rtabmap_ros/rtabmap_sync/src/nodelets/stereo_sync.cpp

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include <rtabmap_sync/stereo_sync.hpp>

#include <sensor_msgs/msg/compressed_image.hpp>
#include <sensor_msgs/image_encodings.hpp>

#ifdef PRE_ROS_IRON
#include <cv_bridge/cv_bridge.h>
#else
#include <cv_bridge/cv_bridge.hpp>
#endif
#include <opencv2/highgui/highgui.hpp>

#include "rtabmap/core/Compression.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap_conversions/MsgConversion.h"

namespace rtabmap_sync
{

StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
		Node("stereo_sync", options),
		compressedRate_(0),
		approxSync_(0),
		exactSync_(0)
{
	int topicQueueSize = 10;
	int syncQueueSize = 10;
	bool approxSync = false;
	double approxSyncMaxInterval = 0.0;
	int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
	approxSync = this->declare_parameter("approx_sync", approxSync);
	approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
	topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
	int queueSize = this->declare_parameter("queue_size", -1);
	if(queueSize != -1)
	{
		syncQueueSize = queueSize;
		RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
				 "to \"sync_queue_size\" and will be removed "
				 "in future versions! The value (%d) is copied to "
				 "\"sync_queue_size\".", syncQueueSize);
	}
	syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
	qos = this->declare_parameter("qos", qos);
	int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
	compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);

	RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
	RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
	RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size  = %d", get_name(), topicQueueSize);
	RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size   = %d", get_name(), syncQueueSize);
	RCLCPP_INFO(this->get_logger(), "%s: qos             = %d", get_name(), qos);
	RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
	RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);

	rgbdImagePub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
	rgbdImageCompressedPub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));

	if(approxSync)
	{
		approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
		if(approxSyncMaxInterval>0.0)
			approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
		approxSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
	}
	else
	{
		exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
		exactSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
	}

	image_transport::TransportHints hints(this);
	imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
	imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
	cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
	cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());

	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s,\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						imageLeftSub_.getSubscriber().getTopic().c_str(),
						imageRightSub_.getSubscriber().getTopic().c_str(),
						cameraInfoLeftSub_.getSubscriber()->get_topic_name(),
						cameraInfoRightSub_.getSubscriber()->get_topic_name());

	RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());

	syncDiagnostic_.reset(new SyncDiagnostic(this));
	syncDiagnostic_->init(imageLeftSub_.getSubscriber().getTopic(),
		uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
				"published (\"$ rostopic hz my_topic\") and the timestamps in their "
				"header are set. Ajusting topic_queue_size (%d) and sync_queue_size (%d) "
				"can also help for better synchronization if framerates and/or delays are different.%s%s",
				get_name(),
				topicQueueSize,
				syncQueueSize,
				approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
					"topics should have all the exact timestamp for the callback to be called.",
				subscribedTopicsMsg.c_str()));
}

StereoSync::~StereoSync()
{
	delete approxSync_;
	delete exactSync_;
}

void StereoSync::callback(
		const sensor_msgs::msg::Image::ConstSharedPtr imageLeft,
		const sensor_msgs::msg::Image::ConstSharedPtr imageRight,
		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
{
	syncDiagnostic_->tickInput(imageLeft->header.stamp);
	if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
	{
		double leftStamp = rtabmap_conversions::timestampFromROS(imageLeft->header.stamp);
		double rightStamp = rtabmap_conversions::timestampFromROS(imageRight->header.stamp);

		double stampDiff = fabs(leftStamp - rightStamp);
		if(stampDiff > 0.010)
		{
			RCLCPP_WARN(this->get_logger(), "The time difference between left and right frames is "
					"high (diff=%fs, left=%fs, right=%fs). If your left and right cameras are hardware "
					"synchronized, use approx_sync:=false. Otherwise, you may want "
					"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations.",
					stampDiff,
					leftStamp,
					rightStamp);
		}

		rtabmap_msgs::msg::RGBDImage::UniquePtr msg(new rtabmap_msgs::msg::RGBDImage);
		msg->header.frame_id = cameraInfoLeft->header.frame_id;
		msg->header.stamp = leftStamp>rightStamp?imageLeft->header.stamp:imageRight->header.stamp;
		msg->rgb_camera_info = *cameraInfoLeft;
		msg->depth_camera_info = *cameraInfoRight;
		if(rgbdImageCompressedPub_->get_subscription_count())
		{
			bool publishCompressed = true;
			if (compressedRate_ > 0.0)
			{
				if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
				{
					RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
					publishCompressed = false;
				}
			}

			if(publishCompressed)
			{
				lastCompressedPublished_ = now();

				rtabmap_msgs::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_msgs::msg::RGBDImage);
				*msgCompressed = *msg;

				cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
				imagePtr->toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);

				cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
				imageDepthPtr->toCompressedImageMsg(msgCompressed->depth_compressed, cv_bridge::JPG);

				rgbdImageCompressedPub_->publish(std::move(msgCompressed));
			}
		}

		if(rgbdImagePub_->get_subscription_count())
		{
			msg->rgb = *imageLeft;
			msg->depth = *imageRight;
			rgbdImagePub_->publish(std::move(msg));
		}

		if( leftStamp != rtabmap_conversions::timestampFromROS(imageLeft->header.stamp) ||
			rightStamp != rtabmap_conversions::timestampFromROS(imageRight->header.stamp))
		{
			RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
					"sure the node publishing the topics doesn't override the same data after publishing them. A "
					"solution is to use this node within another nodelet manager. Stamps: "
					"left%f->%f right=%f->%f",
					leftStamp, rtabmap_conversions::timestampFromROS(imageLeft->header.stamp),
					rightStamp, rtabmap_conversions::timestampFromROS(imageRight->header.stamp));
		}
	}
	syncDiagnostic_->tickOutput(imageLeft->header.stamp);
}

}

#include "rclcpp_components/register_node_macro.hpp"

// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::StereoSync)