feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,786 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_sync/CommonDataSubscriber.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/core/Compression.h>
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#include <rtabmap_conversions/MsgConversion.h>
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namespace rtabmap_sync {
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// 1 RGBD camera
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void CommonDataSubscriber::rgbdCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::SharedPtr 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::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdScan2dCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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*scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdScan3dCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, *scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdScanDescCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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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> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdInfoCallback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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nav_msgs::msg::Odometry::SharedPtr 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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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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// 1 RGBD camera + Odom
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void CommonDataSubscriber::rgbdOdomCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdOdomScan2dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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*scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdOdomScan3dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, *scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdOdomScanDescCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdOdomInfoCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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#ifdef RTABMAP_SYNC_USER_DATA
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// 1 RGBD camera + User Data
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void CommonDataSubscriber::rgbdDataCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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nav_msgs::msg::Odometry::SharedPtr 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::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdDataScan2dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
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nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
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rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
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if(!image1Msg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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}
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
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*scanMsg, scan3dMsg, odomInfoMsg,
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globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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}
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void CommonDataSubscriber::rgbdDataScan3dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1Msg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(image1Msg->header.stamp);}
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cv_bridge::CvImageConstPtr rgb, depth;
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rtabmap_conversions::toCvShare(image1Msg, rgb, depth);
|
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nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
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||||
sensor_msgs::msg::LaserScan scanMsg; // Null
|
||||
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
||||
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs;
|
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if(!image1Msg->global_descriptor.data.empty())
|
||||
{
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||||
globalDescriptorMsgs.push_back(image1Msg->global_descriptor);
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||||
}
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||||
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commonSingleCameraCallback(odomMsg, userDataMsg, rgb,
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||||
depth, image1Msg->rgb_camera_info, image1Msg->depth_camera_info,
|
||||
scanMsg, *scan3dMsg, odomInfoMsg,
|
||||
globalDescriptorMsgs, image1Msg->key_points, image1Msg->points,
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rtabmap::uncompressData(image1Msg->descriptors));
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||||
}
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||||
void CommonDataSubscriber::rgbdDataScanDescCallback(
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||||
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 */
|
||||
Reference in New Issue
Block a user