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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27 
28 #include <rtabmap_sync/CommonDataSubscriber.h>
29 
30 namespace rtabmap_sync {
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_msgs::UserDataConstPtr userDataMsg; // Null
39  nav_msgs::OdometryConstPtr odomMsg; // Null
40  sensor_msgs::LaserScan scanMsg; // Null
41  sensor_msgs::PointCloud2 scan3dMsg; // Null
42  rtabmap_msgs::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_msgs::UserDataConstPtr userDataMsg; // Null
52  nav_msgs::OdometryConstPtr odomMsg; // Null
53  sensor_msgs::PointCloud2 scan3dMsg; // Null
54  rtabmap_msgs::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_msgs::UserDataConstPtr userDataMsg; // Null
64  nav_msgs::OdometryConstPtr odomMsg; // Null
65  sensor_msgs::LaserScan scan2dMsg; // Null
66  rtabmap_msgs::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_msgs::ScanDescriptorConstPtr& scanMsg)
74 {
75  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
76  nav_msgs::OdometryConstPtr odomMsg; // Null
77  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
78  std::vector<rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
90 {
91  rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
103 {
104  rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
115 {
116  rtabmap_msgs::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_msgs::ScanDescriptorConstPtr& scanMsg,
126  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
127 {
128  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
129  nav_msgs::OdometryConstPtr odomMsg; // Null
130  std::vector<rtabmap_msgs::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_msgs::UserDataConstPtr userDataMsg; // Null
146  sensor_msgs::LaserScan scanMsg; // Null
147  sensor_msgs::PointCloud2 scan3dMsg; // null
148  rtabmap_msgs::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_msgs::UserDataConstPtr userDataMsg; // Null
159  sensor_msgs::PointCloud2 scan3dMsg; // Null
160  rtabmap_msgs::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_msgs::UserDataConstPtr userDataMsg; // Null
171  sensor_msgs::LaserScan scan2dMsg; // Null
172  rtabmap_msgs::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_msgs::ScanDescriptorConstPtr& scanMsg)
181 {
182  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
183  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
184  std::vector<rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
197 {
198  rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
210 {
211  rtabmap_msgs::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_msgs::OdomInfoConstPtr& odomInfoMsg)
222 {
223  rtabmap_msgs::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_msgs::ScanDescriptorConstPtr& scanMsg,
233  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
234 {
235  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
236  std::vector<rtabmap_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::UserDataConstPtr & userDataMsg,
284  const sensor_msgs::ImageConstPtr& imageMsg,
285  const sensor_msgs::ImageConstPtr& depthMsg,
286  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
287  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
288 {
289  nav_msgs::OdometryConstPtr odomMsg; // null
290  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
291  std::vector<rtabmap_msgs::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_msgs::UserDataConstPtr & userDataMsg,
300  const sensor_msgs::ImageConstPtr& imageMsg,
301  const sensor_msgs::ImageConstPtr& depthMsg,
302  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
303  const rtabmap_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::UserDataConstPtr & userDataMsg,
336  const sensor_msgs::ImageConstPtr& imageMsg,
337  const sensor_msgs::ImageConstPtr& depthMsg,
338  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
339  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
340  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
341 {
342  nav_msgs::OdometryConstPtr odomMsg; // null
343  std::vector<rtabmap_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::UserDataConstPtr & userDataMsg,
391  const sensor_msgs::ImageConstPtr& imageMsg,
392  const sensor_msgs::ImageConstPtr& depthMsg,
393  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
394  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
395 {
396  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
397  std::vector<rtabmap_msgs::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_msgs::UserDataConstPtr & userDataMsg,
407  const sensor_msgs::ImageConstPtr& imageMsg,
408  const sensor_msgs::ImageConstPtr& depthMsg,
409  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
410  const rtabmap_msgs::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_msgs::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_msgs::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_msgs::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_msgs::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_msgs::UserDataConstPtr & userDataMsg,
443  const sensor_msgs::ImageConstPtr& imageMsg,
444  const sensor_msgs::ImageConstPtr& depthMsg,
445  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
446  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
447  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
448 {
449  std::vector<rtabmap_msgs::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 {
468  ROS_INFO("Setup depth callback");
469 
470  std::string rgbPrefix = "rgb";
471  std::string depthPrefix = "depth";
472  ros::NodeHandle rgb_nh(nh, rgbPrefix);
473  ros::NodeHandle depth_nh(nh, depthPrefix);
474  ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
475  ros::NodeHandle depth_pnh(pnh, depthPrefix);
476  image_transport::ImageTransport rgb_it(rgb_nh);
477  image_transport::ImageTransport depth_it(depth_nh);
478  image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
479  image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
480 
481  imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), topicQueueSize_, hintsRgb);
482  imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), topicQueueSize_, hintsDepth);
483  cameraInfoSub_.subscribe(rgb_nh, "camera_info", topicQueueSize_);
484 
485 #ifdef RTABMAP_SYNC_USER_DATA
486  if(subscribeOdom && subscribeUserData)
487  {
488  odomSub_.subscribe(nh, "odom", topicQueueSize_);
489  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
490 
491  if(subscribeScanDesc)
492  {
493  subscribedToScanDescriptor_ = true;
494  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
495  if(subscribeOdomInfo)
496  {
497  subscribedToOdomInfo_ = true;
498  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
499  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
500  }
501  else
502  {
503  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
504  }
505  }
506  else if(subscribeScan2d)
507  {
508  subscribedToScan2d_ = true;
509  scanSub_.subscribe(nh, "scan", topicQueueSize_);
510  if(subscribeOdomInfo)
511  {
512  subscribedToOdomInfo_ = true;
513  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
514  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
515  }
516  else
517  {
518  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
519  }
520  }
521  else if(subscribeScan3d)
522  {
523  subscribedToScan3d_ = true;
524  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
525  if(subscribeOdomInfo)
526  {
527  subscribedToOdomInfo_ = true;
528  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
529  SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
530  }
531  else
532  {
533  SYNC_DECL6(CommonDataSubscriber, depthOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
534  }
535  }
536  else if(subscribeOdomInfo)
537  {
538  subscribedToOdomInfo_ = true;
539  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
540  SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
541  }
542  else
543  {
544  SYNC_DECL5(CommonDataSubscriber, depthOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
545  }
546  }
547  else
548 #endif
549  if(subscribeOdom)
550  {
551  odomSub_.subscribe(nh, "odom", topicQueueSize_);
552 
553  if(subscribeScanDesc)
554  {
555  subscribedToScanDescriptor_ = true;
556  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
557  if(subscribeOdomInfo)
558  {
559  subscribedToOdomInfo_ = true;
560  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
561  SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
562  }
563  else
564  {
565  SYNC_DECL5(CommonDataSubscriber, depthOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
566  }
567  }
568  else if(subscribeScan2d)
569  {
570  subscribedToScan2d_ = true;
571  scanSub_.subscribe(nh, "scan", topicQueueSize_);
572  if(subscribeOdomInfo)
573  {
574  subscribedToOdomInfo_ = true;
575  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
576  SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
577  }
578  else
579  {
580  SYNC_DECL5(CommonDataSubscriber, depthOdomScan2d, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
581  }
582  }
583  else if(subscribeScan3d)
584  {
585  subscribedToScan3d_ = true;
586  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
587  if(subscribeOdomInfo)
588  {
589  subscribedToOdomInfo_ = true;
590  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
591  SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
592  }
593  else
594  {
595  SYNC_DECL5(CommonDataSubscriber, depthOdomScan3d, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
596  }
597  }
598  else if(subscribeOdomInfo)
599  {
600  subscribedToOdomInfo_ = true;
601  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
602  SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
603  }
604  else
605  {
606  SYNC_DECL4(CommonDataSubscriber, depthOdom, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
607  }
608  }
609 #ifdef RTABMAP_SYNC_USER_DATA
610  else if(subscribeUserData)
611  {
612  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
613 
614  if(subscribeScanDesc)
615  {
616  subscribedToScanDescriptor_ = true;
617  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
618 
619  if(subscribeOdomInfo)
620  {
621  subscribedToOdomInfo_ = true;
622  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
623  SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
624  }
625  else
626  {
627  SYNC_DECL5(CommonDataSubscriber, depthDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
628  }
629  }
630  else if(subscribeScan2d)
631  {
632  subscribedToScan2d_ = true;
633  scanSub_.subscribe(nh, "scan", topicQueueSize_);
634 
635  if(subscribeOdomInfo)
636  {
637  subscribedToOdomInfo_ = true;
638  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
639  SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
640  }
641  else
642  {
643  SYNC_DECL5(CommonDataSubscriber, depthDataScan2d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
644  }
645  }
646  else if(subscribeScan3d)
647  {
648  subscribedToScan3d_ = true;
649  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
650  if(subscribeOdomInfo)
651  {
652  subscribedToOdomInfo_ = true;
653  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
654  SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
655  }
656  else
657  {
658  SYNC_DECL5(CommonDataSubscriber, depthDataScan3d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
659  }
660  }
661  else if(subscribeOdomInfo)
662  {
663  subscribedToOdomInfo_ = true;
664  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
665  SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
666  }
667  else
668  {
669  SYNC_DECL4(CommonDataSubscriber, depthData, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
670  }
671  }
672 #endif
673  else
674  {
675  if(subscribeScanDesc)
676  {
677  subscribedToScanDescriptor_ = true;
678  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
679  if(subscribeOdomInfo)
680  {
681  subscribedToOdomInfo_ = true;
682  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
683  SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
684  }
685  else
686  {
687  SYNC_DECL4(CommonDataSubscriber, depthScanDesc, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_);
688  }
689  }
690  else if(subscribeScan2d)
691  {
692  subscribedToScan2d_ = true;
693  scanSub_.subscribe(nh, "scan", topicQueueSize_);
694  if(subscribeOdomInfo)
695  {
696  subscribedToOdomInfo_ = true;
697  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
698  SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
699  }
700  else
701  {
702  SYNC_DECL4(CommonDataSubscriber, depthScan2d, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
703  }
704  }
705  else if(subscribeScan3d)
706  {
707  subscribedToScan3d_ = true;
708  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
709  if(subscribeOdomInfo)
710  {
711  subscribedToOdomInfo_ = true;
712  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
713  SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
714  }
715  else
716  {
717  SYNC_DECL4(CommonDataSubscriber, depthScan3d, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_);
718  }
719  }
720  else if(subscribeOdomInfo)
721  {
722  subscribedToOdomInfo_ = true;
723  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
724  SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
725  }
726  else
727  {
728  SYNC_DECL3(CommonDataSubscriber, depth, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_);
729  }
730  }
731 }
732 
733 } /* namespace rtabmap_sync */
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rtabmap_sync
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:39:12