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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 10:17:45 +08:00
ported rtabmap_ros_pkg_split to ros2
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matlabbe
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_sync/rgbd_sync.hpp>
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#include <sensor_msgs/msg/compressed_image.hpp>
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#include <sensor_msgs/image_encodings.hpp>
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#include <cv_bridge/cv_bridge.h>
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#include <opencv2/highgui/highgui.hpp>
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#include "rtabmap/core/Compression.h"
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#include "rtabmap/core/util2d.h"
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#include "rtabmap/utilite/UConversion.h"
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#include "rtabmap_conversions/MsgConversion.h"
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namespace rtabmap_sync
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{
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RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
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Node("rgbd_sync", options),
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depthScale_(1.0),
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decimation_(1),
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compressedRate_(0),
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warningThread_(0),
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callbackCalled_(false),
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approxSyncDepth_(0),
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exactSyncDepth_(0)
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{
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int queueSize = 10;
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bool approxSync = true;
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double approxSyncMaxInterval = 0.0;
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int qos = 0;
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approxSync = this->declare_parameter("approx_sync", approxSync);
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approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
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queueSize = this->declare_parameter("queue_size", queueSize);
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qos = this->declare_parameter("qos", qos);
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int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
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depthScale_ = this->declare_parameter("depth_scale", depthScale_);
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decimation_ = this->declare_parameter("decimation", decimation_);
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compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
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if(decimation_<1)
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{
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decimation_ = 1;
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}
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RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
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if(approxSync)
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RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
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RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
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RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
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RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
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RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
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RCLCPP_INFO(this->get_logger(), "%s: decimation = %d", get_name(), decimation_);
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RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
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rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
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rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
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if(approxSync)
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{
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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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if(approxSyncMaxInterval > 0.0)
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approxSyncDepth_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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approxSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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}
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else
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{
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exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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}
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image_transport::TransportHints hints(this);
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imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
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imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
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cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
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subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
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get_name(),
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approxSync?"approx":"exact",
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approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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imageSub_.getSubscriber().getTopic().c_str(),
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imageDepthSub_.getSubscriber().getTopic().c_str(),
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cameraInfoSub_.getSubscriber()->get_topic_name());
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RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg_.c_str());
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warningThread_ = new std::thread([&](){
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rclcpp::Rate r(1/5.0);
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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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RCLCPP_WARN(this->get_logger(),
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"%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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this->get_name(),
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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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}
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RGBDSync::~RGBDSync()
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{
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delete approxSyncDepth_;
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delete exactSyncDepth_;
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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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void RGBDSync::callback(
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const sensor_msgs::msg::Image::ConstSharedPtr image,
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const sensor_msgs::msg::Image::ConstSharedPtr depth,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
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{
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double rgbStamp = rtabmap_conversions::timestampFromROS(image->header.stamp);
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double depthStamp = rtabmap_conversions::timestampFromROS(depth->header.stamp);
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double stampDiff = fabs(rgbStamp - depthStamp);
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if(stampDiff > 0.010)
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{
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RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is "
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"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
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"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use "
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"approx_sync=false if streams have all the exact same timestamp.",
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stampDiff,
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rgbStamp,
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depthStamp);
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}
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rtabmap_msgs::msg::RGBDImage::UniquePtr msg(new rtabmap_msgs::msg::RGBDImage);
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msg->header.frame_id = cameraInfo->header.frame_id;
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msg->header.stamp = rgbStamp>depthStamp?image->header.stamp:depth->header.stamp;
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if(decimation_>1 && !(depth->width % decimation_ == 0 && depth->height % decimation_ == 0))
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{
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RCLCPP_WARN(this->get_logger(), "Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
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"Images won't be resized.", decimation_, depth->width, depth->height);
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decimation_ = 1;
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}
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if(decimation_>1)
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{
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rtabmap::CameraModel model = rtabmap_conversions::cameraModelFromROS(*cameraInfo);
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sensor_msgs::msg::CameraInfo info;
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rtabmap_conversions::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
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info.header = cameraInfo->header;
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msg->rgb_camera_info = info;
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msg->depth_camera_info = info;
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}
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else
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{
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msg->rgb_camera_info = *cameraInfo;
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msg->depth_camera_info = *cameraInfo;
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}
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cv::Mat rgbMat;
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cv::Mat depthMat;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
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rgbMat = imagePtr->image;
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depthMat = imageDepthPtr->image;
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if(decimation_>1)
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{
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rgbMat = rtabmap::util2d::decimate(rgbMat, decimation_);
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depthMat = rtabmap::util2d::decimate(depthMat, decimation_);
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}
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if(depthScale_ != 1.0)
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{
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depthMat*=depthScale_;
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}
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if(rgbdImageCompressedPub_->get_subscription_count())
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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_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
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{
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RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
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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_ = now();
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rtabmap_msgs::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_msgs::msg::RGBDImage);
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msgCompressed->header = msg->header;
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msgCompressed->rgb_camera_info = msg->rgb_camera_info;
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msgCompressed->depth_camera_info = msg->depth_camera_info;
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cv_bridge::CvImage cvImg;
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cvImg.header = image->header;
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cvImg.image = rgbMat;
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cvImg.encoding = image->encoding;
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cvImg.toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
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msgCompressed->depth_compressed.header = imageDepthPtr->header;
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msgCompressed->depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
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msgCompressed->depth_compressed.format = "png";
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rgbdImageCompressedPub_->publish(std::move(msgCompressed));
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}
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}
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if(rgbdImagePub_->get_subscription_count())
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{
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cv_bridge::CvImage cvImg;
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cvImg.header = image->header;
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cvImg.image = rgbMat;
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cvImg.encoding = image->encoding;
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cvImg.toImageMsg(msg->rgb);
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cv_bridge::CvImage cvDepth;
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cvDepth.header = depth->header;
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cvDepth.image = depthMat;
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cvDepth.encoding = depth->encoding;
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cvDepth.toImageMsg(msg->depth);
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rgbdImagePub_->publish(std::move(msg));
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}
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if( rgbStamp != rtabmap_conversions::timestampFromROS(image->header.stamp) ||
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depthStamp != rtabmap_conversions::timestampFromROS(depth->header.stamp))
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{
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RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
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"sure the node publishing the topics doesn't override the same data after publishing them. A "
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"solution is to use this node within another nodelet manager. Stamps: "
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"rgb=%f->%f depth=%f->%f",
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rgbStamp, rtabmap_conversions::timestampFromROS(image->header.stamp),
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depthStamp, rtabmap_conversions::timestampFromROS(depth->header.stamp));
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}
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}
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}
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}
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#include "rclcpp_components/register_node_macro.hpp"
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// Register the component with class_loader.
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// This acts as a sort of entry point, allowing the component to be discoverable when its library
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// is being loaded into a running process.
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RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::RGBDSync)
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