CommonDataSubscriberDepth.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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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 + Depth
33 void CommonDataSubscriber::depthCallback(
34  const sensor_msgs::ImageConstPtr& imageMsg,
35  const sensor_msgs::ImageConstPtr& depthMsg,
36  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
37 {
38  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
39  nav_msgs::OdometryConstPtr odomMsg; // Null
40  sensor_msgs::LaserScan scanMsg; // Null
41  sensor_msgs::PointCloud2 scan3dMsg; // Null
42  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
43  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
44 }
45 void CommonDataSubscriber::depthScan2dCallback(
46  const sensor_msgs::ImageConstPtr& imageMsg,
47  const sensor_msgs::ImageConstPtr& depthMsg,
48  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
49  const sensor_msgs::LaserScanConstPtr& scanMsg)
50 {
51  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
52  nav_msgs::OdometryConstPtr odomMsg; // Null
53  sensor_msgs::PointCloud2 scan3dMsg; // Null
54  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
55  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
56 }
57 void CommonDataSubscriber::depthScan3dCallback(
58  const sensor_msgs::ImageConstPtr& imageMsg,
59  const sensor_msgs::ImageConstPtr& depthMsg,
60  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
61  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
62 {
63  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
64  nav_msgs::OdometryConstPtr odomMsg; // Null
65  sensor_msgs::LaserScan scan2dMsg; // Null
66  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
67  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
68 }
69 void CommonDataSubscriber::depthScanDescCallback(
70  const sensor_msgs::ImageConstPtr& imageMsg,
71  const sensor_msgs::ImageConstPtr& depthMsg,
72  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
73  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
74 {
75  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
76  nav_msgs::OdometryConstPtr odomMsg; // Null
77  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
84 }
85 void CommonDataSubscriber::depthInfoCallback(
86  const sensor_msgs::ImageConstPtr& imageMsg,
87  const sensor_msgs::ImageConstPtr& depthMsg,
88  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
89  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
90 {
91  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
92  nav_msgs::OdometryConstPtr odomMsg; // Null
93  sensor_msgs::LaserScan scan2dMsg; // Null
94  sensor_msgs::PointCloud2 scan3dMsg; // Null
95  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
96 }
97 void CommonDataSubscriber::depthScan2dInfoCallback(
98  const sensor_msgs::ImageConstPtr& imageMsg,
99  const sensor_msgs::ImageConstPtr& depthMsg,
100  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
101  const sensor_msgs::LaserScanConstPtr& scanMsg,
102  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
103 {
104  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
105  nav_msgs::OdometryConstPtr odomMsg; // Null
106  sensor_msgs::PointCloud2 scan3dMsg; // Null
107  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
108 }
109 void CommonDataSubscriber::depthScan3dInfoCallback(
110  const sensor_msgs::ImageConstPtr& imageMsg,
111  const sensor_msgs::ImageConstPtr& depthMsg,
112  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
113  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
114  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
115 {
116  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
117  nav_msgs::OdometryConstPtr odomMsg; // Null
118  sensor_msgs::LaserScan scan2dMsg; // Null
119  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
120 }
121 void CommonDataSubscriber::depthScanDescInfoCallback(
122  const sensor_msgs::ImageConstPtr& imageMsg,
123  const sensor_msgs::ImageConstPtr& depthMsg,
124  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
125  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
126  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
127 {
128  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
129  nav_msgs::OdometryConstPtr odomMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
136 }
137 
138 // RGB + Depth + Odom
139 void CommonDataSubscriber::depthOdomCallback(
140  const nav_msgs::OdometryConstPtr & odomMsg,
141  const sensor_msgs::ImageConstPtr& imageMsg,
142  const sensor_msgs::ImageConstPtr& depthMsg,
143  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
144 {
145  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
146  sensor_msgs::LaserScan scanMsg; // Null
147  sensor_msgs::PointCloud2 scan3dMsg; // null
148  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
149  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
150 }
151 void CommonDataSubscriber::depthOdomScan2dCallback(
152  const nav_msgs::OdometryConstPtr & odomMsg,
153  const sensor_msgs::ImageConstPtr& imageMsg,
154  const sensor_msgs::ImageConstPtr& depthMsg,
155  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
156  const sensor_msgs::LaserScanConstPtr& scanMsg)
157 {
158  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
159  sensor_msgs::PointCloud2 scan3dMsg; // Null
160  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
161  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
162 }
163 void CommonDataSubscriber::depthOdomScan3dCallback(
164  const nav_msgs::OdometryConstPtr & odomMsg,
165  const sensor_msgs::ImageConstPtr& imageMsg,
166  const sensor_msgs::ImageConstPtr& depthMsg,
167  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
168  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
169 {
170  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
171  sensor_msgs::LaserScan scan2dMsg; // Null
172  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
173  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
174 }
175 void CommonDataSubscriber::depthOdomScanDescCallback(
176  const nav_msgs::OdometryConstPtr & odomMsg,
177  const sensor_msgs::ImageConstPtr& imageMsg,
178  const sensor_msgs::ImageConstPtr& depthMsg,
179  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
180  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
181 {
182  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
183  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
190 }
191 void CommonDataSubscriber::depthOdomInfoCallback(
192  const nav_msgs::OdometryConstPtr & odomMsg,
193  const sensor_msgs::ImageConstPtr& imageMsg,
194  const sensor_msgs::ImageConstPtr& depthMsg,
195  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
196  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
197 {
198  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
199  sensor_msgs::LaserScan scan2dMsg; // Null
200  sensor_msgs::PointCloud2 scan3dMsg; // Null
201  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
202 }
203 void CommonDataSubscriber::depthOdomScan2dInfoCallback(
204  const nav_msgs::OdometryConstPtr & odomMsg,
205  const sensor_msgs::ImageConstPtr& imageMsg,
206  const sensor_msgs::ImageConstPtr& depthMsg,
207  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
208  const sensor_msgs::LaserScanConstPtr& scanMsg,
209  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
210 {
211  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
212  sensor_msgs::PointCloud2 scan3dMsg; // Null
213  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
214 }
215 void CommonDataSubscriber::depthOdomScan3dInfoCallback(
216  const nav_msgs::OdometryConstPtr & odomMsg,
217  const sensor_msgs::ImageConstPtr& imageMsg,
218  const sensor_msgs::ImageConstPtr& depthMsg,
219  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
220  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
221  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
222 {
223  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
224  sensor_msgs::LaserScan scan2dMsg; // Null
225  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
226 }
227 void CommonDataSubscriber::depthOdomScanDescInfoCallback(
228  const nav_msgs::OdometryConstPtr & odomMsg,
229  const sensor_msgs::ImageConstPtr& imageMsg,
230  const sensor_msgs::ImageConstPtr& depthMsg,
231  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
232  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
233  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
234 {
235  rtabmap_ros::UserDataConstPtr userDataMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(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::depthDataCallback(
247  const rtabmap_ros::UserDataConstPtr & userDataMsg,
248  const sensor_msgs::ImageConstPtr& imageMsg,
249  const sensor_msgs::ImageConstPtr& depthMsg,
250  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
251 {
252  nav_msgs::OdometryConstPtr odomMsg; // Null
253  sensor_msgs::LaserScan scanMsg; // Null
254  sensor_msgs::PointCloud2 scan3dMsg; // null
255  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
256  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
257 }
258 void CommonDataSubscriber::depthDataScan2dCallback(
259  const rtabmap_ros::UserDataConstPtr & userDataMsg,
260  const sensor_msgs::ImageConstPtr& imageMsg,
261  const sensor_msgs::ImageConstPtr& depthMsg,
262  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
263  const sensor_msgs::LaserScanConstPtr& scanMsg)
264 {
265  nav_msgs::OdometryConstPtr odomMsg; // null
266  sensor_msgs::PointCloud2 scan3dMsg; // Null
267  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
268  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
269 }
270 void CommonDataSubscriber::depthDataScan3dCallback(
271  const rtabmap_ros::UserDataConstPtr & userDataMsg,
272  const sensor_msgs::ImageConstPtr& imageMsg,
273  const sensor_msgs::ImageConstPtr& depthMsg,
274  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
275  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
276 {
277  nav_msgs::OdometryConstPtr odomMsg; // null
278  sensor_msgs::LaserScan scan2dMsg; // Null
279  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
280  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
281 }
282 void CommonDataSubscriber::depthDataScanDescCallback(
283  const rtabmap_ros::UserDataConstPtr & userDataMsg,
284  const sensor_msgs::ImageConstPtr& imageMsg,
285  const sensor_msgs::ImageConstPtr& depthMsg,
286  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
287  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
288 {
289  nav_msgs::OdometryConstPtr odomMsg; // null
290  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
297 }
298 void CommonDataSubscriber::depthDataInfoCallback(
299  const rtabmap_ros::UserDataConstPtr & userDataMsg,
300  const sensor_msgs::ImageConstPtr& imageMsg,
301  const sensor_msgs::ImageConstPtr& depthMsg,
302  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
303  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
304 {
305  nav_msgs::OdometryConstPtr odomMsg; // null
306  sensor_msgs::LaserScan scan2dMsg; // Null
307  sensor_msgs::PointCloud2 scan3dMsg; // Null
308  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
309 }
310 void CommonDataSubscriber::depthDataScan2dInfoCallback(
311  const rtabmap_ros::UserDataConstPtr & userDataMsg,
312  const sensor_msgs::ImageConstPtr& imageMsg,
313  const sensor_msgs::ImageConstPtr& depthMsg,
314  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
315  const sensor_msgs::LaserScanConstPtr& scanMsg,
316  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
317 {
318  nav_msgs::OdometryConstPtr odomMsg; // null
319  sensor_msgs::PointCloud2 scan3dMsg; // Null
320  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
321 }
322 void CommonDataSubscriber::depthDataScan3dInfoCallback(
323  const rtabmap_ros::UserDataConstPtr & userDataMsg,
324  const sensor_msgs::ImageConstPtr& imageMsg,
325  const sensor_msgs::ImageConstPtr& depthMsg,
326  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
327  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
328  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
329 {
330  nav_msgs::OdometryConstPtr odomMsg; // null
331  sensor_msgs::LaserScan scan2dMsg; // Null
332  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
333 }
334 void CommonDataSubscriber::depthDataScanDescInfoCallback(
335  const rtabmap_ros::UserDataConstPtr & userDataMsg,
336  const sensor_msgs::ImageConstPtr& imageMsg,
337  const sensor_msgs::ImageConstPtr& depthMsg,
338  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
339  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
340  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
341 {
342  nav_msgs::OdometryConstPtr odomMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
349 }
350 
351 // RGB + Depth + Odom + User Data
352 void CommonDataSubscriber::depthOdomDataCallback(
353  const nav_msgs::OdometryConstPtr & odomMsg,
354  const rtabmap_ros::UserDataConstPtr & userDataMsg,
355  const sensor_msgs::ImageConstPtr& imageMsg,
356  const sensor_msgs::ImageConstPtr& depthMsg,
357  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
358 {
359  sensor_msgs::LaserScan scanMsg; // Null
360  sensor_msgs::PointCloud2 scan3dMsg; // null
361  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
362  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
363 }
364 void CommonDataSubscriber::depthOdomDataScan2dCallback(
365  const nav_msgs::OdometryConstPtr & odomMsg,
366  const rtabmap_ros::UserDataConstPtr & userDataMsg,
367  const sensor_msgs::ImageConstPtr& imageMsg,
368  const sensor_msgs::ImageConstPtr& depthMsg,
369  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
370  const sensor_msgs::LaserScanConstPtr& scanMsg)
371 {
372  sensor_msgs::PointCloud2 scan3dMsg; // Null
373  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
374  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
375 }
376 void CommonDataSubscriber::depthOdomDataScan3dCallback(
377  const nav_msgs::OdometryConstPtr & odomMsg,
378  const rtabmap_ros::UserDataConstPtr & userDataMsg,
379  const sensor_msgs::ImageConstPtr& imageMsg,
380  const sensor_msgs::ImageConstPtr& depthMsg,
381  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
382  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
383 {
384  sensor_msgs::LaserScan scan2dMsg; // Null
385  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
386  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
387 }
388 void CommonDataSubscriber::depthOdomDataScanDescCallback(
389  const nav_msgs::OdometryConstPtr & odomMsg,
390  const rtabmap_ros::UserDataConstPtr & userDataMsg,
391  const sensor_msgs::ImageConstPtr& imageMsg,
392  const sensor_msgs::ImageConstPtr& depthMsg,
393  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
394  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
395 {
396  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // 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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
403 }
404 void CommonDataSubscriber::depthOdomDataInfoCallback(
405  const nav_msgs::OdometryConstPtr & odomMsg,
406  const rtabmap_ros::UserDataConstPtr & userDataMsg,
407  const sensor_msgs::ImageConstPtr& imageMsg,
408  const sensor_msgs::ImageConstPtr& depthMsg,
409  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
410  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
411 {
412  sensor_msgs::LaserScan scan2dMsg; // Null
413  sensor_msgs::PointCloud2 scan3dMsg; // Null
414  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
415 }
416 void CommonDataSubscriber::depthOdomDataScan2dInfoCallback(
417  const nav_msgs::OdometryConstPtr & odomMsg,
418  const rtabmap_ros::UserDataConstPtr & userDataMsg,
419  const sensor_msgs::ImageConstPtr& imageMsg,
420  const sensor_msgs::ImageConstPtr& depthMsg,
421  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
422  const sensor_msgs::LaserScanConstPtr& scanMsg,
423  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
424 {
425  sensor_msgs::PointCloud2 scan3dMsg; // Null
426  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
427 }
428 void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
429  const nav_msgs::OdometryConstPtr & odomMsg,
430  const rtabmap_ros::UserDataConstPtr & userDataMsg,
431  const sensor_msgs::ImageConstPtr& imageMsg,
432  const sensor_msgs::ImageConstPtr& depthMsg,
433  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
434  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
435  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
436 {
437  sensor_msgs::LaserScan scan2dMsg; // Null
438  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
439 }
440 void CommonDataSubscriber::depthOdomDataScanDescInfoCallback(
441  const nav_msgs::OdometryConstPtr & odomMsg,
442  const rtabmap_ros::UserDataConstPtr & userDataMsg,
443  const sensor_msgs::ImageConstPtr& imageMsg,
444  const sensor_msgs::ImageConstPtr& depthMsg,
445  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
446  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
447  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
448 {
449  std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptor;
450  if(!scanMsg->global_descriptor.data.empty())
451  {
452  globalDescriptor.push_back(scanMsg->global_descriptor);
453  }
454  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
455 }
456 #endif
457 
458 void CommonDataSubscriber::setupDepthCallbacks(
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 depth callback");
471 
472  std::string rgbPrefix = "rgb";
473  std::string depthPrefix = "depth";
474  ros::NodeHandle rgb_nh(nh, rgbPrefix);
475  ros::NodeHandle depth_nh(nh, depthPrefix);
476  ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
477  ros::NodeHandle depth_pnh(pnh, depthPrefix);
478  image_transport::ImageTransport rgb_it(rgb_nh);
479  image_transport::ImageTransport depth_it(depth_nh);
480  image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
481  image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
482 
483  imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
484  imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), queueSize, hintsDepth);
485  cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
486 
487 #ifdef RTABMAP_SYNC_USER_DATA
488  if(subscribeOdom && subscribeUserData)
489  {
490  odomSub_.subscribe(nh, "odom", queueSize);
491  userDataSub_.subscribe(nh, "user_data", queueSize);
492 
493  if(subscribeScanDesc)
494  {
495  subscribedToScanDescriptor_ = true;
496  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
497  if(subscribeOdomInfo)
498  {
499  subscribedToOdomInfo_ = true;
500  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
501  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
502  }
503  else
504  {
505  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
506  }
507  }
508  else if(subscribeScan2d)
509  {
510  subscribedToScan2d_ = true;
511  scanSub_.subscribe(nh, "scan", queueSize);
512  if(subscribeOdomInfo)
513  {
514  subscribedToOdomInfo_ = true;
515  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
516  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
517  }
518  else
519  {
520  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
521  }
522  }
523  else if(subscribeScan3d)
524  {
525  subscribedToScan3d_ = true;
526  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
527  if(subscribeOdomInfo)
528  {
529  subscribedToOdomInfo_ = true;
530  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
531  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
532  }
533  else
534  {
535  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
536  }
537  }
538  else if(subscribeOdomInfo)
539  {
540  subscribedToOdomInfo_ = true;
541  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
542  SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
543  }
544  else
545  {
546  SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
547  }
548  }
549  else
550 #endif
551  if(subscribeOdom)
552  {
553  odomSub_.subscribe(nh, "odom", queueSize);
554 
555  if(subscribeScanDesc)
556  {
557  subscribedToScanDescriptor_ = true;
558  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
559  if(subscribeOdomInfo)
560  {
561  subscribedToOdomInfo_ = true;
562  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
563  SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
564  }
565  else
566  {
567  SYNC_DECL5(CommonDataSubscriber, depthOdomScanDesc, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
568  }
569  }
570  else if(subscribeScan2d)
571  {
572  subscribedToScan2d_ = true;
573  scanSub_.subscribe(nh, "scan", queueSize);
574  if(subscribeOdomInfo)
575  {
576  subscribedToOdomInfo_ = true;
577  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
578  SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
579  }
580  else
581  {
582  SYNC_DECL5(CommonDataSubscriber, depthOdomScan2d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
583  }
584  }
585  else if(subscribeScan3d)
586  {
587  subscribedToScan3d_ = true;
588  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
589  if(subscribeOdomInfo)
590  {
591  subscribedToOdomInfo_ = true;
592  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
593  SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
594  }
595  else
596  {
597  SYNC_DECL5(CommonDataSubscriber, depthOdomScan3d, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
598  }
599  }
600  else if(subscribeOdomInfo)
601  {
602  subscribedToOdomInfo_ = true;
603  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
604  SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
605  }
606  else
607  {
608  SYNC_DECL4(CommonDataSubscriber, depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
609  }
610  }
611 #ifdef RTABMAP_SYNC_USER_DATA
612  else if(subscribeUserData)
613  {
614  userDataSub_.subscribe(nh, "user_data", queueSize);
615 
616  if(subscribeScanDesc)
617  {
618  subscribedToScanDescriptor_ = true;
619  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
620 
621  if(subscribeOdomInfo)
622  {
623  subscribedToOdomInfo_ = true;
624  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
625  SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
626  }
627  else
628  {
629  SYNC_DECL5(CommonDataSubscriber, depthDataScanDesc, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
630  }
631  }
632  else if(subscribeScan2d)
633  {
634  subscribedToScan2d_ = true;
635  scanSub_.subscribe(nh, "scan", queueSize);
636 
637  if(subscribeOdomInfo)
638  {
639  subscribedToOdomInfo_ = true;
640  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
641  SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
642  }
643  else
644  {
645  SYNC_DECL5(CommonDataSubscriber, depthDataScan2d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
646  }
647  }
648  else if(subscribeScan3d)
649  {
650  subscribedToScan3d_ = true;
651  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
652  if(subscribeOdomInfo)
653  {
654  subscribedToOdomInfo_ = true;
655  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
656  SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
657  }
658  else
659  {
660  SYNC_DECL5(CommonDataSubscriber, depthDataScan3d, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
661  }
662  }
663  else if(subscribeOdomInfo)
664  {
665  subscribedToOdomInfo_ = true;
666  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
667  SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
668  }
669  else
670  {
671  SYNC_DECL4(CommonDataSubscriber, depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
672  }
673  }
674 #endif
675  else
676  {
677  if(subscribeScanDesc)
678  {
679  subscribedToScanDescriptor_ = true;
680  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
681  if(subscribeOdomInfo)
682  {
683  subscribedToOdomInfo_ = true;
684  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
685  SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
686  }
687  else
688  {
689  SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
690  }
691  }
692  else if(subscribeScan2d)
693  {
694  subscribedToScan2d_ = true;
695  scanSub_.subscribe(nh, "scan", queueSize);
696  if(subscribeOdomInfo)
697  {
698  subscribedToOdomInfo_ = true;
699  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
700  SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
701  }
702  else
703  {
704  SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
705  }
706  }
707  else if(subscribeScan3d)
708  {
709  subscribedToScan3d_ = true;
710  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
711  if(subscribeOdomInfo)
712  {
713  subscribedToOdomInfo_ = true;
714  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
715  SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
716  }
717  else
718  {
719  SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
720  }
721  }
722  else if(subscribeOdomInfo)
723  {
724  subscribedToOdomInfo_ = true;
725  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
726  SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
727  }
728  else
729  {
730  SYNC_DECL3(CommonDataSubscriber, depth, approxSync, queueSize, imageSub_, imageDepthSub_, cameraInfoSub_);
731  }
732  }
733 }
734 
735 } /* namespace rtabmap_ros */
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void setupDepthCallbacks(ros::NodeHandle &nh, ros::NodeHandle &pnh, bool subscribeOdom, bool subscribeUserData, bool subscribeScan2d, bool subscribeScan3d, bool subscribeScanDesc, bool subscribeOdomInfo, int queueSize, bool approxSync)
Definition: CommonDataSubscriberDepth.cpp:458
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void commonSingleCameraCallback(const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
Definition: CommonDataSubscriber.cpp:1014

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40