mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option.
This commit is contained in:
matlabbe
@@ -81,7 +81,8 @@ public:
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voxelSize_(0),
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noiseRadius_(0),
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noiseMinNeighbors_(5),
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fixedFrameId_("odom")
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fixedFrameId_("odom"),
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frameId_("")
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{}
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virtual ~PointCloudAssembler()
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@@ -108,6 +109,7 @@ private:
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pnh.param("queue_size", queueSize, queueSize);
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pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
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pnh.param("frame_id", frameId_, frameId_);
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pnh.param("max_clouds", maxClouds_, maxClouds_);
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pnh.param("assembling_time", assemblingTime_, assemblingTime_);
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pnh.param("skip_clouds", skipClouds_, skipClouds_);
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@@ -123,6 +125,7 @@ private:
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ROS_INFO("%s: queue_size=%d", getName().c_str(), queueSize);
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ROS_INFO("%s: fixed_frame_id=%s", getName().c_str(), fixedFrameId_.c_str());
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ROS_INFO("%s: frame_id=%s", getName().c_str(), frameId_.c_str());
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ROS_INFO("%s: max_clouds=%d", getName().c_str(), maxClouds_);
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ROS_INFO("%s: assembling_time=%fs", getName().c_str(), assemblingTime_);
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ROS_INFO("%s: skip_clouds=%d", getName().c_str(), skipClouds_);
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@@ -139,7 +142,7 @@ private:
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std::string subscribedTopicsMsg;
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if(!fixedFrameId_.empty())
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{
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cloudSub_ = nh.subscribe("cloud", 1, &PointCloudAssembler::callbackCloud, this);
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cloudSub_ = nh.subscribe("cloud", queueSize, &PointCloudAssembler::callbackCloud, this);
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subscribedTopicsMsg = uFormat("\n%s subscribed to %s",
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getName().c_str(),
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cloudSub_.getTopic().c_str());
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@@ -322,9 +325,29 @@ private:
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}
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pcl_conversions::moveFromPCL(*assembled, rosCloud);
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if(!frameId_.empty())
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{
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// transform in target frame_id instead of sensor frame
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t = rtabmap_ros::getTransform(
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fixedFrameId_, //fromFrame
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frameId_, //toFrame
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cloudMsg->header.stamp,
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tfListener_,
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waitForTransformDuration_);
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if(t.isNull())
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{
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ROS_ERROR("Cloud not transform back assembled clouds in target frame \"%s\"! Resetting...", frameId_.c_str());
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clouds_.clear();
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return;
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}
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}
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pcl_ros::transformPointCloud(t.toEigen4f().inverse(), rosCloud, rosCloud);
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rosCloud.header = cloudMsg->header;
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if(!frameId_.empty())
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{
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rosCloud.header.frame_id = frameId_;
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}
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cloudPub_.publish(rosCloud);
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if(circularBuffer_)
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{
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@@ -390,6 +413,7 @@ private:
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double noiseRadius_;
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int noiseMinNeighbors_;
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std::string fixedFrameId_;
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std::string frameId_;
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tf::TransformListener tfListener_;
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std::list<pcl::PCLPointCloud2::Ptr> clouds_;
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@@ -0,0 +1,227 @@
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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.h>
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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_ros/RGBDImage.h"
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#include "rtabmap/core/Compression.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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class RgbSync : public nodelet::Nodelet
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{
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public:
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RgbSync() :
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compressedRate_(0),
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warningThread_(0),
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callbackCalled_(false),
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approxSync_(0),
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exactSync_(0)
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{}
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virtual ~RgbSync()
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{
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if(approxSync_)
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delete approxSync_;
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if(exactSync_)
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delete exactSync_;
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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 = 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("compressed_rate", compressedRate_, compressedRate_);
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NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
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NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
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NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
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rgbdImagePub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image", 1);
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rgbdImageCompressedPub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image/compressed", 1);
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageSub_, cameraInfoSub_);
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approxSync_->registerCallback(boost::bind(&RgbSync::callback, this, _1, _2));
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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), imageSub_, cameraInfoSub_);
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exactSync_->registerCallback(boost::bind(&RgbSync::callback, this, _1, _2));
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}
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ros::NodeHandle rgb_nh(nh, "rgb");
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ros::NodeHandle rgb_pnh(pnh, "rgb");
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image_rect"), 1, hintsRgb);
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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):\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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cameraInfoSub_.getTopic().c_str());
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warningThread_ = new boost::thread(boost::bind(&RgbSync::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::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 stamp = image->header.stamp.toSec();
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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;
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msg.rgb_camera_info = *cameraInfo;
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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_ros::RGBDImage msgCompressed = msg;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
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imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);
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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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msg.rgb = *image;
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rgbdImagePub_.publish(msg);
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}
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if( stamp != image->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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"%f->%f",
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stamp, image->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 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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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RgbSync, nodelet::Nodelet);
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}
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