CommonDataSubscriberStereo.cpp

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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
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#include <rtabmap_ros/CommonDataSubscriber.h>

namespace rtabmap_ros {

// Stereo
void CommonDataSubscriber::stereoCallback(
                const sensor_msgs::ImageConstPtr& leftImageMsg,
           const sensor_msgs::ImageConstPtr& rightImageMsg,
           const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
           const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
{
        callbackCalled();
        nav_msgs::OdometryConstPtr odomMsg; // Null
        rtabmap_ros::UserDataConstPtr userDataMsg; // Null
        sensor_msgs::LaserScanConstPtr scanMsg; // null
        sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
        rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
        commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
}
void CommonDataSubscriber::stereoInfoCallback(
                const sensor_msgs::ImageConstPtr& leftImageMsg,
           const sensor_msgs::ImageConstPtr& rightImageMsg,
           const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
           const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
           const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
{
        callbackCalled();
        nav_msgs::OdometryConstPtr odomMsg; // Null
        rtabmap_ros::UserDataConstPtr userDataMsg; // Null
        sensor_msgs::LaserScanConstPtr scan2dMsg; // null
        sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
        commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
}

// Stereo + Odom
void CommonDataSubscriber::stereoOdomCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const sensor_msgs::ImageConstPtr& leftImageMsg,
                const sensor_msgs::ImageConstPtr& rightImageMsg,
                const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
                const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg)
{
        callbackCalled();
        rtabmap_ros::UserDataConstPtr userDataMsg; // Null
        sensor_msgs::LaserScanConstPtr scanMsg; // Null
        sensor_msgs::PointCloud2ConstPtr scan3dMsg; // null
        rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
        commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
}
void CommonDataSubscriber::stereoOdomInfoCallback(
                const nav_msgs::OdometryConstPtr & odomMsg,
                const sensor_msgs::ImageConstPtr& leftImageMsg,
                const sensor_msgs::ImageConstPtr& rightImageMsg,
                const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
                const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
                const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg)
{
        callbackCalled();
        rtabmap_ros::UserDataConstPtr userDataMsg; // Null
        sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
        sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
        commonStereoCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(leftImageMsg), cv_bridge::toCvShare(rightImageMsg), *leftCamInfoMsg, *rightCamInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
}

void CommonDataSubscriber::setupStereoCallbacks(
                ros::NodeHandle & nh,
                ros::NodeHandle & pnh,
                bool subscribeOdom,
                bool subscribeOdomInfo,
                int queueSize,
                bool approxSync)
{
        ROS_INFO("Setup stereo callback");

        ros::NodeHandle left_nh(nh, "left");
        ros::NodeHandle right_nh(nh, "right");
        ros::NodeHandle left_pnh(pnh, "left");
        ros::NodeHandle right_pnh(pnh, "right");
        image_transport::ImageTransport left_it(left_nh);
        image_transport::ImageTransport right_it(right_nh);
        image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
        image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);

        imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
        imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
        cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
        cameraInfoRight_.subscribe(right_nh, "camera_info", 1);

        if(subscribeOdom)
        {
                odomSub_.subscribe(nh, "odom", 1);

                if(subscribeOdomInfo)
                {
                        subscribedToOdomInfo_ = true;
                        odomInfoSub_.subscribe(nh, "odom_info", 1);
                        SYNC_DECL6(stereoOdomInfo, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
                }
                else
                {
                        SYNC_DECL5(stereoOdom, approxSync, queueSize, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
                }
        }
        else
        {
                if(subscribeOdomInfo)
                {
                        subscribedToOdomInfo_ = true;
                        odomInfoSub_.subscribe(nh, "odom_info", 1);
                        SYNC_DECL5(stereoInfo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
                }
                else
                {
                        SYNC_DECL4(stereo, approxSync, queueSize, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
                }
        }
}

} /* namespace rtabmap_ros */