|
||||
syncDiagnostic_->tickInput(image0->header.stamp);
|
||||
rtabmap_msgs::msg::RGBDImages output;
|
||||
output.header = image0->header;
|
||||
output.rgbd_images.resize(8);
|
||||
output.rgbd_images[0]=(*image0);
|
||||
output.rgbd_images[1]=(*image1);
|
||||
output.rgbd_images[2]=(*image2);
|
||||
output.rgbd_images[3]=(*image3);
|
||||
output.rgbd_images[4]=(*image4);
|
||||
output.rgbd_images[5]=(*image5);
|
||||
output.rgbd_images[6]=(*image6);
|
||||
output.rgbd_images[7]=(*image7);
|
||||
rgbdImagesPub_->publish(output);
|
||||
syncDiagnostic_->tickOutput(image0->header.stamp);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
|
||||
// Register the component with class_loader.
|
||||
// This acts as a sort of entry point, allowing the component to be discoverable when its library
|
||||
// is being loaded into a running process.
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::RGBDXSync)
|
||||
@@ -0,0 +1,223 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <rtabmap_sync/stereo_sync.hpp>
|
||||
|
||||
#include <sensor_msgs/msg/compressed_image.hpp>
|
||||
#include <sensor_msgs/image_encodings.hpp>
|
||||
|
||||
#ifdef PRE_ROS_IRON
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#else
|
||||
#include <cv_bridge/cv_bridge.hpp>
|
||||
#endif
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
#include "rtabmap_conversions/MsgConversion.h"
|
||||
|
||||
namespace rtabmap_sync
|
||||
{
|
||||
|
||||
StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
|
||||
Node("stereo_sync", options),
|
||||
compressedRate_(0),
|
||||
approxSync_(0),
|
||||
exactSync_(0)
|
||||
{
|
||||
int topicQueueSize = 10;
|
||||
int syncQueueSize = 10;
|
||||
bool approxSync = false;
|
||||
double approxSyncMaxInterval = 0.0;
|
||||
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
|
||||
approxSync = this->declare_parameter("approx_sync", approxSync);
|
||||
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
|
||||
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
|
||||
int queueSize = this->declare_parameter("queue_size", -1);
|
||||
if(queueSize != -1)
|
||||
{
|
||||
syncQueueSize = queueSize;
|
||||
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
|
||||
"to \"sync_queue_size\" and will be removed "
|
||||
"in future versions! The value (%d) is copied to "
|
||||
"\"sync_queue_size\".", syncQueueSize);
|
||||
}
|
||||
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
|
||||
qos = this->declare_parameter("qos", qos);
|
||||
int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
|
||||
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
|
||||
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
|
||||
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
|
||||
|
||||
rgbdImagePub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
rgbdImageCompressedPub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
if(approxSyncMaxInterval>0.0)
|
||||
approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
|
||||
approxSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
exactSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
|
||||
}
|
||||
|
||||
image_transport::TransportHints hints(this);
|
||||
imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
|
||||
cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
|
||||
cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
|
||||
get_name(),
|
||||
approxSync?"approx":"exact",
|
||||
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
|
||||
imageLeftSub_.getSubscriber().getTopic().c_str(),
|
||||
imageRightSub_.getSubscriber().getTopic().c_str(),
|
||||
cameraInfoLeftSub_.getSubscriber()->get_topic_name(),
|
||||
cameraInfoRightSub_.getSubscriber()->get_topic_name());
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
|
||||
|
||||
syncDiagnostic_.reset(new SyncDiagnostic(this));
|
||||
syncDiagnostic_->init(imageLeftSub_.getSubscriber().getTopic(),
|
||||
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. Ajusting topic_queue_size (%d) and sync_queue_size (%d) "
|
||||
"can also help for better synchronization if framerates and/or delays are different.%s%s",
|
||||
get_name(),
|
||||
topicQueueSize,
|
||||
syncQueueSize,
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str()));
|
||||
}
|
||||
|
||||
StereoSync::~StereoSync()
|
||||
{
|
||||
delete approxSync_;
|
||||
delete exactSync_;
|
||||
}
|
||||
|
||||
void StereoSync::callback(
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageLeft,
|
||||
const sensor_msgs::msg::Image::ConstSharedPtr imageRight,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
|
||||
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
|
||||
{
|
||||
syncDiagnostic_->tickInput(imageLeft->header.stamp);
|
||||
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
double leftStamp = rtabmap_conversions::timestampFromROS(imageLeft->header.stamp);
|
||||
double rightStamp = rtabmap_conversions::timestampFromROS(imageRight->header.stamp);
|
||||
|
||||
double stampDiff = fabs(leftStamp - rightStamp);
|
||||
if(stampDiff > 0.010)
|
||||
{
|
||||
RCLCPP_WARN(this->get_logger(), "The time difference between left and right frames is "
|
||||
"high (diff=%fs, left=%fs, right=%fs). If your left and right cameras are hardware "
|
||||
"synchronized, use approx_sync:=false. Otherwise, you may want "
|
||||
"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations.",
|
||||
stampDiff,
|
||||
leftStamp,
|
||||
rightStamp);
|
||||
}
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage::UniquePtr msg(new rtabmap_msgs::msg::RGBDImage);
|
||||
msg->header.frame_id = cameraInfoLeft->header.frame_id;
|
||||
msg->header.stamp = leftStamp>rightStamp?imageLeft->header.stamp:imageRight->header.stamp;
|
||||
msg->rgb_camera_info = *cameraInfoLeft;
|
||||
msg->depth_camera_info = *cameraInfoRight;
|
||||
if(rgbdImageCompressedPub_->get_subscription_count())
|
||||
{
|
||||
bool publishCompressed = true;
|
||||
if (compressedRate_ > 0.0)
|
||||
{
|
||||
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
|
||||
{
|
||||
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
|
||||
publishCompressed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(publishCompressed)
|
||||
{
|
||||
lastCompressedPublished_ = now();
|
||||
|
||||
rtabmap_msgs::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_msgs::msg::RGBDImage);
|
||||
*msgCompressed = *msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
|
||||
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
|
||||
imageDepthPtr->toCompressedImageMsg(msgCompressed->depth_compressed, cv_bridge::JPG);
|
||||
|
||||
rgbdImageCompressedPub_->publish(std::move(msgCompressed));
|
||||
}
|
||||
}
|
||||
|
||||
if(rgbdImagePub_->get_subscription_count())
|
||||
{
|
||||
msg->rgb = *imageLeft;
|
||||
msg->depth = *imageRight;
|
||||
rgbdImagePub_->publish(std::move(msg));
|
||||
}
|
||||
|
||||
if( leftStamp != rtabmap_conversions::timestampFromROS(imageLeft->header.stamp) ||
|
||||
rightStamp != rtabmap_conversions::timestampFromROS(imageRight->header.stamp))
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
|
||||
"sure the node publishing the topics doesn't override the same data after publishing them. A "
|
||||
"solution is to use this node within another nodelet manager. Stamps: "
|
||||
"left%f->%f right=%f->%f",
|
||||
leftStamp, rtabmap_conversions::timestampFromROS(imageLeft->header.stamp),
|
||||
rightStamp, rtabmap_conversions::timestampFromROS(imageRight->header.stamp));
|
||||
}
|
||||
}
|
||||
syncDiagnostic_->tickOutput(imageLeft->header.stamp);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
|
||||
// Register the component with class_loader.
|
||||
// This acts as a sort of entry point, allowing the component to be discoverable when its library
|
||||
// is being loaded into a running process.
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::StereoSync)
|
||||
|
||||
Reference in New Issue
Block a user