mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.
This commit is contained in:
matlabbe
@@ -469,7 +469,7 @@ private:
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
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std::vector<sensor_msgs::CameraInfo> infoMsgs;
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rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
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infoMsgs.push_back(image->cameraInfo);
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infoMsgs.push_back(image->rgbCameraInfo);
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this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
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}
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@@ -487,8 +487,8 @@ private:
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std::vector<sensor_msgs::CameraInfo> infoMsgs;
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rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
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rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
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infoMsgs.push_back(image->cameraInfo);
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infoMsgs.push_back(image2->cameraInfo);
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infoMsgs.push_back(image->rgbCameraInfo);
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infoMsgs.push_back(image2->rgbCameraInfo);
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this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
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}
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@@ -508,9 +508,9 @@ private:
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rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
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rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
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rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
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infoMsgs.push_back(image->cameraInfo);
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infoMsgs.push_back(image2->cameraInfo);
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infoMsgs.push_back(image3->cameraInfo);
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infoMsgs.push_back(image->rgbCameraInfo);
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infoMsgs.push_back(image2->rgbCameraInfo);
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infoMsgs.push_back(image3->rgbCameraInfo);
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this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
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}
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@@ -532,10 +532,10 @@ private:
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rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
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rtabmap_ros::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
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rtabmap_ros::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
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infoMsgs.push_back(image->cameraInfo);
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infoMsgs.push_back(image2->cameraInfo);
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infoMsgs.push_back(image3->cameraInfo);
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infoMsgs.push_back(image4->cameraInfo);
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infoMsgs.push_back(image->rgbCameraInfo);
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infoMsgs.push_back(image2->rgbCameraInfo);
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infoMsgs.push_back(image3->rgbCameraInfo);
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infoMsgs.push_back(image4->rgbCameraInfo);
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this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
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}
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+28
-16
@@ -101,13 +101,13 @@ private:
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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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approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_, cameraDepthInfoSub_);
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approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3, _4));
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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, _1, _2, _3));
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exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_, cameraDepthInfoSub_);
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exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3, _4));
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}
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ros::NodeHandle rgb_nh(nh, "rgb");
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@@ -122,13 +122,15 @@ private:
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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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cameraDepthInfoSub_.subscribe(depth_nh, "camera_info", 1);
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std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
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std::string 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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approxSync?"approx":"exact",
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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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cameraInfoSub_.getTopic().c_str(),
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cameraDepthInfoSub_.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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@@ -156,7 +158,8 @@ private:
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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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const sensor_msgs::CameraInfoConstPtr& cameraInfo,
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const sensor_msgs::CameraInfoConstPtr& cameraDepthInfo)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
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@@ -164,7 +167,8 @@ private:
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rtabmap_ros::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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msg.cameraInfo = *cameraInfo;
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msg.rgbCameraInfo = *cameraInfo;
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msg.depthCameraInfo = *cameraDepthInfo;
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if(rgbdImageCompressedPub_.getNumSubscribers())
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{
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@@ -174,17 +178,24 @@ private:
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imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
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ROS_ASSERT(imageDepthPtr->image.type() == CV_32FC1 || imageDepthPtr->image.type() == CV_16UC1);
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msgCompressed.depthCompressed.header = imageDepthPtr->header;
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if(depthScale_ != 1.0)
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if(imageDepthPtr->image.type() == CV_32FC1 || imageDepthPtr->image.type() == CV_16UC1)
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
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msgCompressed.depthCompressed.header = imageDepthPtr->header;
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if(depthScale_ != 1.0)
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
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}
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else
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
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}
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msgCompressed.depthCompressed.format = "png";
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}
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else
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
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// Assume right stereo image
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imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
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}
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msgCompressed.depthCompressed.format = "png";
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rgbdImageCompressedPub_.publish(msgCompressed);
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}
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@@ -218,11 +229,12 @@ private:
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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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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraDepthInfoSub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, 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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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
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message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
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};
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@@ -85,45 +85,61 @@ private:
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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bool approxSync = false;
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bool subscribeRGBD = false;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize_, queueSize_);
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pnh.param("subscribe_rgbd", subscribeRGBD, subscribeRGBD);
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NODELET_INFO("StereoOdometry: approx_sync = %s", approxSync?"true":"false");
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NODELET_INFO("StereoOdometry: queue_size = %d", queueSize_);
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NODELET_INFO("StereoOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport left_it(left_nh);
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image_transport::ImageTransport right_it(right_nh);
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image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
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imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
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imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
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cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
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if(approxSync)
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std::string subscribedTopicsMsg;
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if(subscribeRGBD)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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rgbdSub_ = nh.subscribe("rgbd_image", 1, &StereoOdometry::callbackRGBD, this);
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subscribedTopicsMsg =
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uFormat("\n%s subscribed to:\n %s",
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getName().c_str(),
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rgbdSub_.getTopic().c_str());
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport left_it(left_nh);
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image_transport::ImageTransport right_it(right_nh);
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image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
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imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
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imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
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cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::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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approxSync?"approx":"exact",
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imageRectLeft_.getTopic().c_str(),
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imageRectRight_.getTopic().c_str(),
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cameraInfoLeft_.getTopic().c_str(),
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cameraInfoRight_.getTopic().c_str());
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}
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std::string 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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approxSync?"approx":"exact",
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imageRectLeft_.getTopic().c_str(),
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imageRectRight_.getTopic().c_str(),
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cameraInfoLeft_.getTopic().c_str(),
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cameraInfoRight_.getTopic().c_str());
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this->startWarningThread(subscribedTopicsMsg, approxSync);
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}
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@@ -216,6 +232,84 @@ private:
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}
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}
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void callbackRGBD(
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const rtabmap_ros::RGBDImageConstPtr& image)
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{
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callbackCalled();
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if(!this->isPaused())
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{
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cv_bridge::CvImageConstPtr imageRectLeft, imageRectRight;
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rtabmap_ros::toCvShare(image, imageRectLeft, imageRectRight);
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if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
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return;
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}
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ros::Time stamp = imageRectLeft->header.stamp>imageRectRight->header.stamp?imageRectLeft->header.stamp:imageRectRight->header.stamp;
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Transform localTransform = getTransform(this->frameId(), imageRectLeft->header.frame_id, stamp);
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if(localTransform.isNull())
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{
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return;
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}
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ros::WallTime time = ros::WallTime::now();
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int quality = -1;
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if(!imageRectLeft->image.empty() && !imageRectRight->image.empty())
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{
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rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(image->rgbCameraInfo, image->depthCameraInfo, localTransform);
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if(stereoModel.baseline() <= 0)
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{
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NODELET_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
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"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", stereoModel.baseline());
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return;
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}
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if(stereoModel.baseline() > 10.0)
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{
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static bool shown = false;
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if(!shown)
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{
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NODELET_WARN("Detected baseline (%f m) is quite large! Is your "
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"right camera_info P(0,3) correctly set? Note that "
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"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
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stereoModel.baseline());
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shown = true;
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}
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}
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cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::cvtColor(imageRectLeft, "mono8");
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cv_bridge::CvImagePtr ptrImageRight = cv_bridge::cvtColor(imageRectRight, "mono8");
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UTimer stepTimer;
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//
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UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
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rtabmap::SensorData data(
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ptrImageLeft->image,
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ptrImageRight->image,
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stereoModel,
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0,
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rtabmap_ros::timestampFromROS(stamp));
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this->processData(data, stamp);
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}
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else
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{
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NODELET_WARN("Odom: input images empty?!?");
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}
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}
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}
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protected:
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virtual void flushCallbacks()
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{
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@@ -243,6 +337,7 @@ private:
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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ros::Subscriber rgbdSub_;
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int queueSize_;
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};
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