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OrbbecSDK_ROS2/orbbec_camera/tools/multi_save_rgbir.cpp
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#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include "orbbec_camera/ob_camera_node.h"
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <std_msgs/msg/int32.hpp>
#include <filesystem>
#include <regex>
namespace orbbec_camera {
namespace tools {
struct ImageMetadata {
std::vector<std::vector<std::string>> exposure_buffs;
std::vector<std::vector<std::string>> gain_buffs;
};
class MultiCameraSubscriber : public rclcpp::Node {
public:
explicit MultiCameraSubscriber(const rclcpp::NodeOptions &options)
: Node("MultiCameraSubscriber", options) {
device_init();
}
~MultiCameraSubscriber() {
ir_image_buffers_.clear();
ir_current_timestamp_buffers_.clear();
ir_timestamp_buffers_.clear();
color_image_buffers_.clear();
color_current_timestamp_buffers_.clear();
color_timestamp_buffers_.clear();
left_ir_metadata_.exposure_buffs.clear();
left_ir_metadata_.gain_buffs.clear();
color_metadata_.exposure_buffs.clear();
color_metadata_.gain_buffs.clear();
}
void device_init() {
try {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
auto pid = device_info->getPid();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = parseUsbPort(uid);
serial_numbers_[usb_port] = serial;
is_gemini330_ = isGemini335PID(pid);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(get_logger(), orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(get_logger(), e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(get_logger(), "unknown error");
}
params_init();
for (size_t i = 0; i < usb_params_.size(); i++) {
usb_numbers_[i] = usb_params_[i];
usb_index_map_[usb_params_[i]] = i;
}
for (const auto &pair : serial_numbers_) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"usb_port: " << pair.first << ", serial: " << pair.second);
}
for (const auto &pair : usb_index_map_) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"usb_port: " << pair.first << ", index: " << pair.second);
}
capture_control_srv_ = this->create_service<orbbec_camera_msgs::srv::SetInt32>(
"start_capture", std::bind(&MultiCameraSubscriber::controlCaptureCallback, this,
std::placeholders::_1, std::placeholders::_2));
}
private:
std::mutex image_mutex_;
std::mutex meta_mutex_;
bool isGemini335PID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
}
void params_init() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/multisavergbir/"
"multi_save_rgbir_params.json");
if (!file.is_open()) {
RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
return;
}
nlohmann::json json_data;
file >> json_data;
time_domain_ = json_data["save_rgbir_params"]["time_domain"].get<std::string>();
time_domain_ =
(time_domain_ == "device") ? "_d" : (time_domain_ == "global" ? "_g" : "_unknown");
usb_params_ = json_data["save_rgbir_params"]["usb_ports"].get<std::vector<std::string>>();
camera_name_ = json_data["save_rgbir_params"]["camera_name"].get<std::vector<std::string>>();
left_ir_topics_.resize(camera_name_.size());
left_ir_metadata_topic_.resize(camera_name_.size());
color_topics_.resize(camera_name_.size());
color_metadata_topic_.resize(camera_name_.size());
for (size_t i = 0; i < camera_name_.size(); ++i) {
left_ir_topics_[i] =
"/" + camera_name_[i] + "/" + (is_gemini330_ ? "left_ir" : "ir") + "/image_raw";
left_ir_metadata_topic_[i] =
"/" + camera_name_[i] + "/" + (is_gemini330_ ? "left_ir" : "ir") + "/metadata";
color_topics_[i] = "/" + camera_name_[i] + "/color/image_raw";
color_metadata_topic_[i] = "/" + camera_name_[i] + "/color/metadata";
}
}
void topic_init() {
ir_image_buffers_.resize(left_ir_topics_.size());
color_image_buffers_.resize(left_ir_topics_.size());
ir_current_timestamp_buffers_.resize(left_ir_topics_.size());
color_current_timestamp_buffers_.resize(left_ir_topics_.size());
ir_timestamp_buffers_.resize(left_ir_topics_.size());
color_timestamp_buffers_.resize(left_ir_topics_.size());
left_ir_metadata_.exposure_buffs.resize(left_ir_topics_.size());
left_ir_metadata_.gain_buffs.resize(left_ir_topics_.size());
color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
color_metadata_.gain_buffs.resize(left_ir_topics_.size());
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
rclcpp::CallbackGroup::SharedPtr reentrant_callback_group_;
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"camera_name_.size(): " << camera_name_.size());
for (size_t i = 0; i < camera_name_.size(); ++i) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"left_ir_topic: " << left_ir_topics_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"left_ir_metadata_topic_: " << left_ir_metadata_topic_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"color_topic: " << color_topics_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"color_metadata_topic_: " << color_metadata_topic_[i]);
reentrant_callback_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
rclcpp::SubscriptionOptions ir_sub_options;
ir_sub_options.callback_group = reentrant_callback_group_;
rclcpp::SubscriptionOptions color_sub_options;
color_sub_options.callback_group = reentrant_callback_group_;
auto ir_sub = this->create_subscription<sensor_msgs::msg::Image>(
left_ir_topics_[i], custom_qos,
[this, i](std::shared_ptr<const sensor_msgs::msg::Image> msg) {
this->irCallback(msg, i);
},
ir_sub_options);
auto ir_metadata_sub = this->create_subscription<orbbec_camera_msgs::msg::Metadata>(
left_ir_metadata_topic_[i], custom_qos,
[this, i](std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg) {
this->ir_meta_Callback(msg, i);
});
auto color_sub = this->create_subscription<sensor_msgs::msg::Image>(
color_topics_[i], custom_qos,
[this, i](std::shared_ptr<const sensor_msgs::msg::Image> msg) {
this->colorCallback(msg, i);
},
color_sub_options);
auto color_metadata_sub = this->create_subscription<orbbec_camera_msgs::msg::Metadata>(
color_metadata_topic_[i], custom_qos,
[this, i](std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg) {
this->color_meta_Callback(msg, i);
});
ir_subscribers_.push_back(ir_sub);
ir_meta_subscribers_.push_back(ir_metadata_sub);
color_subscribers_.push_back(color_sub);
color_meta_subscribers_.push_back(color_metadata_sub);
}
}
std::string getCurrentTimes() {
auto now = std::chrono::system_clock::now();
auto now_time_t = std::chrono::system_clock::to_time_t(now);
std::tm tm = *std::localtime(&now_time_t);
std::ostringstream date_stream;
date_stream << std::put_time(&tm, "%Y%m%d%H%M%S");
std::string date_str = date_stream.str();
return date_str;
}
std::string generateFolderName(const std::string &serial_number, size_t serial_index) {
std::string path = std::string("multicamera_sync/output/") + currenttimes_ + "/" +
"TotalModeFrames/" + "/" + "SN" + serial_number + "_Index" +
std::to_string(serial_index);
std::filesystem::create_directories(path);
return path;
}
std::string getTimestamp() {
auto now = this->get_clock()->now();
int64_t seconds = now.seconds();
int64_t nanoseconds = now.nanoseconds() % 1000000000;
int64_t milliseconds = nanoseconds / 1000000;
return std::to_string(seconds) + std::to_string(milliseconds);
}
std::string getCurrentTimestamp(const sensor_msgs::msg::Image::ConstSharedPtr &image_msg) {
int64_t seconds = image_msg->header.stamp.sec;
int64_t nanoseconds = image_msg->header.stamp.nanosec;
int64_t milliseconds = nanoseconds / 1000000;
std::ostringstream timestamp;
timestamp << seconds << std::setw(3) << std::setfill('0') << milliseconds;
return timestamp.str();
}
void saveAlignedImages(size_t index) {
auto &ir_images = ir_image_buffers_[index];
auto &ir_current_timestamps = ir_current_timestamp_buffers_[index];
auto &ir_timestamps = ir_timestamp_buffers_[index];
auto &color_images = color_image_buffers_[index];
auto &color_current_timestamps = color_current_timestamp_buffers_[index];
auto &color_timestamps = color_timestamp_buffers_[index];
auto &left_ir_meta_exposure = left_ir_metadata_.exposure_buffs[index];
auto &left_ir_meta_gain = left_ir_metadata_.gain_buffs[index];
auto &color_meta_exposure = color_metadata_.exposure_buffs[index];
auto &color_meta_gain = color_metadata_.gain_buffs[index];
callback_called_[index] = true;
if (ir_images.size() < static_cast<size_t>(saving_images_number_) ||
color_images.size() < static_cast<size_t>(saving_images_number_)) {
return;
}
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "index:" << index);
auto usb_iter = usb_index_map_.find(usb_numbers_[index]);
auto serial_iter = serial_numbers_.find(usb_numbers_[index]);
int usb_index = usb_iter->second;
if (serial_iter == serial_numbers_.end()) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "serial_iter is empty");
return;
}
std::string serial_index = serial_iter->second;
for (size_t i = 0; i < static_cast<size_t>(saving_images_number_); i++) {
std::string folder = generateFolderName(serial_index, usb_index);
std::string ir_filename =
folder + "/ir#left_SN" + serial_index + "_Index" + std::to_string(usb_index) +
time_domain_ + ir_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
ir_timestamps[i] +
(is_gemini330_ ? ("_e" + left_ir_meta_exposure[i] + "_d" + left_ir_meta_gain[i]) : "") +
"_.jpg";
if (ir_images[i].empty()) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
continue;
}
cv::imwrite(ir_filename, ir_images[i]);
std::string color_filename =
folder + "/color_SN" + serial_index + "_Index" + std::to_string(usb_index) +
time_domain_ + color_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
color_timestamps[i] +
(is_gemini330_ ? ("_e" + color_meta_exposure[i] + "_d" + color_meta_gain[i]) : "") +
"_.jpg";
if (color_images[i].empty()) {
continue;
}
cv::imwrite(color_filename, color_images[i]);
// RCLCPP_INFO(this->get_logger(), "Saved Color image to: %s", color_filename.c_str());
}
ir_image_buffers_[index].clear();
ir_current_timestamp_buffers_[index].clear();
ir_timestamp_buffers_[index].clear();
color_image_buffers_[index].clear();
color_current_timestamp_buffers_[index].clear();
color_timestamp_buffers_[index].clear();
left_ir_metadata_.exposure_buffs[index].clear();
left_ir_metadata_.gain_buffs[index].clear();
color_metadata_.exposure_buffs[index].clear();
color_metadata_.gain_buffs[index].clear();
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"callback_called_ " << index << ":" << callback_called_[index]);
bool all_true =
std::all_of(callback_called_.begin(), callback_called_.end(), [](bool v) { return v; });
if (all_true) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
saving_images_number_ = 0;
callback_called_.clear();
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
}
}
void controlCaptureCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SetInt32::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SetInt32::Response> response) {
(void)response;
currenttimes_ = getCurrentTimes();
saving_images_number_ = request->data;
if (!topic_init_) {
topic_init();
topic_init_ = true;
}
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"saving_images_number_: " << saving_images_number_);
}
void irCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
cv::Mat ir_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
std::string current_timestamp_ir = getCurrentTimestamp(image);
std::string timestamp_ir = getTimestamp();
ir_image_buffers_[index].push_back(ir_mat);
ir_current_timestamp_buffers_[index].push_back(current_timestamp_ir);
ir_timestamp_buffers_[index].push_back(timestamp_ir);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
":ir: " << index << ":" << ir_image_buffers_[index].size());
if (ir_image_buffers_[index].size() >= static_cast<size_t>(saving_images_number_) &&
color_image_buffers_[index].size() >= static_cast<size_t>(saving_images_number_) &&
(!is_gemini330_ || (color_metadata_.exposure_buffs[index].size() >=
static_cast<size_t>(saving_images_number_) &&
left_ir_metadata_.exposure_buffs[index].size() >=
static_cast<size_t>(saving_images_number_)))) {
saveAlignedImages(index);
}
}
}
void colorCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
cv::Mat color_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
cv::Mat corrected_image;
cv::cvtColor(color_mat, corrected_image, cv::COLOR_RGB2BGR);
std::string current_timestamp_color = getCurrentTimestamp(image);
std::string timestamp_color = getTimestamp();
color_image_buffers_[index].push_back(corrected_image);
color_current_timestamp_buffers_[index].push_back(current_timestamp_color);
color_timestamp_buffers_[index].push_back(timestamp_color);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
":color: " << index << ":" << color_image_buffers_[index].size());
if (ir_image_buffers_[index].size() >= static_cast<size_t>(saving_images_number_) &&
color_image_buffers_[index].size() >= static_cast<size_t>(saving_images_number_) &&
(!is_gemini330_ || (color_metadata_.exposure_buffs[index].size() >=
static_cast<size_t>(saving_images_number_) &&
left_ir_metadata_.exposure_buffs[index].size() >=
static_cast<size_t>(saving_images_number_)))) {
saveAlignedImages(index);
}
}
}
void ir_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
left_ir_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());
left_ir_metadata_.gain_buffs[index].push_back(json_data["gain"].dump());
}
}
void color_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
color_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());
color_metadata_.gain_buffs[index].push_back(json_data["gain"].dump());
}
}
std::vector<rclcpp::Subscription<orbbec_camera_msgs::msg::Metadata>::SharedPtr>
ir_meta_subscribers_;
std::vector<rclcpp::Subscription<orbbec_camera_msgs::msg::Metadata>::SharedPtr>
color_meta_subscribers_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> ir_subscribers_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> color_subscribers_;
rclcpp::Service<orbbec_camera_msgs::srv::SetInt32>::SharedPtr capture_control_srv_;
std::map<std::string, int> usb_index_map_;
std::map<std::string, std::string> serial_numbers_;
std::array<std::string, 10> usb_numbers_;
std::vector<std::string> usb_params_;
std::vector<std::string> camera_name_;
std::vector<std::string> left_ir_metadata_topic_;
std::vector<std::string> color_metadata_topic_;
std::vector<std::string> left_ir_topics_;
std::vector<std::string> color_topics_;
std::string time_domain_;
std::vector<std::vector<cv::Mat>> ir_image_buffers_;
std::vector<std::vector<cv::Mat>> color_image_buffers_;
std::vector<std::vector<std::string>> ir_current_timestamp_buffers_;
std::vector<std::vector<std::string>> color_current_timestamp_buffers_;
std::vector<std::vector<std::string>> ir_timestamp_buffers_;
std::vector<std::vector<std::string>> color_timestamp_buffers_;
std::vector<bool> callback_called_;
std::string currenttimes_;
int saving_images_number_ = 100;
bool topic_init_ = false;
bool is_gemini330_ = true;
ImageMetadata left_ir_metadata_ = ImageMetadata();
ImageMetadata color_metadata_ = ImageMetadata();
};
} // namespace tools
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::tools::MultiCameraSubscriber)
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