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First version rtabmap_launch working
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matlabbe
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <ros/ros.h>
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#include <pluginlib/class_list_macros.hpp>
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#include <nodelet/nodelet.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CompressedImage.h>
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#include <sensor_msgs/image_encodings.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <message_filters/subscriber.h>
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#include <cv_bridge/cv_bridge.h>
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#include <opencv2/highgui/highgui.hpp>
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#include <boost/thread.hpp>
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#include "rtabmap_msgs/RGBDImage.h"
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#include "rtabmap_conversions/MsgConversion.h"
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#include "rtabmap/core/Compression.h"
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#include "rtabmap/core/util2d.h"
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#include "rtabmap/utilite/UConversion.h"
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namespace rtabmap_sync
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{
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class RGBDSync : public nodelet::Nodelet
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{
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public:
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RGBDSync() :
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depthScale_(1.0),
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decimation_(1),
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compressedRate_(0),
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warningThread_(0),
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callbackCalled_(false),
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approxSyncDepth_(0),
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exactSyncDepth_(0)
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{}
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virtual ~RGBDSync()
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{
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if(approxSyncDepth_)
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delete approxSyncDepth_;
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if(exactSyncDepth_)
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delete exactSyncDepth_;
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if(warningThread_)
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{
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callbackCalled_=true;
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warningThread_->join();
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delete warningThread_;
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}
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}
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private:
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virtual void onInit()
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{
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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int queueSize = 10;
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bool approxSync = true;
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double approxSyncMaxInterval = 0.0;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
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pnh.param("queue_size", queueSize, queueSize);
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pnh.param("depth_scale", depthScale_, depthScale_);
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pnh.param("decimation", decimation_, decimation_);
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pnh.param("compressed_rate", compressedRate_, compressedRate_);
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if(decimation_<1)
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{
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decimation_ = 1;
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}
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NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
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if(approxSync)
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NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
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NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
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NODELET_INFO("%s: depth_scale = %f", getName().c_str(), depthScale_);
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NODELET_INFO("%s: decimation = %d", getName().c_str(), decimation_);
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NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
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rgbdImagePub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image", 1);
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rgbdImageCompressedPub_ = nh.advertise<rtabmap_msgs::RGBDImage>("rgbd_image/compressed", 1);
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if(approxSync)
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{
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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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if(approxSyncMaxInterval > 0.0)
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approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
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approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
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}
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else
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{
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exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
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}
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ros::NodeHandle rgb_nh(nh, "rgb");
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ros::NodeHandle depth_nh(nh, "depth");
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ros::NodeHandle rgb_pnh(pnh, "rgb");
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ros::NodeHandle depth_pnh(pnh, "depth");
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::ImageTransport depth_it(depth_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
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imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
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imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
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cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
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std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
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getName().c_str(),
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approxSync?"approx":"exact",
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approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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imageSub_.getTopic().c_str(),
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imageDepthSub_.getTopic().c_str(),
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cameraInfoSub_.getTopic().c_str());
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warningThread_ = new boost::thread(boost::bind(&RGBDSync::warningLoop, this, subscribedTopicsMsg, approxSync));
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NODELET_INFO("%s", subscribedTopicsMsg.c_str());
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}
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void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
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{
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ros::Duration r(5.0);
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while(!callbackCalled_)
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{
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r.sleep();
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if(!callbackCalled_)
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{
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ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
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"published (\"$ rostopic hz my_topic\") and the timestamps in their "
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"header are set. %s%s",
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getName().c_str(),
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approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
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"topics should have all the exact timestamp for the callback to be called.",
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subscribedTopicsMsg.c_str());
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}
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}
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}
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void callback(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& depth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
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{
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double rgbStamp = image->header.stamp.toSec();
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double depthStamp = depth->header.stamp.toSec();
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double infoStamp = cameraInfo->header.stamp.toSec();
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double stampDiff = fabs(rgbStamp - depthStamp);
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if(stampDiff > 0.010)
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{
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NODELET_WARN("The time difference between rgb and depth frames is "
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"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
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"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use "
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"approx_sync=false if streams have all the exact same timestamp.",
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stampDiff,
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rgbStamp,
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depthStamp);
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}
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rtabmap_msgs::RGBDImage msg;
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msg.header.frame_id = cameraInfo->header.frame_id;
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msg.header.stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
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if(decimation_>1 && !(depth->width % decimation_ == 0 && depth->height % decimation_ == 0))
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{
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ROS_WARN("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
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"Images won't be resized.", decimation_, depth->width, depth->height);
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decimation_ = 1;
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}
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if(decimation_>1)
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{
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rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
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sensor_msgs::CameraInfo info;
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rtabmap_conversions::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
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info.header = cameraInfo->header;
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msg.rgb_camera_info = info;
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msg.depth_camera_info = info;
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}
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else
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{
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msg.rgb_camera_info = *cameraInfo;
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msg.depth_camera_info = *cameraInfo;
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}
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cv::Mat rgbMat;
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cv::Mat depthMat;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
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rgbMat = imagePtr->image;
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depthMat = imageDepthPtr->image;
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if(decimation_>1)
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{
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rgbMat = rtabmap::util2d::decimate(rgbMat, decimation_);
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depthMat = rtabmap::util2d::decimate(depthMat, decimation_);
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}
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if(depthScale_ != 1.0)
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{
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depthMat*=depthScale_;
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}
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if(rgbdImageCompressedPub_.getNumSubscribers())
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{
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bool publishCompressed = true;
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if (compressedRate_ > 0.0)
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{
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if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
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{
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NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
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publishCompressed = false;
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}
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}
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if(publishCompressed)
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{
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lastCompressedPublished_ = ros::Time::now();
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rtabmap_msgs::RGBDImage msgCompressed;
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msgCompressed.header = msg.header;
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msgCompressed.rgb_camera_info = msg.rgb_camera_info;
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msgCompressed.depth_camera_info = msg.depth_camera_info;
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cv_bridge::CvImage cvImg;
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cvImg.header = image->header;
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cvImg.image = rgbMat;
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cvImg.encoding = image->encoding;
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cvImg.toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
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msgCompressed.depth_compressed.header = imageDepthPtr->header;
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msgCompressed.depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
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msgCompressed.depth_compressed.format = "png";
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rgbdImageCompressedPub_.publish(msgCompressed);
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}
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}
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if(rgbdImagePub_.getNumSubscribers())
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{
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cv_bridge::CvImage cvImg;
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cvImg.header = image->header;
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cvImg.image = rgbMat;
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cvImg.encoding = image->encoding;
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cvImg.toImageMsg(msg.rgb);
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cv_bridge::CvImage cvDepth;
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cvDepth.header = depth->header;
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cvDepth.image = depthMat;
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cvDepth.encoding = depth->encoding;
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cvDepth.toImageMsg(msg.depth);
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rgbdImagePub_.publish(msg);
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}
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if( rgbStamp != image->header.stamp.toSec() ||
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depthStamp != depth->header.stamp.toSec())
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{
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NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
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"sure the node publishing the topics doesn't override the same data after publishing them. A "
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"solution is to use this node within another nodelet manager. Stamps: "
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"rgb=%f->%f depth=%f->%f",
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rgbStamp, image->header.stamp.toSec(),
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depthStamp, depth->header.stamp.toSec());
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}
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}
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}
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private:
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double depthScale_;
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int decimation_;
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double compressedRate_;
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boost::thread * warningThread_;
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bool callbackCalled_;
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ros::Time lastCompressedPublished_;
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ros::Publisher rgbdImagePub_;
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ros::Publisher rgbdImageCompressedPub_;
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image_transport::SubscriberFilter imageSub_;
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image_transport::SubscriberFilter imageDepthSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
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message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
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message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_sync::RGBDSync, nodelet::Nodelet);
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}
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