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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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include <rtabmap_sync/CommonDataSubscriber.h>
29 
30 namespace rtabmap_sync {
31 
32 // RGB
33 void CommonDataSubscriber::rgbCallback(
34  const sensor_msgs::ImageConstPtr& imageMsg,
35  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
36 {
37  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
38  nav_msgs::OdometryConstPtr odomMsg; // Null
39  sensor_msgs::LaserScan scanMsg; // Null
40  sensor_msgs::PointCloud2 scan3dMsg; // Null
41  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
42  cv_bridge::CvImageConstPtr depthMsg;// Null
43  commonSingleCameraCallback(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_msgs::UserDataConstPtr userDataMsg; // Null
51  nav_msgs::OdometryConstPtr odomMsg; // Null
52  sensor_msgs::PointCloud2 scan3dMsg; // Null
53  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
54  cv_bridge::CvImageConstPtr depthMsg;// Null
55  commonSingleCameraCallback(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_msgs::UserDataConstPtr userDataMsg; // Null
63  nav_msgs::OdometryConstPtr odomMsg; // Null
64  sensor_msgs::LaserScan scan2dMsg; // Null
65  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
66  cv_bridge::CvImageConstPtr depthMsg;// Null
67  commonSingleCameraCallback(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_msgs::ScanDescriptorConstPtr& scanMsg)
73 {
74  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
75  nav_msgs::OdometryConstPtr odomMsg; // Null
76  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
77  cv_bridge::CvImageConstPtr depthMsg;// 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), 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_msgs::OdomInfoConstPtr& odomInfoMsg)
89 {
90  rtabmap_msgs::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  commonSingleCameraCallback(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_msgs::OdomInfoConstPtr& odomInfoMsg)
102 {
103  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
104  nav_msgs::OdometryConstPtr odomMsg; // Null
105  sensor_msgs::PointCloud2 scan3dMsg; // Null
106  cv_bridge::CvImageConstPtr depthMsg;// Null
107  commonSingleCameraCallback(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_msgs::OdomInfoConstPtr& odomInfoMsg)
114 {
115  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
116  nav_msgs::OdometryConstPtr odomMsg; // Null
117  sensor_msgs::LaserScan scan2dMsg; // Null
118  cv_bridge::CvImageConstPtr depthMsg;// Null
119  commonSingleCameraCallback(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_msgs::ScanDescriptorConstPtr& scanMsg,
125  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
126 {
127  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
128  nav_msgs::OdometryConstPtr odomMsg; // Null
129  cv_bridge::CvImageConstPtr depthMsg;// 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), 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_msgs::UserDataConstPtr userDataMsg; // Null
145  sensor_msgs::LaserScan scanMsg; // Null
146  sensor_msgs::PointCloud2 scan3dMsg; // null
147  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
148  cv_bridge::CvImageConstPtr depthMsg;// Null
149  commonSingleCameraCallback(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_msgs::UserDataConstPtr userDataMsg; // Null
158  sensor_msgs::PointCloud2 scan3dMsg; // Null
159  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
160  cv_bridge::CvImageConstPtr depthMsg;// Null
161  commonSingleCameraCallback(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_msgs::UserDataConstPtr userDataMsg; // Null
170  sensor_msgs::LaserScan scan2dMsg; // Null
171  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
172  cv_bridge::CvImageConstPtr depthMsg;// Null
173  commonSingleCameraCallback(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_msgs::ScanDescriptorConstPtr& scanMsg)
180 {
181  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
182  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
183  cv_bridge::CvImageConstPtr depthMsg;// 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), 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_msgs::OdomInfoConstPtr& odomInfoMsg)
196 {
197  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
198  sensor_msgs::LaserScan scan2dMsg; // Null
199  sensor_msgs::PointCloud2 scan3dMsg; // Null
200  cv_bridge::CvImageConstPtr depthMsg;// Null
201  commonSingleCameraCallback(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_msgs::OdomInfoConstPtr& odomInfoMsg)
209 {
210  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
211  sensor_msgs::PointCloud2 scan3dMsg; // Null
212  cv_bridge::CvImageConstPtr depthMsg;// Null
213  commonSingleCameraCallback(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_msgs::OdomInfoConstPtr& odomInfoMsg)
221 {
222  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
223  sensor_msgs::LaserScan scan2dMsg; // Null
224  cv_bridge::CvImageConstPtr depthMsg;// Null
225  commonSingleCameraCallback(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_msgs::ScanDescriptorConstPtr& scanMsg,
232  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
233 {
234  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
235  cv_bridge::CvImageConstPtr depthMsg;// 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), 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_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
255  cv_bridge::CvImageConstPtr depthMsg;// Null
256  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
257 }
258 void CommonDataSubscriber::rgbDataScan2dCallback(
259  const rtabmap_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
267  cv_bridge::CvImageConstPtr depthMsg;// Null
268  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
269 }
270 void CommonDataSubscriber::rgbDataScan3dCallback(
271  const rtabmap_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
279  cv_bridge::CvImageConstPtr depthMsg;// Null
280  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
281 }
282 void CommonDataSubscriber::rgbDataScanDescCallback(
283  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
284  const sensor_msgs::ImageConstPtr& imageMsg,
285  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
286  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
287 {
288  nav_msgs::OdometryConstPtr odomMsg; // null
289  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
290  cv_bridge::CvImageConstPtr depthMsg;// 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), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
297 }
298 void CommonDataSubscriber::rgbDataInfoCallback(
299  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
300  const sensor_msgs::ImageConstPtr& imageMsg,
301  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
302  const rtabmap_msgs::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  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scan3dMsg, odomInfoMsg);
309 }
310 void CommonDataSubscriber::rgbDataScan2dInfoCallback(
311  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
312  const sensor_msgs::ImageConstPtr& imageMsg,
313  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
314  const sensor_msgs::LaserScanConstPtr& scanMsg,
315  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
316 {
317  nav_msgs::OdometryConstPtr odomMsg; // null
318  sensor_msgs::PointCloud2 scan3dMsg; // Null
319  cv_bridge::CvImageConstPtr depthMsg;// Null
320  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, *scanMsg, scan3dMsg, odomInfoMsg);
321 }
322 void CommonDataSubscriber::rgbDataScan3dInfoCallback(
323  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
324  const sensor_msgs::ImageConstPtr& imageMsg,
325  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
326  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
327  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
328 {
329  nav_msgs::OdometryConstPtr odomMsg; // null
330  sensor_msgs::LaserScan scan2dMsg; // Null
331  cv_bridge::CvImageConstPtr depthMsg;// Null
332  commonSingleCameraCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, *scanMsg, odomInfoMsg);
333 }
334 void CommonDataSubscriber::rgbDataScanDescInfoCallback(
335  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
336  const sensor_msgs::ImageConstPtr& imageMsg,
337  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
338  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
339  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
340 {
341  nav_msgs::OdometryConstPtr odomMsg; // null
342  cv_bridge::CvImageConstPtr depthMsg;// 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), 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_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
361  cv_bridge::CvImageConstPtr depthMsg;// Null
362  commonSingleCameraCallback(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_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
373  cv_bridge::CvImageConstPtr depthMsg;// Null
374  commonSingleCameraCallback(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_msgs::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_msgs::OdomInfoConstPtr odomInfoMsg; // null
385  cv_bridge::CvImageConstPtr depthMsg;// Null
386  commonSingleCameraCallback(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_msgs::UserDataConstPtr & userDataMsg,
391  const sensor_msgs::ImageConstPtr& imageMsg,
392  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
393  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
394 {
395  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
396  cv_bridge::CvImageConstPtr depthMsg;// 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), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, globalDescriptor);
403 }
404 void CommonDataSubscriber::rgbOdomDataInfoCallback(
405  const nav_msgs::OdometryConstPtr & odomMsg,
406  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
407  const sensor_msgs::ImageConstPtr& imageMsg,
408  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
409  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
410 {
411  sensor_msgs::LaserScan scan2dMsg; // Null
412  sensor_msgs::PointCloud2 scan3dMsg; // Null
413  cv_bridge::CvImageConstPtr depthMsg;// Null
414  commonSingleCameraCallback(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_msgs::UserDataConstPtr & userDataMsg,
419  const sensor_msgs::ImageConstPtr& imageMsg,
420  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
421  const sensor_msgs::LaserScanConstPtr& scanMsg,
422  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
423 {
424  sensor_msgs::PointCloud2 scan3dMsg; // Null
425  cv_bridge::CvImageConstPtr depthMsg;// Null
426  commonSingleCameraCallback(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_msgs::UserDataConstPtr & userDataMsg,
431  const sensor_msgs::ImageConstPtr& imageMsg,
432  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
433  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
434  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
435 {
436  sensor_msgs::LaserScan scan2dMsg; // Null
437  cv_bridge::CvImageConstPtr depthMsg;// Null
438  commonSingleCameraCallback(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_msgs::UserDataConstPtr & userDataMsg,
443  const sensor_msgs::ImageConstPtr& imageMsg,
444  const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
445  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
446  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
447 {
448  cv_bridge::CvImageConstPtr depthMsg;// Null
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), 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 {
468  ROS_INFO("Setup rgb-only callback");
469 
470  std::string rgbPrefix = "rgb";
471  ros::NodeHandle rgb_nh(nh, rgbPrefix);
472  ros::NodeHandle rgb_pnh(pnh, rgbPrefix);
473  image_transport::ImageTransport rgb_it(rgb_nh);
474  image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
475 
476  imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), syncQueueSize_, hintsRgb);
477  cameraInfoSub_.subscribe(rgb_nh, "camera_info", topicQueueSize_);
478 
479 #ifdef RTABMAP_SYNC_USER_DATA
480  if(subscribeOdom && subscribeUserData)
481  {
482  odomSub_.subscribe(nh, "odom", topicQueueSize_);
483  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
484 
485  if(subscribeScanDesc)
486  {
487  subscribedToScanDescriptor_ = true;
488  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
489  if(subscribeOdomInfo)
490  {
491  subscribedToOdomInfo_ = true;
492  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
493  SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
494  }
495  else
496  {
497  SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
498  }
499  }
500  else if(subscribeScan2d)
501  {
502  subscribedToScan2d_ = true;
503  scanSub_.subscribe(nh, "scan", topicQueueSize_);
504  if(subscribeOdomInfo)
505  {
506  subscribedToOdomInfo_ = true;
507  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
508  SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
509  }
510  else
511  {
512  SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
513  }
514  }
515  else if(subscribeScan3d)
516  {
517  subscribedToScan3d_ = true;
518  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
519  if(subscribeOdomInfo)
520  {
521  subscribedToOdomInfo_ = true;
522  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
523  SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
524  }
525  else
526  {
527  SYNC_DECL5(CommonDataSubscriber, rgbOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
528  }
529  }
530  else if(subscribeOdomInfo)
531  {
532  subscribedToOdomInfo_ = true;
533  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
534  SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
535  }
536  else
537  {
538  SYNC_DECL4(CommonDataSubscriber, rgbOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
539  }
540  }
541  else
542 #endif
543  if(subscribeOdom)
544  {
545  odomSub_.subscribe(nh, "odom", topicQueueSize_);
546 
547  if(subscribeScanDesc)
548  {
549  subscribedToScanDescriptor_ = true;
550  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
551  if(subscribeOdomInfo)
552  {
553  subscribedToOdomInfo_ = true;
554  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
555  SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
556  }
557  else
558  {
559  SYNC_DECL4(CommonDataSubscriber, rgbOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_);
560  }
561  }
562  else if(subscribeScan2d)
563  {
564  subscribedToScan2d_ = true;
565  scanSub_.subscribe(nh, "scan", topicQueueSize_);
566  if(subscribeOdomInfo)
567  {
568  subscribedToOdomInfo_ = true;
569  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
570  SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
571  }
572  else
573  {
574  SYNC_DECL4(CommonDataSubscriber, rgbOdomScan2d, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_);
575  }
576  }
577  else if(subscribeScan3d)
578  {
579  subscribedToScan3d_ = true;
580  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
581  if(subscribeOdomInfo)
582  {
583  subscribedToOdomInfo_ = true;
584  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
585  SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
586  }
587  else
588  {
589  SYNC_DECL4(CommonDataSubscriber, rgbOdomScan3d, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_);
590  }
591  }
592  else if(subscribeOdomInfo)
593  {
594  subscribedToOdomInfo_ = true;
595  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
596  SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
597  }
598  else
599  {
600  SYNC_DECL3(CommonDataSubscriber, rgbOdom, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_);
601  }
602  }
603 #ifdef RTABMAP_SYNC_USER_DATA
604  else if(subscribeUserData)
605  {
606  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
607 
608  if(subscribeScanDesc)
609  {
610  subscribedToScanDescriptor_ = true;
611  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
612 
613  if(subscribeOdomInfo)
614  {
615  subscribedToOdomInfo_ = true;
616  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
617  SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
618  }
619  else
620  {
621  SYNC_DECL4(CommonDataSubscriber, rgbDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_);
622  }
623  }
624  else if(subscribeScan2d)
625  {
626  subscribedToScan2d_ = true;
627  scanSub_.subscribe(nh, "scan", topicQueueSize_);
628 
629  if(subscribeOdomInfo)
630  {
631  subscribedToOdomInfo_ = true;
632  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
633  SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
634  }
635  else
636  {
637  SYNC_DECL4(CommonDataSubscriber, rgbDataScan2d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_);
638  }
639  }
640  else if(subscribeScan3d)
641  {
642  subscribedToScan3d_ = true;
643  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
644  if(subscribeOdomInfo)
645  {
646  subscribedToOdomInfo_ = true;
647  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
648  SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
649  }
650  else
651  {
652  SYNC_DECL4(CommonDataSubscriber, rgbDataScan3d, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_);
653  }
654  }
655  else if(subscribeOdomInfo)
656  {
657  subscribedToOdomInfo_ = true;
658  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
659  SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
660  }
661  else
662  {
663  SYNC_DECL3(CommonDataSubscriber, rgbData, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_);
664  }
665  }
666 #endif
667  else
668  {
669  if(subscribeScanDesc)
670  {
671  subscribedToScanDescriptor_ = true;
672  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
673  if(subscribeOdomInfo)
674  {
675  subscribedToOdomInfo_ = true;
676  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
677  SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
678  }
679  else
680  {
681  SYNC_DECL3(CommonDataSubscriber, rgbScanDesc, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_);
682  }
683  }
684  else if(subscribeScan2d)
685  {
686  subscribedToScan2d_ = true;
687  scanSub_.subscribe(nh, "scan", topicQueueSize_);
688  if(subscribeOdomInfo)
689  {
690  subscribedToOdomInfo_ = true;
691  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
692  SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
693  }
694  else
695  {
696  SYNC_DECL3(CommonDataSubscriber, rgbScan2d, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_);
697  }
698  }
699  else if(subscribeScan3d)
700  {
701  subscribedToScan3d_ = true;
702  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
703  if(subscribeOdomInfo)
704  {
705  subscribedToOdomInfo_ = true;
706  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
707  SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
708  }
709  else
710  {
711  SYNC_DECL3(CommonDataSubscriber, rgbScan3d, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_);
712  }
713  }
714  else if(subscribeOdomInfo)
715  {
716  subscribedToOdomInfo_ = true;
717  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
718  SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, odomInfoSub_);
719  }
720  else
721  {
722  SYNC_DECL2(CommonDataSubscriber, rgb, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_);
723  }
724  }
725 }
726 
727 } /* namespace rtabmap_sync */
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rtabmap_sync
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:39:12