mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-12 22:30:19 +08:00
Added pointcloud_to_depthimage nodelet
This commit is contained in:
matlabbe
@@ -161,6 +161,7 @@ SET(rtabmap_ros_lib_src
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src/nodelets/point_cloud_xyzrgb.cpp
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src/nodelets/point_cloud_xyz.cpp
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src/nodelets/disparity_to_depth.cpp
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src/nodelets/pointcloud_to_depthimage.cpp
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src/nodelets/obstacles_detection.cpp
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src/nodelets/obstacles_detection_old.cpp
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src/nodelets/point_cloud_aggregator.cpp
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@@ -88,6 +88,14 @@
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</description>
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</class>
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<class name="rtabmap_ros/pointcloud_to_depthimage"
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type="rtabmap_ros::PointCloudToDepthImage"
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base_class_type="nodelet::Nodelet">
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<description>
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This is my nodelet.
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</description>
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</class>
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<class name="rtabmap_ros/obstacles_detection"
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type="rtabmap_ros::ObstaclesDetection"
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base_class_type="nodelet::Nodelet">
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@@ -25,170 +25,20 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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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 <ros/publisher.h>
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#include <ros/subscriber.h>
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#include "ros/ros.h"
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#include "nodelet/loader.h"
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#include <rtabmap_ros/MsgConversion.h>
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#include <rtabmap/core/util3d.h>
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#include <rtabmap/core/util2d.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.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 <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.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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image_transport::Publisher depthImage16Pub;
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image_transport::Publisher depthImage32Pub;
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std::string fixedFrameId;
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tf::TransformListener * listener;
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double waitForTransform = 0.1;
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int fillHolesSize = 0;
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double fillHolesError = 0.1;
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int decimation = 1;
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void callback(
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const sensor_msgs::PointCloud2ConstPtr & pointCloud2Msg,
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const sensor_msgs::CameraInfoConstPtr & cameraInfoMsg)
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{
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if(depthImage32Pub.getNumSubscribers() > 0 || depthImage16Pub.getNumSubscribers() > 0)
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{
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rtabmap::Transform cloudDisplacement = rtabmap_ros::getTransform(
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pointCloud2Msg->header.frame_id,
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fixedFrameId,
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pointCloud2Msg->header.stamp,
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cameraInfoMsg->header.stamp,
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*listener,
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waitForTransform);
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if(cloudDisplacement.isNull())
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{
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return;
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}
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rtabmap::Transform cloudToCamera = rtabmap_ros::getTransform(
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pointCloud2Msg->header.frame_id,
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cameraInfoMsg->header.frame_id,
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cameraInfoMsg->header.stamp,
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*listener,
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waitForTransform);
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if(cloudToCamera.isNull())
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{
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return;
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}
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rtabmap::Transform localTransform = cloudToCamera*cloudDisplacement;
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rtabmap::CameraModel model = rtabmap_ros::cameraModelFromROS(*cameraInfoMsg, localTransform);
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if(decimation > 1)
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{
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if(model.imageWidth()%decimation == 0 && model.imageHeight()%decimation == 0)
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{
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model = model.scaled(1.0f/float(decimation));
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}
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else
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{
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ROS_ERROR("decimation (%d) not valid for image size %dx%d",
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decimation,
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model.imageWidth(),
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model.imageHeight());
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}
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}
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pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2);
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pcl_conversions::toPCL(*pointCloud2Msg, *cloud);
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cv_bridge::CvImage depthImage;
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depthImage.image = rtabmap::util3d::projectCloudToCamera(model.imageSize(), model.K(), cloud, model.localTransform());
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if(fillHolesSize > 0)
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{
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depthImage.image = rtabmap::util2d::fillDepthHoles(depthImage.image, fillHolesSize, fillHolesError);
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}
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depthImage.header = cameraInfoMsg->header;
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if(depthImage32Pub.getNumSubscribers())
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{
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depthImage.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
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depthImage32Pub.publish(depthImage.toImageMsg());
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}
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if(depthImage16Pub.getNumSubscribers())
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{
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depthImage.encoding = sensor_msgs::image_encodings::TYPE_16UC1;
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depthImage.image = rtabmap::util2d::cvtDepthFromFloat(depthImage.image);
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depthImage16Pub.publish(depthImage.toImageMsg());
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}
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}
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}
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int main(int argc, char** argv)
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "pointcloud_to_depthimage");
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ULogger::setLevel(ULogger::kError);
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ULogger::setType(ULogger::kTypeConsole);
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listener = new tf::TransformListener();
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ros::NodeHandle nh;
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ros::NodeHandle pnh("~");
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int queueSize = 10;
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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("wait_for_transform", waitForTransform, waitForTransform);
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pnh.param("fill_holes_size", fillHolesSize, fillHolesSize);
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pnh.param("fill_holes_error", fillHolesError, fillHolesError);
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pnh.param("decimation", decimation, decimation);
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if(fixedFrameId.empty())
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{
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ROS_ERROR("fixed_frame_id should be set! If the robot "
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"is moving, it could be \"odom\". If not moving, it "
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"could be \"base_link\".");
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return -1;
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}
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ROS_INFO("Params:");
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ROS_INFO(" queue_size=%d", queueSize);
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ROS_INFO(" fixed_frame_id=%s", fixedFrameId.c_str());
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ROS_INFO(" wait_for_transform=%fs", waitForTransform);
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ROS_INFO(" fill_holes_size=%d pixels (0=disabled)", fillHolesSize);
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ROS_INFO(" fill_holes_error=%f", fillHolesError);
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ROS_INFO(" decimation=%d", decimation);
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image_transport::ImageTransport it(nh);
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depthImage16Pub = it.advertise("image_raw", 1); // 16 bits unsigned in mm
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depthImage32Pub = it.advertise("image", 1); // 32 bits float in meters
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message_filters::Subscriber<sensor_msgs::PointCloud2> pointCloudSub;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> approxSync(MyApproxSyncPolicy(queueSize), pointCloudSub, cameraInfoSub);
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approxSync.registerCallback(boost::bind(&callback, _1, _2));
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pointCloudSub.subscribe(nh, "cloud", 1);
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cameraInfoSub.subscribe(nh, "camera_info", 1);
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nodelet::Loader nodelet;
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nodelet::V_string nargv;
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nodelet::M_string remap(ros::names::getRemappings());
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std::string nodelet_name = ros::this_node::getName();
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nodelet.load(nodelet_name, "rtabmap_ros/pointcloud_to_depthimage", remap, nargv);
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ros::spin();
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delete listener;
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return 0;
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}
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@@ -0,0 +1,239 @@
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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 <ros/publisher.h>
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#include <ros/subscriber.h>
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#include <rtabmap_ros/MsgConversion.h>
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#include <rtabmap/core/util3d.h>
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#include <rtabmap/core/util2d.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.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 <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.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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namespace rtabmap_ros
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{
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class PointCloudToDepthImage : public nodelet::Nodelet
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{
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public:
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PointCloudToDepthImage() :
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waitForTransform_(0.1),
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fillHolesSize_ (0),
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fillHolesError_(0.1),
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decimation_(1),
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approxSync_(0),
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exactSync_(0)
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{}
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virtual ~PointCloudToDepthImage()
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{
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delete listener_;
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if(approxSync_)
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{
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delete approxSync_;
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}
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if(exactSync_)
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{
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delete exactSync_;
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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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listener_ = new tf::TransformListener();
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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 approx = true;
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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("wait_for_transform", waitForTransform_, waitForTransform_);
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pnh.param("fill_holes_size", fillHolesSize_, fillHolesSize_);
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pnh.param("fill_holes_error", fillHolesError_, fillHolesError_);
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pnh.param("decimation", decimation_, decimation_);
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pnh.param("approx", approx, approx);
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if(fixedFrameId_.empty() && approx)
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{
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ROS_FATAL("fixed_frame_id should be set when using approximate "
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"time synchronization (approx=true)! If the robot "
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"is moving, it could be \"odom\". If not moving, it "
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"could be \"base_link\".");
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}
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ROS_INFO("Params:");
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ROS_INFO(" approx=%s", approx?"true":"false");
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ROS_INFO(" queue_size=%d", queueSize);
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ROS_INFO(" fixed_frame_id=%s", fixedFrameId_.c_str());
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ROS_INFO(" wait_for_transform=%fs", waitForTransform_);
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ROS_INFO(" fill_holes_size=%d pixels (0=disabled)", fillHolesSize_);
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ROS_INFO(" fill_holes_error=%f", fillHolesError_);
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ROS_INFO(" decimation=%d", decimation_);
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image_transport::ImageTransport it(nh);
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depthImage16Pub_ = it.advertise("image_raw", 1); // 16 bits unsigned in mm
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depthImage32Pub_ = it.advertise("image", 1); // 32 bits float in meters
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if(approx)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_);
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approxSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, _1, _2));
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}
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else
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{
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fixedFrameId_.clear();
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), pointCloudSub_, cameraInfoSub_);
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exactSync_->registerCallback(boost::bind(&PointCloudToDepthImage::callback, this, _1, _2));
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}
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pointCloudSub_.subscribe(nh, "cloud", 1);
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cameraInfoSub_.subscribe(nh, "camera_info", 1);
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}
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void callback(
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const sensor_msgs::PointCloud2ConstPtr & pointCloud2Msg,
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const sensor_msgs::CameraInfoConstPtr & cameraInfoMsg)
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{
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if(depthImage32Pub_.getNumSubscribers() > 0 || depthImage16Pub_.getNumSubscribers() > 0)
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{
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rtabmap::Transform cloudDisplacement = rtabmap::Transform::getIdentity();
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if(!fixedFrameId_.empty())
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{
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// approx sync
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rtabmap::Transform cloudDisplacement = rtabmap_ros::getTransform(
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pointCloud2Msg->header.frame_id,
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fixedFrameId_,
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pointCloud2Msg->header.stamp,
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cameraInfoMsg->header.stamp,
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*listener_,
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waitForTransform_);
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}
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if(cloudDisplacement.isNull())
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{
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return;
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}
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rtabmap::Transform cloudToCamera = rtabmap_ros::getTransform(
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pointCloud2Msg->header.frame_id,
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cameraInfoMsg->header.frame_id,
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cameraInfoMsg->header.stamp,
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*listener_,
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waitForTransform_);
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if(cloudToCamera.isNull())
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{
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return;
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}
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rtabmap::Transform localTransform = cloudToCamera*cloudDisplacement;
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rtabmap::CameraModel model = rtabmap_ros::cameraModelFromROS(*cameraInfoMsg, localTransform);
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if(decimation_ > 1)
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{
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if(model.imageWidth()%decimation_ == 0 && model.imageHeight()%decimation_ == 0)
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{
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model = model.scaled(1.0f/float(decimation_));
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}
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else
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{
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ROS_ERROR("decimation (%d) not valid for image size %dx%d",
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decimation_,
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model.imageWidth(),
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model.imageHeight());
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}
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}
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pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2);
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pcl_conversions::toPCL(*pointCloud2Msg, *cloud);
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cv_bridge::CvImage depthImage;
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depthImage.image = rtabmap::util3d::projectCloudToCamera(model.imageSize(), model.K(), cloud, model.localTransform());
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if(fillHolesSize_ > 0)
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{
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depthImage.image = rtabmap::util2d::fillDepthHoles(depthImage.image, fillHolesSize_, fillHolesError_);
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}
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depthImage.header = cameraInfoMsg->header;
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if(depthImage32Pub_.getNumSubscribers())
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{
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depthImage.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
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depthImage32Pub_.publish(depthImage.toImageMsg());
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}
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if(depthImage16Pub_.getNumSubscribers())
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{
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depthImage.encoding = sensor_msgs::image_encodings::TYPE_16UC1;
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depthImage.image = rtabmap::util2d::cvtDepthFromFloat(depthImage.image);
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depthImage16Pub_.publish(depthImage.toImageMsg());
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}
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}
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}
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private:
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image_transport::Publisher depthImage16Pub_;
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image_transport::Publisher depthImage32Pub_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> pointCloudSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
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std::string fixedFrameId_;
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tf::TransformListener * listener_;
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double waitForTransform_;
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int fillHolesSize_;
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double fillHolesError_;
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int decimation_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, 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::PointCloud2, 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::PointCloudToDepthImage, nodelet::Nodelet);
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}
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