CommonDataSubscriberRGB.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include <rtabmap_ros/CommonDataSubscriber.h>
29 
30 namespace rtabmap_ros {
31 
32 // RGB
33 void CommonDataSubscriber::rgbCallback(
34  const sensor_msgs::ImageConstPtr& imageMsg,
35  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
36 {
37  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
38  nav_msgs::OdometryConstPtr odomMsg; // Null
39  sensor_msgs::LaserScan scanMsg; // Null
40  sensor_msgs::PointCloud2 scan3dMsg; // Null
41  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
42  cv_bridge::CvImageConstPtr depthMsg;// Null
43  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
44 }
45 void CommonDataSubscriber::rgbScan2dCallback(
46  const sensor_msgs::ImageConstPtr& imageMsg,
47  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
48  const sensor_msgs::LaserScanConstPtr& scanMsg)
49 {
50  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
51  nav_msgs::OdometryConstPtr odomMsg; // Null
52  sensor_msgs::PointCloud2 scan3dMsg; // Null
53  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
54  cv_bridge::CvImageConstPtr depthMsg;// Null
55  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
56 }
57 void CommonDataSubscriber::rgbScan3dCallback(
58  const sensor_msgs::ImageConstPtr& imageMsg,
59  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
60  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
61 {
62  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
63  nav_msgs::OdometryConstPtr odomMsg; // Null
64  sensor_msgs::LaserScan scan2dMsg; // Null
65  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
66  cv_bridge::CvImageConstPtr depthMsg;// Null
67  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
68 }
69 void CommonDataSubscriber::rgbScanDescCallback(
70  const sensor_msgs::ImageConstPtr& imageMsg,
71  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
72  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
73 {
74  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
75  nav_msgs::OdometryConstPtr odomMsg; // Null
76  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
77  cv_bridge::CvImageConstPtr depthMsg;// Null
78  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
79  if(!scanMsg->global_descriptor.data.empty())
80  {
81  globalDescriptor.push_back(scanMsg->global_descriptor);
82  }
83  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
84 }
85 void CommonDataSubscriber::rgbInfoCallback(
86  const sensor_msgs::ImageConstPtr& imageMsg,
87  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
88  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
89 {
90  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
91  nav_msgs::OdometryConstPtr odomMsg; // Null
92  sensor_msgs::LaserScan scan2dMsg; // Null
93  sensor_msgs::PointCloud2 scan3dMsg; // Null
94  cv_bridge::CvImageConstPtr depthMsg;// Null
95  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
96 }
97 void CommonDataSubscriber::rgbScan2dInfoCallback(
98  const sensor_msgs::ImageConstPtr& imageMsg,
99  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
100  const sensor_msgs::LaserScanConstPtr& scanMsg,
101  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
102 {
103  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
104  nav_msgs::OdometryConstPtr odomMsg; // Null
105  sensor_msgs::PointCloud2 scan3dMsg; // Null
106  cv_bridge::CvImageConstPtr depthMsg;// Null
107  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
108 }
109 void CommonDataSubscriber::rgbScan3dInfoCallback(
110  const sensor_msgs::ImageConstPtr& imageMsg,
111  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
112  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
113  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
114 {
115  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
116  nav_msgs::OdometryConstPtr odomMsg; // Null
117  sensor_msgs::LaserScan scan2dMsg; // Null
118  cv_bridge::CvImageConstPtr depthMsg;// Null
119  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
120 }
121 void CommonDataSubscriber::rgbScanDescInfoCallback(
122  const sensor_msgs::ImageConstPtr& imageMsg,
123  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
124  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
125  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
126 {
127  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
128  nav_msgs::OdometryConstPtr odomMsg; // Null
129  cv_bridge::CvImageConstPtr depthMsg;// Null
130  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
131  if(!scanMsg->global_descriptor.data.empty())
132  {
133  globalDescriptor.push_back(scanMsg->global_descriptor);
134  }
135  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
136 }
137 
138 // RGB + Odom
139 void CommonDataSubscriber::rgbOdomCallback(
140  const nav_msgs::OdometryConstPtr & odomMsg,
141  const sensor_msgs::ImageConstPtr& imageMsg,
142  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
143 {
144  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
145  sensor_msgs::LaserScan scanMsg; // Null
146  sensor_msgs::PointCloud2 scan3dMsg; // null
147  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
148  cv_bridge::CvImageConstPtr depthMsg;// Null
149  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
150 }
151 void CommonDataSubscriber::rgbOdomScan2dCallback(
152  const nav_msgs::OdometryConstPtr & odomMsg,
153  const sensor_msgs::ImageConstPtr& imageMsg,
154  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
155  const sensor_msgs::LaserScanConstPtr& scanMsg)
156 {
157  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
158  sensor_msgs::PointCloud2 scan3dMsg; // Null
159  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
160  cv_bridge::CvImageConstPtr depthMsg;// Null
161  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
162 }
163 void CommonDataSubscriber::rgbOdomScan3dCallback(
164  const nav_msgs::OdometryConstPtr & odomMsg,
165  const sensor_msgs::ImageConstPtr& imageMsg,
166  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
167  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
168 {
169  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
170  sensor_msgs::LaserScan scan2dMsg; // Null
171  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
172  cv_bridge::CvImageConstPtr depthMsg;// Null
173  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
174 }
175 void CommonDataSubscriber::rgbOdomScanDescCallback(
176  const nav_msgs::OdometryConstPtr & odomMsg,
177  const sensor_msgs::ImageConstPtr& imageMsg,
178  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
179  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
180 {
181  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
182  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
183  cv_bridge::CvImageConstPtr depthMsg;// Null
184  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
185  if(!scanMsg->global_descriptor.data.empty())
186  {
187  globalDescriptor.push_back(scanMsg->global_descriptor);
188  }
189  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
190 }
191 void CommonDataSubscriber::rgbOdomInfoCallback(
192  const nav_msgs::OdometryConstPtr & odomMsg,
193  const sensor_msgs::ImageConstPtr& imageMsg,
194  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
195  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
196 {
197  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
198  sensor_msgs::LaserScan scan2dMsg; // Null
199  sensor_msgs::PointCloud2 scan3dMsg; // Null
200  cv_bridge::CvImageConstPtr depthMsg;// Null
201  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
202 }
203 void CommonDataSubscriber::rgbOdomScan2dInfoCallback(
204  const nav_msgs::OdometryConstPtr & odomMsg,
205  const sensor_msgs::ImageConstPtr& imageMsg,
206  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
207  const sensor_msgs::LaserScanConstPtr& scanMsg,
208  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
209 {
210  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
211  sensor_msgs::PointCloud2 scan3dMsg; // Null
212  cv_bridge::CvImageConstPtr depthMsg;// Null
213  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
214 }
215 void CommonDataSubscriber::rgbOdomScan3dInfoCallback(
216  const nav_msgs::OdometryConstPtr & odomMsg,
217  const sensor_msgs::ImageConstPtr& imageMsg,
218  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
219  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
220  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
221 {
222  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
223  sensor_msgs::LaserScan scan2dMsg; // Null
224  cv_bridge::CvImageConstPtr depthMsg;// Null
225  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
226 }
227 void CommonDataSubscriber::rgbOdomScanDescInfoCallback(
228  const nav_msgs::OdometryConstPtr & odomMsg,
229  const sensor_msgs::ImageConstPtr& imageMsg,
230  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
231  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
232  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
233 {
234  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
235  cv_bridge::CvImageConstPtr depthMsg;// Null
236  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
237  if(!scanMsg->global_descriptor.data.empty())
238  {
239  globalDescriptor.push_back(scanMsg->global_descriptor);
240  }
241  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
242 }
243 
244 #ifdef RTABMAP_SYNC_USER_DATA
245 // RGB + Depth + User Data
246 void CommonDataSubscriber::rgbDataCallback(
247  const rtabmap_ros::UserDataConstPtr & userDataMsg,
248  const sensor_msgs::ImageConstPtr& imageMsg,
249  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
250 {
251  nav_msgs::OdometryConstPtr odomMsg; // Null
252  sensor_msgs::LaserScan scanMsg; // Null
253  sensor_msgs::PointCloud2 scan3dMsg; // null
254  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
255  cv_bridge::CvImageConstPtr depthMsg;// Null
256  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
257 }
258 void CommonDataSubscriber::rgbDataScan2dCallback(
259  const rtabmap_ros::UserDataConstPtr & userDataMsg,
260  const sensor_msgs::ImageConstPtr& imageMsg,
261  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
262  const sensor_msgs::LaserScanConstPtr& scanMsg)
263 {
264  nav_msgs::OdometryConstPtr odomMsg; // null
265  sensor_msgs::PointCloud2 scan3dMsg; // Null
266  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
267  cv_bridge::CvImageConstPtr depthMsg;// Null
268  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
269 }
270 void CommonDataSubscriber::rgbDataScan3dCallback(
271  const rtabmap_ros::UserDataConstPtr & userDataMsg,
272  const sensor_msgs::ImageConstPtr& imageMsg,
273  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
274  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
275 {
276  nav_msgs::OdometryConstPtr odomMsg; // null
277  sensor_msgs::LaserScan scan2dMsg; // Null
278  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
279  cv_bridge::CvImageConstPtr depthMsg;// Null
280  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
281 }
282 void CommonDataSubscriber::rgbDataScanDescCallback(
283  const rtabmap_ros::UserDataConstPtr & userDataMsg,
284  const sensor_msgs::ImageConstPtr& imageMsg,
285  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
286  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
287 {
288  nav_msgs::OdometryConstPtr odomMsg; // null
289  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
290  cv_bridge::CvImageConstPtr depthMsg;// Null
291  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
292  if(!scanMsg->global_descriptor.data.empty())
293  {
294  globalDescriptor.push_back(scanMsg->global_descriptor);
295  }
296  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
297 }
298 void CommonDataSubscriber::rgbDataInfoCallback(
299  const rtabmap_ros::UserDataConstPtr & userDataMsg,
300  const sensor_msgs::ImageConstPtr& imageMsg,
301  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
302  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
303 {
304  nav_msgs::OdometryConstPtr odomMsg; // null
305  sensor_msgs::LaserScan scan2dMsg; // Null
306  sensor_msgs::PointCloud2 scan3dMsg; // Null
307  cv_bridge::CvImageConstPtr depthMsg;// Null
308  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
309 }
310 void CommonDataSubscriber::rgbDataScan2dInfoCallback(
311  const rtabmap_ros::UserDataConstPtr & userDataMsg,
312  const sensor_msgs::ImageConstPtr& imageMsg,
313  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
314  const sensor_msgs::LaserScanConstPtr& scanMsg,
315  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
316 {
317  nav_msgs::OdometryConstPtr odomMsg; // null
318  sensor_msgs::PointCloud2 scan3dMsg; // Null
319  cv_bridge::CvImageConstPtr depthMsg;// Null
320  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
321 }
322 void CommonDataSubscriber::rgbDataScan3dInfoCallback(
323  const rtabmap_ros::UserDataConstPtr & userDataMsg,
324  const sensor_msgs::ImageConstPtr& imageMsg,
325  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
326  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
327  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
328 {
329  nav_msgs::OdometryConstPtr odomMsg; // null
330  sensor_msgs::LaserScan scan2dMsg; // Null
331  cv_bridge::CvImageConstPtr depthMsg;// Null
332  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
333 }
334 void CommonDataSubscriber::rgbDataScanDescInfoCallback(
335  const rtabmap_ros::UserDataConstPtr & userDataMsg,
336  const sensor_msgs::ImageConstPtr& imageMsg,
337  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
338  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
339  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
340 {
341  nav_msgs::OdometryConstPtr odomMsg; // null
342  cv_bridge::CvImageConstPtr depthMsg;// Null
343  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
344  if(!scanMsg->global_descriptor.data.empty())
345  {
346  globalDescriptor.push_back(scanMsg->global_descriptor);
347  }
348  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
349 }
350 
351 // RGB + Depth + Odom + User Data
352 void CommonDataSubscriber::rgbOdomDataCallback(
353  const nav_msgs::OdometryConstPtr & odomMsg,
354  const rtabmap_ros::UserDataConstPtr & userDataMsg,
355  const sensor_msgs::ImageConstPtr& imageMsg,
356  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
357 {
358  sensor_msgs::LaserScan scanMsg; // Null
359  sensor_msgs::PointCloud2 scan3dMsg; // null
360  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
361  cv_bridge::CvImageConstPtr depthMsg;// Null
362  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
363 }
364 void CommonDataSubscriber::rgbOdomDataScan2dCallback(
365  const nav_msgs::OdometryConstPtr & odomMsg,
366  const rtabmap_ros::UserDataConstPtr & userDataMsg,
367  const sensor_msgs::ImageConstPtr& imageMsg,
368  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
369  const sensor_msgs::LaserScanConstPtr& scanMsg)
370 {
371  sensor_msgs::PointCloud2 scan3dMsg; // Null
372  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
373  cv_bridge::CvImageConstPtr depthMsg;// Null
374  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
375 }
376 void CommonDataSubscriber::rgbOdomDataScan3dCallback(
377  const nav_msgs::OdometryConstPtr & odomMsg,
378  const rtabmap_ros::UserDataConstPtr & userDataMsg,
379  const sensor_msgs::ImageConstPtr& imageMsg,
380  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
381  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
382 {
383  sensor_msgs::LaserScan scan2dMsg; // Null
384  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
385  cv_bridge::CvImageConstPtr depthMsg;// Null
386  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
387 }
388 void CommonDataSubscriber::rgbOdomDataScanDescCallback(
389  const nav_msgs::OdometryConstPtr & odomMsg,
390  const rtabmap_ros::UserDataConstPtr & userDataMsg,
391  const sensor_msgs::ImageConstPtr& imageMsg,
392  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
393  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
394 {
395  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
396  cv_bridge::CvImageConstPtr depthMsg;// Null
397  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
398  if(!scanMsg->global_descriptor.data.empty())
399  {
400  globalDescriptor.push_back(scanMsg->global_descriptor);
401  }
402  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
403 }
404 void CommonDataSubscriber::rgbOdomDataInfoCallback(
405  const nav_msgs::OdometryConstPtr & odomMsg,
406  const rtabmap_ros::UserDataConstPtr & userDataMsg,
407  const sensor_msgs::ImageConstPtr& imageMsg,
408  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
409  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
410 {
411  sensor_msgs::LaserScan scan2dMsg; // Null
412  sensor_msgs::PointCloud2 scan3dMsg; // Null
413  cv_bridge::CvImageConstPtr depthMsg;// Null
414  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
415 }
416 void CommonDataSubscriber::rgbOdomDataScan2dInfoCallback(
417  const nav_msgs::OdometryConstPtr & odomMsg,
418  const rtabmap_ros::UserDataConstPtr & userDataMsg,
419  const sensor_msgs::ImageConstPtr& imageMsg,
420  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
421  const sensor_msgs::LaserScanConstPtr& scanMsg,
422  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
423 {
424  sensor_msgs::PointCloud2 scan3dMsg; // Null
425  cv_bridge::CvImageConstPtr depthMsg;// Null
426  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
427 }
428 void CommonDataSubscriber::rgbOdomDataScan3dInfoCallback(
429  const nav_msgs::OdometryConstPtr & odomMsg,
430  const rtabmap_ros::UserDataConstPtr & userDataMsg,
431  const sensor_msgs::ImageConstPtr& imageMsg,
432  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
433  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
434  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
435 {
436  sensor_msgs::LaserScan scan2dMsg; // Null
437  cv_bridge::CvImageConstPtr depthMsg;// Null
438  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
439 }
440 void CommonDataSubscriber::rgbOdomDataScanDescInfoCallback(
441  const nav_msgs::OdometryConstPtr & odomMsg,
442  const rtabmap_ros::UserDataConstPtr & userDataMsg,
443  const sensor_msgs::ImageConstPtr& imageMsg,
444  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
445  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
446  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
447 {
448  cv_bridge::CvImageConstPtr depthMsg;// Null
449  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
450  if(!scanMsg->global_descriptor.data.empty())
451  {
452  globalDescriptor.push_back(scanMsg->global_descriptor);
453  }
454  commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
455 }
456 #endif
457 
458 void CommonDataSubscriber::setupRGBCallbacks(
459  ros::NodeHandle & nh,
460  ros::NodeHandle & pnh,
461  bool subscribeOdom,
462  bool subscribeUserData,
463  bool subscribeScan2d,
464  bool subscribeScan3d,
465  bool subscribeScanDesc,
466  bool subscribeOdomInfo,
467  int queueSize,
468  bool approxSync)
469 {
470  ROS_INFO("Setup rgb-only callback");
471 
472  std::string rgbPrefix = "rgb";
473  ros::NodeHandle rgb_nh(nh, rgbPrefix);
474  ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
475  image_transport::ImageTransport rgb_it(rgb_nh);
476  image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
477 
478  imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
479  cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
480 
481 #ifdef RTABMAP_SYNC_USER_DATA
482  if(subscribeOdom && subscribeUserData)
483  {
484  odomSub_.subscribe(nh, "odom", queueSize);
485  userDataSub_.subscribe(nh, "user_data", queueSize);
486 
487  if(subscribeScanDesc)
488  {
489  subscribedToScanDescriptor_ = true;
490  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
491  if(subscribeOdomInfo)
492  {
493  subscribedToOdomInfo_ = true;
494  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
495  SYNC_DECL6(rgbOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
496  }
497  else
498  {
499  SYNC_DECL5(rgbOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
500  }
501  }
502  else if(subscribeScan2d)
503  {
504  subscribedToScan2d_ = true;
505  scanSub_.subscribe(nh, "scan", queueSize);
506  if(subscribeOdomInfo)
507  {
508  subscribedToOdomInfo_ = true;
509  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
510  SYNC_DECL6(rgbOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
511  }
512  else
513  {
514  SYNC_DECL5(rgbOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
515  }
516  }
517  else if(subscribeScan3d)
518  {
519  subscribedToScan3d_ = true;
520  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
521  if(subscribeOdomInfo)
522  {
523  subscribedToOdomInfo_ = true;
524  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
525  SYNC_DECL6(rgbOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
526  }
527  else
528  {
529  SYNC_DECL5(rgbOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
530  }
531  }
532  else if(subscribeOdomInfo)
533  {
534  subscribedToOdomInfo_ = true;
535  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
536  SYNC_DECL5(rgbOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
537  }
538  else
539  {
540  SYNC_DECL4(rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
541  }
542  }
543  else
544 #endif
545  if(subscribeOdom)
546  {
547  odomSub_.subscribe(nh, "odom", queueSize);
548 
549  if(subscribeScanDesc)
550  {
551  subscribedToScanDescriptor_ = true;
552  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
553  if(subscribeOdomInfo)
554  {
555  subscribedToOdomInfo_ = true;
556  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
557  SYNC_DECL5(rgbOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
558  }
559  else
560  {
561  SYNC_DECL4(rgbOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
562  }
563  }
564  else if(subscribeScan2d)
565  {
566  subscribedToScan2d_ = true;
567  scanSub_.subscribe(nh, "scan", queueSize);
568  if(subscribeOdomInfo)
569  {
570  subscribedToOdomInfo_ = true;
571  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
572  SYNC_DECL5(rgbOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
573  }
574  else
575  {
576  SYNC_DECL4(rgbOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
577  }
578  }
579  else if(subscribeScan3d)
580  {
581  subscribedToScan3d_ = true;
582  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
583  if(subscribeOdomInfo)
584  {
585  subscribedToOdomInfo_ = true;
586  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
587  SYNC_DECL5(rgbOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
588  }
589  else
590  {
591  SYNC_DECL4(rgbOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
592  }
593  }
594  else if(subscribeOdomInfo)
595  {
596  subscribedToOdomInfo_ = true;
597  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
598  SYNC_DECL4(rgbOdomInfo, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
599  }
600  else
601  {
602  SYNC_DECL3(rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
603  }
604  }
605 #ifdef RTABMAP_SYNC_USER_DATA
606  else if(subscribeUserData)
607  {
608  userDataSub_.subscribe(nh, "user_data", queueSize);
609 
610  if(subscribeScanDesc)
611  {
612  subscribedToScanDescriptor_ = true;
613  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
614 
615  if(subscribeOdomInfo)
616  {
617  subscribedToOdomInfo_ = true;
618  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
619  SYNC_DECL5(rgbDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
620  }
621  else
622  {
623  SYNC_DECL4(rgbDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
624  }
625  }
626  else if(subscribeScan2d)
627  {
628  subscribedToScan2d_ = true;
629  scanSub_.subscribe(nh, "scan", queueSize);
630 
631  if(subscribeOdomInfo)
632  {
633  subscribedToOdomInfo_ = true;
634  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
635  SYNC_DECL5(rgbDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
636  }
637  else
638  {
639  SYNC_DECL4(rgbDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
640  }
641  }
642  else if(subscribeScan3d)
643  {
644  subscribedToScan3d_ = true;
645  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
646  if(subscribeOdomInfo)
647  {
648  subscribedToOdomInfo_ = true;
649  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
650  SYNC_DECL5(rgbDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
651  }
652  else
653  {
654  SYNC_DECL4(rgbDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
655  }
656  }
657  else if(subscribeOdomInfo)
658  {
659  subscribedToOdomInfo_ = true;
660  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
661  SYNC_DECL4(rgbDataInfo, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
662  }
663  else
664  {
665  SYNC_DECL3(rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
666  }
667  }
668 #endif
669  else
670  {
671  if(subscribeScanDesc)
672  {
673  subscribedToScanDescriptor_ = true;
674  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
675  if(subscribeOdomInfo)
676  {
677  subscribedToOdomInfo_ = true;
678  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
679  SYNC_DECL4(rgbScanDescInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
680  }
681  else
682  {
683  SYNC_DECL3(rgbScanDesc, approxSync, queueSize, imageSub_, cameraInfoSub_, scanDescSub_);
684  }
685  }
686  else if(subscribeScan2d)
687  {
688  subscribedToScan2d_ = true;
689  scanSub_.subscribe(nh, "scan", queueSize);
690  if(subscribeOdomInfo)
691  {
692  subscribedToOdomInfo_ = true;
693  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
694  SYNC_DECL4(rgbScan2dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
695  }
696  else
697  {
698  SYNC_DECL3(rgbScan2d, approxSync, queueSize, imageSub_, cameraInfoSub_, scanSub_);
699  }
700  }
701  else if(subscribeScan3d)
702  {
703  subscribedToScan3d_ = true;
704  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
705  if(subscribeOdomInfo)
706  {
707  subscribedToOdomInfo_ = true;
708  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
709  SYNC_DECL4(rgbScan3dInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
710  }
711  else
712  {
713  SYNC_DECL3(rgbScan3d, approxSync, queueSize, imageSub_, cameraInfoSub_, scan3dSub_);
714  }
715  }
716  else if(subscribeOdomInfo)
717  {
718  subscribedToOdomInfo_ = true;
719  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
720  SYNC_DECL3(rgbInfo, approxSync, queueSize, imageSub_, cameraInfoSub_, odomInfoSub_);
721  }
722  else
723  {
724  SYNC_DECL2(rgb, approxSync, queueSize, imageSub_, cameraInfoSub_);
725  }
726  }
727 }
728 
729 } /* namespace rtabmap_ros */
cv_bridge::toCvShare
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Definition: CommonDataSubscriberRGB.cpp:458
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rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:42:18