cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-07 18:27:46 +08:00 · 2014-03-03 21:43:20 +00:00
parent 7d58681f34
commit 1764c88f05
136 changed files with 0 additions and 0 deletions
@@ -0,0 +1,140 @@
+/*
+ * visual_odometry.cpp
+ *
+ *  Created on: 2013-01-16
+ *      Author: mathieu
+ */
+
+#include <ros/ros.h>
+#include <pluginlib/class_list_macros.h>
+#include <nodelet/nodelet.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+#include <sensor_msgs/PointCloud2.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/image_encodings.h>
+#include <sensor_msgs/CameraInfo.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/subscriber.h>
+
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "rtabmap/core/util3d.h"
+
+namespace rtabmap
+{
+
+class PointCloudXYZRGB : public nodelet::Nodelet
+{
+public:
+	PointCloudXYZRGB() : voxelSize_(0.0) {}
+
+	virtual ~PointCloudXYZRGB()
+	{
+		delete sync_;
+	}
+
+private:
+	virtual void onInit()
+	{
+		ros::NodeHandle & nh = getNodeHandle();
+		ros::NodeHandle & pnh = getPrivateNodeHandle();
+
+		int queueSize = 10;
+		pnh.param("queue_size", queueSize, queueSize);
+		pnh.param("voxel_size", voxelSize_, voxelSize_);
+
+		sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
+		sync_->registerCallback(boost::bind(&PointCloudXYZRGB::callback, this, _1, _2, _3));
+		cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("cloud", 1);
+
+		ros::NodeHandle rgb_nh(nh, "rgb");
+		ros::NodeHandle depth_nh(nh, "depth");
+		ros::NodeHandle rgb_pnh(pnh, "rgb");
+		ros::NodeHandle depth_pnh(pnh, "depth");
+		image_transport::ImageTransport rgb_it(rgb_nh);
+		image_transport::ImageTransport depth_it(depth_nh);
+		image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
+		image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
+
+		imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
+		imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
+		cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
+	}
+
+
+
+	void callback(
+			  const sensor_msgs::ImageConstPtr& image,
+			  const sensor_msgs::ImageConstPtr& imageDepth,
+			  const sensor_msgs::CameraInfoConstPtr& cameraInfo)
+	{
+		if(!(image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
+			image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
+			image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) &&
+			(imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 ||
+			 imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0))
+		{
+			ROS_ERROR("Input type must be image=mono8,rgb8,bgr8 and image_depth=32FC1,16UC1");
+			return;
+		}
+
+
+		cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
+		cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
+
+		pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;
+		pclCloud = rtabmap::util3d::cloudFromDepthRGB(
+				imagePtr->image,
+				imageDepthPtr->image,
+				cameraInfo->K[2],
+				cameraInfo->K[5],
+				cameraInfo->K[0],
+				cameraInfo->K[4]);
+
+		if(voxelSize_ > 0.0)
+		{
+			pclCloud = rtabmap::util3d::voxelize(pclCloud, voxelSize_);
+		}
+
+		//*********************
+		// Publish Map
+		//*********************
+		if(cloudPub_.getNumSubscribers())
+		{
+			sensor_msgs::PointCloud2 rosCloud;
+			pcl::toROSMsg(*pclCloud, rosCloud);
+			rosCloud.header.stamp = image->header.stamp;
+			rosCloud.header.frame_id = image->header.frame_id;
+
+			//publish the message
+			cloudPub_.publish(rosCloud);
+		}
+}
+
+private:
+
+	double voxelSize_;
+	ros::Publisher cloudPub_;
+
+	image_transport::SubscriberFilter imageSub_;
+	image_transport::SubscriberFilter imageDepthSub_;
+	message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
+
+
+	// without odometry subscription (odometry is computed by this node)
+	typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MySyncPolicy;
+	message_filters::Synchronizer<MySyncPolicy> * sync_;
+};
+
+PLUGINLIB_DECLARE_CLASS(rtabmap, point_cloud_xyzrgb, rtabmap::PointCloudXYZRGB, nodelet::Nodelet);
+}
+