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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
Updated point_cloud_aggregator to be more flexible
This commit is contained in:
matlabbe
@@ -18,9 +18,10 @@
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/subscriber.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 <rtabmap_ros/MsgConversion.h>
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#include <rtabmap/utilite/UConversion.h>
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namespace rtabmap_ros
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{
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@@ -28,78 +29,239 @@ namespace rtabmap_ros
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class PointCloudAggregator : public nodelet::Nodelet
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{
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public:
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PointCloudAggregator() : sync_(NULL)
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PointCloudAggregator() :
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warningThread_(0),
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callbackCalled_(false),
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exactSync4_(0),
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approxSync4_(0),
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exactSync3_(0),
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approxSync3_(0),
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exactSync2_(0),
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approxSync2_(0)
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{}
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virtual ~PointCloudAggregator()
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{
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if (sync_!=NULL) delete sync_;
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}
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if (exactSync4_!=0) delete exactSync4_;
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if (approxSync4_!=0) delete approxSync4_;
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if (exactSync3_!=0) delete exactSync3_;
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if (approxSync3_!=0) delete approxSync3_;
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if (exactSync2_!=0) delete exactSync2_;
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if (approxSync2_!=0) delete approxSync2_;
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private:
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void clouds_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3)
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{
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if(cloudPub_.getNumSubscribers())
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if(warningThread_)
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{
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pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2, cloud3;
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pcl::fromROSMsg(*cloudMsg_1, cloud1);
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std::string frameId = frameId_;
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if(!frameId.empty() && frameId.compare(cloudMsg_1->header.frame_id) != 0)
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{
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pcl_ros::transformPointCloud(frameId, cloud1, cloud1, tfListener_);
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}
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else
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{
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frameId = cloudMsg_1->header.frame_id;
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}
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pcl::fromROSMsg(*cloudMsg_2, cloud2);
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if(frameId.compare(cloudMsg_2->header.frame_id) != 0)
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{
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pcl_ros::transformPointCloud(frameId, cloud2, cloud2, tfListener_);
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}
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pcl::fromROSMsg(*cloudMsg_3, cloud3);
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if(frameId.compare(cloudMsg_3->header.frame_id) != 0)
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{
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pcl_ros::transformPointCloud(frameId, cloud3, cloud3, tfListener_);
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}
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pcl::PointCloud<pcl::PointXYZ> totalCloud;
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totalCloud = cloud1 + cloud2;
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totalCloud += cloud3;
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sensor_msgs::PointCloud2 rosCloud;
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pcl::toROSMsg(totalCloud, rosCloud);
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rosCloud.header.stamp = cloudMsg_1->header.stamp;
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rosCloud.header.frame_id = frameId;
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cloudPub_.publish(rosCloud);
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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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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> MySyncPolicy;
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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 = 5;
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int count = 2;
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bool approx=true;
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pnh.param("queue_size", queueSize, queueSize);
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pnh.param("frame_id", frameId_, frameId_);
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pnh.param("approx_sync", approx, approx);
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pnh.param("count", count, count);
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cloudSub_1_.subscribe(nh, "cloud1", 1);
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cloudSub_2_.subscribe(nh, "cloud2", 1);
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cloudSub_3_.subscribe(nh, "cloud3", 1);
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sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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sync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds_callback, this, _1, _2, _3));
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std::string subscribedTopicsMsg;
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if(count == 4)
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{
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cloudSub_3_.subscribe(nh, "cloud3", 1);
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cloudSub_4_.subscribe(nh, "cloud4", 1);
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if(approx)
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{
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approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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approxSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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exactSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str(),
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cloudSub_3_.getTopic().c_str(),
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cloudSub_4_.getTopic().c_str());
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}
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else if(count == 3)
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{
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cloudSub_3_.subscribe(nh, "cloud3", 1);
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if(approx)
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{
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approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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approxSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
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}
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else
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{
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exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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exactSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str(),
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cloudSub_3_.getTopic().c_str());
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}
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else
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{
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if(approx)
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{
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approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
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approxSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
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}
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else
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{
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exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
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exactSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str());
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}
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cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("combined_cloud", 1);
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warningThread_ = new boost::thread(boost::bind(&PointCloudAggregator::warningLoop, this, subscribedTopicsMsg, approx));
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NODELET_INFO("%s", subscribedTopicsMsg.c_str());
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}
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message_filters::Synchronizer<MySyncPolicy>* sync_;
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void clouds4_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_4)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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clouds.push_back(cloudMsg_4);
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combineClouds(clouds);
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}
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void clouds3_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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combineClouds(clouds);
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}
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void clouds2_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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combineClouds(clouds);
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}
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void combineClouds(const std::vector<sensor_msgs::PointCloud2ConstPtr> & cloudMsgs)
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{
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callbackCalled_ = true;
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ROS_ASSERT(cloudMsgs.size() > 1);
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if(cloudPub_.getNumSubscribers())
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{
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pcl::PCLPointCloud2 output;
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std::string frameId = frameId_;
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if(!frameId.empty() && frameId.compare(cloudMsgs[0]->header.frame_id) != 0)
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{
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sensor_msgs::PointCloud2 tmp;
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pcl_ros::transformPointCloud(frameId, *cloudMsgs[0], tmp, tfListener_);
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pcl_conversions::toPCL(tmp, output);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[0], output);
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frameId = cloudMsgs[0]->header.frame_id;
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}
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for(unsigned int i=1; i<cloudMsgs.size(); ++i)
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{
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pcl::PCLPointCloud2 cloud2;
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if(frameId.compare(cloudMsgs[i]->header.frame_id) != 0)
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{
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sensor_msgs::PointCloud2 tmp;
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pcl_ros::transformPointCloud(frameId, *cloudMsgs[i], tmp, tfListener_);
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pcl_conversions::toPCL(tmp, cloud2);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[i], cloud2);
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frameId = cloudMsgs[i]->header.frame_id;
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}
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pcl::PCLPointCloud2 tmp_output;
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pcl::concatenatePointCloud(output, cloud2, tmp_output);
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output = tmp_output;
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}
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sensor_msgs::PointCloud2 rosCloud;
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pcl_conversions::moveFromPCL(output, rosCloud);
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rosCloud.header.stamp = cloudMsgs[0]->header.stamp;
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rosCloud.header.frame_id = frameId;
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cloudPub_.publish(rosCloud);
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}
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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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boost::thread * warningThread_;
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bool callbackCalled_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync4Policy;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync4Policy;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync3Policy;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync3Policy;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync2Policy;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync2Policy;
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message_filters::Synchronizer<ExactSync4Policy>* exactSync4_;
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message_filters::Synchronizer<ApproxSync4Policy>* approxSync4_;
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message_filters::Synchronizer<ExactSync3Policy>* exactSync3_;
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message_filters::Synchronizer<ApproxSync3Policy>* approxSync3_;
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message_filters::Synchronizer<ExactSync2Policy>* exactSync2_;
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message_filters::Synchronizer<ApproxSync2Policy>* approxSync2_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_1_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_2_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_3_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_4_;
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ros::Publisher cloudPub_;
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