CommonDataSubscriberRGBDX.cpp File Reference

#include <rtabmap_ros/CommonDataSubscriber.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap_ros/MsgConversion.h>
#include <cv_bridge/cv_bridge.h>

Include dependency graph for CommonDataSubscriberRGBDX.cpp:

Go to the source code of this file.

Namespaces
	rtabmap_ros

Macros
#define	IMAGE_CONVERSION()

Macro Definition Documentation

IMAGE_CONVERSION

#define IMAGE_CONVERSION

(

)

Value:

UASSERT(!imagesMsg->rgbd_images.empty()); \
                callbackCalled(); \
                std::vector<cv_bridge::CvImageConstPtr> imageMsgs(imagesMsg->rgbd_images.size()); \
                std::vector<cv_bridge::CvImageConstPtr> depthMsgs(imagesMsg->rgbd_images.size()); \
                std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
                std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
                std::vector<rtabmap_ros::GlobalDescriptor> globalDescriptorMsgs; \
                std::vector<std::vector<rtabmap_ros::KeyPoint> > localKeyPoints; \
                std::vector<std::vector<rtabmap_ros::Point3f> > localPoints3d; \
                std::vector<cv::Mat> localDescriptors; \
                for(size_t i=0; i<imageMsgs.size(); ++i) \
                { \
			rtabmap_ros::toCvShare(imagesMsg->rgbd_images[i], imagesMsg, imageMsgs[i], depthMsgs[i]); \
                        cameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].rgb_camera_info); \
                        depthCameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].depth_camera_info); \
                        if(!imagesMsg->rgbd_images[i].global_descriptor.data.empty()) \
                                globalDescriptorMsgs.push_back(imagesMsg->rgbd_images[i].global_descriptor); \
                        localKeyPoints.push_back(imagesMsg->rgbd_images[i].key_points); \
                        localPoints3d.push_back(imagesMsg->rgbd_images[i].points); \
                        localDescriptors.push_back(rtabmap::uncompressData(imagesMsg->rgbd_images[i].descriptors)); \
                } \
                if(!depthMsgs[0].get()) \
                        depthMsgs.clear();

Definition at line 36 of file CommonDataSubscriberRGBDX.cpp.