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Added odometry nodelets (issue #96)

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This commit is contained in:
matlabbe
2016-07-06 20:08:23 -04:00
parent fb09c96ba1
commit 7a896f6e7b
10 changed files with 851 additions and 670 deletions
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CMakeLists.txt
+5 -3
View File
@@ -149,6 +149,8 @@ SET(Libraries
)
SET(rtabmap_ros_lib_src
src/nodelets/rgbd_odometry.cpp
src/nodelets/stereo_odometry.cpp
src/nodelets/data_throttle.cpp
src/nodelets/stereo_throttle.cpp
src/nodelets/data_odom_sync.cpp
@@ -157,8 +159,8 @@ SET(rtabmap_ros_lib_src
src/nodelets/disparity_to_depth.cpp
src/nodelets/obstacles_detection.cpp
src/nodelets/point_cloud_aggregator.cpp
src/nodelets/OdometryROS.cpp
src/MsgConversion.cpp
src/OdometryROS.cpp
src/MapsManager.cpp
)
@@ -261,10 +263,10 @@ add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
target_link_libraries(rtabmap rtabmap_ros ${Libraries})
add_executable(rgbd_odometry src/RGBDOdometryNode.cpp)
target_link_libraries(rgbd_odometry rtabmap_ros ${Libraries})
target_link_libraries(rgbd_odometry ${Libraries})
add_executable(stereo_odometry src/StereoOdometryNode.cpp)
target_link_libraries(stereo_odometry rtabmap_ros ${Libraries})
target_link_libraries(stereo_odometry ${Libraries})
add_executable(map_optimizer src/MapOptimizerNode.cpp)
target_link_libraries(map_optimizer rtabmap_ros ${Libraries})
launch/rtabmap.launch
+6 -5
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@@ -2,7 +2,7 @@
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For rgbd:=true
<!-- For stereo:=false
Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
@@ -15,7 +15,6 @@
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="rgbd" default="true"/>
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
@@ -80,7 +79,7 @@
<group ns="$(arg namespace)">
<!-- RGB-D Odometry -->
<group if="$(arg rgbd)">
<group unless="$(arg stereo)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
@@ -119,7 +118,8 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
@@ -151,7 +151,8 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
nodelet_plugins.xml
+17
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@@ -1,4 +1,21 @@
<library path="lib/librtabmap_ros">
<class name="rtabmap_ros/rgbd_odometry"
type="rtabmap_ros::RGBDOdometry"
base_class_type="nodelet::Nodelet">
<description>
This is my nodelet.
</description>
</class>
<class name="rtabmap_ros/stereo_odometry"
type="rtabmap_ros::StereoOdometry"
base_class_type="nodelet::Nodelet">
<description>
This is my nodelet.
</description>
</class>
<class name="rtabmap_ros/data_throttle"
type="rtabmap_ros::DataThrottleNodelet"
base_class_type="nodelet::Nodelet">
src/CoreWrapper.cpp
+18
View File
@@ -102,14 +102,20 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true),
depthSync_(0),
depthExactSync_(0),
depthScanSync_(0),
depthScan3dSync_(0),
stereoScanSync_(0),
stereoScan3dSync_(0),
stereoApproxSync_(0),
stereoExactSync_(0),
depth2Sync_(0),
depthTFSync_(0),
depthTFExactSync_(0),
depthScanTFSync_(0),
depthScan3dTFSync_(0),
stereoScanTFSync_(0),
stereoScan3dTFSync_(0),
stereoApproxTFSync_(0),
stereoExactTFSync_(0),
transformThread_(0),
@@ -463,10 +469,16 @@ CoreWrapper::~CoreWrapper()
if(depthSync_)
delete depthSync_;
if(depthExactSync_)
delete depthExactSync_;
if(depthScanSync_)
delete depthScanSync_;
if(depthScan3dSync_)
delete depthScan3dSync_;
if(stereoScanSync_)
delete stereoScanSync_;
if(stereoScan3dSync_)
delete stereoScan3dSync_;
if(stereoApproxSync_)
delete stereoApproxSync_;
if(stereoExactSync_)
@@ -475,10 +487,16 @@ CoreWrapper::~CoreWrapper()
delete depth2Sync_;
if(depthTFSync_)
delete depthTFSync_;
if(depthTFExactSync_)
delete depthTFExactSync_;
if(depthScanTFSync_)
delete depthScanTFSync_;
if(depthScan3dTFSync_)
delete depthScan3dTFSync_;
if(stereoScanTFSync_)
delete stereoScanTFSync_;
if(stereoScan3dTFSync_)
delete stereoScan3dTFSync_;
if(stereoApproxTFSync_)
delete stereoApproxTFSync_;
if(stereoExactTFSync_)
src/RGBDOdometryNode.cpp
+38 -378
View File
@@ -25,393 +25,53 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "OdometryROS.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <image_geometry/stereo_camera_model.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include "ros/ros.h"
#include "nodelet/loader.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Parameters.h>
using namespace rtabmap;
class RGBDOdometry : public rtabmap_ros::OdometryROS
{
public:
RGBDOdometry(int argc, char * argv[]) :
rtabmap_ros::OdometryROS(argc, argv),
approxSync_(0),
exactSync_(0),
sync2_(0),
queueSize_(5)
{
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
int depthCameras = 1;
bool approxSync = true;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("queue_size", queueSize_, queueSize_);
pnh.param("depth_cameras", depthCameras, depthCameras);
if(depthCameras <= 0)
{
depthCameras = 1;
}
if(depthCameras > 2)
{
ROS_FATAL("Only 2 cameras maximum supported yet.");
}
if(depthCameras == 2)
{
ros::NodeHandle rgb0_nh(nh, "rgb0");
ros::NodeHandle depth0_nh(nh, "depth0");
ros::NodeHandle rgb0_pnh(pnh, "rgb0");
ros::NodeHandle depth0_pnh(pnh, "depth0");
image_transport::ImageTransport rgb0_it(rgb0_nh);
image_transport::ImageTransport depth0_it(depth0_nh);
image_transport::TransportHints hintsRgb0("raw", ros::TransportHints(), rgb0_pnh);
image_transport::TransportHints hintsDepth0("raw", ros::TransportHints(), depth0_pnh);
image_mono_sub_.subscribe(rgb0_it, rgb0_nh.resolveName("image"), 1, hintsRgb0);
image_depth_sub_.subscribe(depth0_it, depth0_nh.resolveName("image"), 1, hintsDepth0);
info_sub_.subscribe(rgb0_nh, "camera_info", 1);
ros::NodeHandle rgb1_nh(nh, "rgb1");
ros::NodeHandle depth1_nh(nh, "depth1");
ros::NodeHandle rgb1_pnh(pnh, "rgb1");
ros::NodeHandle depth1_pnh(pnh, "depth1");
image_transport::ImageTransport rgb1_it(rgb1_nh);
image_transport::ImageTransport depth1_it(depth1_nh);
image_transport::TransportHints hintsRgb1("raw", ros::TransportHints(), rgb1_pnh);
image_transport::TransportHints hintsDepth1("raw", ros::TransportHints(), depth1_pnh);
image_mono2_sub_.subscribe(rgb1_it, rgb1_nh.resolveName("image"), 1, hintsRgb1);
image_depth2_sub_.subscribe(depth1_it, depth1_nh.resolveName("image"), 1, hintsDepth1);
info2_sub_.subscribe(rgb1_nh, "camera_info", 1);
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
image_mono_sub_.getTopic().c_str(),
image_depth_sub_.getTopic().c_str(),
info_sub_.getTopic().c_str(),
image_mono2_sub_.getTopic().c_str(),
image_depth2_sub_.getTopic().c_str(),
info2_sub_.getTopic().c_str());
sync2_ = new message_filters::Synchronizer<MySync2Policy>(
MySync2Policy(queueSize_),
image_mono_sub_,
image_depth_sub_,
info_sub_,
image_mono2_sub_,
image_depth2_sub_,
info2_sub_);
sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
}
else
{
ros::NodeHandle rgb_nh(nh, "rgb");
ros::NodeHandle depth_nh(nh, "depth");
ros::NodeHandle rgb_pnh(pnh, "rgb");
ros::NodeHandle depth_pnh(pnh, "depth");
image_transport::ImageTransport rgb_it(rgb_nh);
image_transport::ImageTransport depth_it(depth_nh);
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
image_mono_sub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
info_sub_.subscribe(rgb_nh, "camera_info", 1);
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
approxSync?"approx":"exact",
image_mono_sub_.getTopic().c_str(),
image_depth_sub_.getTopic().c_str(),
info_sub_.getTopic().c_str());
}
}
virtual ~RGBDOdometry()
{
if(approxSync_)
{
delete approxSync_;
}
if(exactSync_)
{
delete exactSync_;
}
if(sync2_)
{
delete sync2_;
}
}
void callback(
const sensor_msgs::ImageConstPtr& image,
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
if(!this->isPaused())
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
image->encoding.c_str(), depth->encoding.c_str());
return;
}
ros::Time stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
Transform localTransform = getTransform(this->frameId(), image->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
{
rtabmap::CameraModel rtabmapModel = rtabmap_ros::cameraModelFromROS(*cameraInfo, localTransform);
cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
rtabmap::SensorData data(
ptrImage->image,
ptrDepth->image,
rtabmapModel,
0,
rtabmap_ros::timestampFromROS(stamp));
this->processData(data, stamp);
}
}
}
void callback2(
const sensor_msgs::ImageConstPtr& image,
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo,
const sensor_msgs::ImageConstPtr& image2,
const sensor_msgs::ImageConstPtr& depth2,
const sensor_msgs::CameraInfoConstPtr& cameraInfo2)
{
if(!this->isPaused())
{
std::vector<sensor_msgs::ImageConstPtr> imageMsgs;
std::vector<sensor_msgs::ImageConstPtr> depthMsgs;
std::vector<sensor_msgs::CameraInfoConstPtr> infoMsgs;
imageMsgs.push_back(image);
imageMsgs.push_back(image2);
depthMsgs.push_back(depth);
depthMsgs.push_back(depth2);
infoMsgs.push_back(cameraInfo);
infoMsgs.push_back(cameraInfo2);
ros::Time higherStamp;
int imageWidth = imageMsgs[0]->width;
int imageHeight = imageMsgs[0]->height;
int cameraCount = imageMsgs.size();
cv::Mat rgb;
cv::Mat depth;
pcl::PointCloud<pcl::PointXYZ> scanCloud;
std::vector<CameraModel> cameraModels;
for(unsigned int i=0; i<imageMsgs.size(); ++i)
{
if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
return;
}
UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
imageMsgs[i]->width,
imageHeight,
imageMsgs[i]->height).c_str());
UASSERT_MSG(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
depthMsgs[i]->width,
imageHeight,
depthMsgs[i]->height).c_str());
ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp;
if(i == 0)
{
higherStamp = stamp;
}
else if(stamp > higherStamp)
{
higherStamp = stamp;
}
Transform localTransform = getTransform(this->frameId(), imageMsgs[i]->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
cv_bridge::CvImageConstPtr ptrImage;
if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i]);
}
else if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i], "mono8");
}
else
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i], "bgr8");
}
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
cv::Mat subDepth = ptrDepth->image;
// initialize
if(rgb.empty())
{
rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
}
if(depth.empty())
{
depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
}
if(ptrImage->image.type() == rgb.type())
{
ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
}
else
{
ROS_ERROR("Some RGB images are not the same type!");
return;
}
if(subDepth.type() == depth.type())
{
subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
}
else
{
ROS_ERROR("Some Depth images are not the same type!");
return;
}
cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*infoMsgs[i], localTransform));
}
rtabmap::SensorData data(
rgb,
depth,
cameraModels,
0,
rtabmap_ros::timestampFromROS(higherStamp));
this->processData(data, higherStamp);
}
}
protected:
virtual void flushCallbacks()
{
// flush callbacks
if(approxSync_)
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
if(sync2_)
{
delete sync2_;
sync2_ = new message_filters::Synchronizer<MySync2Policy>(
MySync2Policy(queueSize_),
image_mono_sub_,
image_depth_sub_,
info_sub_,
image_mono2_sub_,
image_depth2_sub_,
info2_sub_);
sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
}
}
private:
image_transport::SubscriberFilter image_mono_sub_;
image_transport::SubscriberFilter image_depth_sub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
image_transport::SubscriberFilter image_mono2_sub_;
image_transport::SubscriberFilter image_depth2_sub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> info2_sub_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MySync2Policy;
message_filters::Synchronizer<MySync2Policy> * sync2_;
int queueSize_;
};
int main(int argc, char *argv[])
int main(int argc, char **argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
ros::init(argc, argv, "rgbd_odometry");
// process "--params" argument
rtabmap_ros::OdometryROS::processArguments(argc, argv);
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(false);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
ROS_WARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
}
RGBDOdometry odom(argc, argv);
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "rtabmap_ros/rgbd_odometry", remap, nargv);
ros::spin();
return 0;
}
src/StereoOdometryNode.cpp
+38 -197
View File
@@ -25,212 +25,53 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "OdometryROS.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <image_geometry/stereo_camera_model.h>
#include <cv_bridge/cv_bridge.h>
#include "rtabmap_ros/MsgConversion.h"
#include "ros/ros.h"
#include "nodelet/loader.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/Parameters.h>
using namespace rtabmap;
class StereoOdometry : public rtabmap_ros::OdometryROS
{
public:
StereoOdometry(int argc, char * argv[]) :
rtabmap_ros::OdometryROS(argc, argv, true),
approxSync_(0),
exactSync_(0),
queueSize_(5)
{
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
bool approxSync = false;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("queue_size", queueSize_, queueSize_);
ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
ros::NodeHandle left_nh(nh, "left");
ros::NodeHandle right_nh(nh, "right");
ros::NodeHandle left_pnh(pnh, "left");
ros::NodeHandle right_pnh(pnh, "right");
image_transport::ImageTransport left_it(left_nh);
image_transport::ImageTransport right_it(right_nh);
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
approxSync?"approx":"exact",
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
cameraInfoLeft_.getTopic().c_str(),
cameraInfoRight_.getTopic().c_str());
}
virtual ~StereoOdometry()
{
if(approxSync_)
{
delete approxSync_;
}
if(exactSync_)
{
delete exactSync_;
}
}
void callback(
const sensor_msgs::ImageConstPtr& imageRectLeft,
const sensor_msgs::ImageConstPtr& imageRectRight,
const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
{
if(!this->isPaused())
{
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
return;
}
ros::Time stamp = imageRectLeft->header.stamp>imageRectRight->header.stamp?imageRectLeft->header.stamp:imageRectRight->header.stamp;
Transform localTransform = getTransform(this->frameId(), imageRectLeft->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
ros::WallTime time = ros::WallTime::now();
int quality = -1;
if(imageRectLeft->data.size() && imageRectRight->data.size())
{
rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*cameraInfoLeft, *cameraInfoRight, localTransform);
if(stereoModel.baseline() <= 0)
{
ROS_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", stereoModel.baseline());
return;
}
if(stereoModel.baseline() > 10.0)
{
static bool shown = false;
if(!shown)
{
ROS_WARN("Detected baseline (%f m) is quite large! Is your "
"right camera_info P(0,3) correctly set? Note that "
"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
stereoModel.baseline());
shown = true;
}
}
cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::toCvCopy(imageRectLeft, "mono8");
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
UTimer stepTimer;
//
UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
rtabmap::SensorData data(
ptrImageLeft->image,
ptrImageRight->image,
stereoModel,
0,
rtabmap_ros::timestampFromROS(stamp));
this->processData(data, stamp);
}
else
{
ROS_WARN("Odom: input images empty?!?");
}
}
}
protected:
virtual void flushCallbacks()
{
//flush callbacks
if(approxSync_)
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
}
private:
image_transport::SubscriberFilter imageRectLeft_;
image_transport::SubscriberFilter imageRectRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
int queueSize_;
};
int main(int argc, char *argv[])
int main(int argc, char **argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
//pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
ros::init(argc, argv, "stereo_odometry");
// process "--params" argument
rtabmap_ros::OdometryROS::processArguments(argc, argv, true);
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(true);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
ROS_WARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
}
StereoOdometry odom(argc, argv);
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "rtabmap_ros/stereo_odometry", remap, nargv);
ros::spin();
return 0;
}
src/OdometryROS.cpp → src/nodelets/OdometryROS.cpp
+66 -83
View File
@@ -55,7 +55,7 @@ using namespace rtabmap;
namespace rtabmap_ros {
OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
OdometryROS::OdometryROS(bool stereo) :
odometry_(0),
frameId_("base_link"),
odomFrameId_("odom"),
@@ -67,17 +67,36 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
guessFromTf_(false),
paused_(false),
resetCountdown_(0),
resetCurrentCount_(0)
resetCurrentCount_(0),
stereo_(stereo)
{
ros::NodeHandle nh;
}
OdometryROS::~OdometryROS()
{
ros::NodeHandle & pnh = getPrivateNodeHandle();
if(pnh.ok())
{
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
pnh.deleteParam(iter->first);
}
}
delete odometry_;
}
void OdometryROS::onInit()
{
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
odomPub_ = nh.advertise<nav_msgs::Odometry>("odom", 1);
odomInfoPub_ = nh.advertise<rtabmap_ros::OdomInfo>("odom_info", 1);
odomLocalMap_ = nh.advertise<sensor_msgs::PointCloud2>("odom_local_map", 1);
odomLastFrame_ = nh.advertise<sensor_msgs::PointCloud2>("odom_last_frame", 1);
ros::NodeHandle pnh("~");
Transform initialPose = Transform::getIdentity();
std::string initialPoseStr;
std::string tfPrefix;
@@ -96,7 +115,7 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
if(publishTf_ && guessFromTf_)
{
ROS_WARN("\"publish_tf\" and \"guess_from_tf\" cannot be used at the same time. \"guess_from_tf\" is disabled.");
NODELET_WARN( "\"publish_tf\" and \"guess_from_tf\" cannot be used at the same time. \"guess_from_tf\" is disabled.");
guessFromTf_ = false;
}
@@ -133,19 +152,19 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
}
else
{
ROS_ERROR("Wrong initial_pose format: %s (should be \"x y z roll pitch yaw\" with angle in radians). "
NODELET_ERROR( "Wrong initial_pose format: %s (should be \"x y z roll pitch yaw\" with angle in radians). "
"Identity will be used...", initialPoseStr.c_str());
}
}
//parameters
parameters_ = Parameters::getDefaultOdometryParameters(stereo);
parameters_ = Parameters::getDefaultOdometryParameters(stereo_);
if(!configPath.empty())
{
if(UFile::exists(configPath.c_str()))
{
ROS_INFO("Odometry: Loading parameters from %s", configPath.c_str());
NODELET_INFO( "Odometry: Loading parameters from %s", configPath.c_str());
rtabmap::ParametersMap allParameters;
Parameters::readINI(configPath.c_str(), allParameters);
// only update odometry parameters
@@ -160,7 +179,7 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
}
else
{
ROS_ERROR("Config file \"%s\" not found!", configPath.c_str());
NODELET_ERROR( "Config file \"%s\" not found!", configPath.c_str());
}
}
for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
@@ -171,39 +190,45 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
double vDouble;
if(pnh.getParam(iter->first, vStr))
{
ROS_INFO("Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
iter->second = vStr;
}
else if(pnh.getParam(iter->first, vBool))
{
ROS_INFO("Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
iter->second = uBool2Str(vBool);
}
else if(pnh.getParam(iter->first, vDouble))
{
ROS_INFO("Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
iter->second = uNumber2Str(vDouble);
}
else if(pnh.getParam(iter->first, vInt))
{
ROS_INFO("Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
iter->second = uNumber2Str(vInt);
}
if(iter->first.compare(Parameters::kVisMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
{
ROS_WARN("Parameter min_inliers must be >= 8, setting to 8...");
NODELET_WARN( "Parameter min_inliers must be >= 8, setting to 8...");
iter->second = uNumber2Str(8);
}
}
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argc, argv);
std::vector<std::string> argList = getMyArgv();
char * argv[argList.size()];
for(unsigned int i=0; i<argList.size(); ++i)
{
argv[i] = &argList[i].at(0);
}
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
if(jter!=parameters_.end())
{
ROS_INFO("Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
jter->second = iter->second;
}
}
@@ -220,19 +245,19 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
{
// can be migrated
parameters_.at(iter->second.second)= vStr;
ROS_WARN("Odometry: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
NODELET_WARN( "Odometry: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
}
else
{
if(iter->second.second.empty())
{
ROS_ERROR("Odometry: Parameter \"%s\" doesn't exist anymore!",
NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore!",
iter->first.c_str());
}
else
{
ROS_ERROR("Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
iter->first.c_str(), iter->second.second.c_str());
}
}
@@ -256,50 +281,8 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
setLogInfoSrv_ = pnh.advertiseService("log_info", &OdometryROS::setLogInfo, this);
setLogWarnSrv_ = pnh.advertiseService("log_warning", &OdometryROS::setLogWarn, this);
setLogErrorSrv_ = pnh.advertiseService("log_error", &OdometryROS::setLogError, this);
}
OdometryROS::~OdometryROS()
{
ros::NodeHandle pnh("~");
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
pnh.deleteParam(iter->first);
}
delete odometry_;
}
void OdometryROS::processArguments(int argc, char * argv[], bool stereo)
{
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = Parameters::getDefaultOdometryParameters(stereo);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
ROS_WARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
}
onOdomInit();
}
Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const
@@ -313,7 +296,7 @@ Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::
//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
{
ROS_WARN("odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)!",
NODELET_WARN( "odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)!",
fromFrameId.c_str(), toFrameId.c_str(), stamp.toSec(), waitForTransformDuration_, waitForTransformDuration_);
return transform;
}
@@ -325,7 +308,7 @@ Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::
}
catch(tf::TransformException & ex)
{
ROS_WARN("%s",ex.what());
NODELET_WARN( "%s",ex.what());
}
return transform;
}
@@ -342,7 +325,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
return;
}
ROS_INFO("Initializing odometry pose to %s (from \"%s\" -> \"%s\")",
NODELET_INFO( "Initializing odometry pose to %s (from \"%s\" -> \"%s\")",
initialPose.prettyPrint().c_str(),
groundTruthFrameId_.c_str(),
frameId_.c_str());
@@ -364,9 +347,9 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
float vx,vy,vz, vroll,vpitch,vyaw;
odometry_->previousVelocityTransform().getTranslationAndEulerAngles(vx,vy,vz, vroll,vpitch,vyaw);
Transform motionGuess(vx*dt, vy*dt, vz*dt, vroll*dt, vpitch*dt, vyaw*dt);
ROS_WARN("P Guess %s", motionGuess.prettyPrint().c_str());
NODELET_WARN( "P Guess %s", motionGuess.prettyPrint().c_str());
}
ROS_WARN("TF Guess %s", guess.prettyPrint().c_str());*/
NODELET_WARN( "TF Guess %s", guess.prettyPrint().c_str());*/
}
}
@@ -503,7 +486,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
}
else if(publishNullWhenLost_)
{
//ROS_WARN("Odometry lost!");
//NODELET_WARN( "Odometry lost!");
//send null pose to notify that odometry is lost
nav_msgs::Odometry odom;
@@ -529,7 +512,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
if(pose.isNull() && resetCurrentCount_ > 0)
{
ROS_WARN("Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);
NODELET_WARN( "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);
--resetCurrentCount_;
if(resetCurrentCount_ == 0)
@@ -538,12 +521,12 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
Transform tfPose = this->getTransform(odomFrameId_, frameId_, stamp);
if(tfPose.isNull())
{
ROS_WARN("Odometry automatically reset to latest computed pose!");
NODELET_WARN( "Odometry automatically reset to latest computed pose!");
odometry_->reset(odometry_->getPose());
}
else
{
ROS_WARN("Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
NODELET_WARN( "Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
odomFrameId_.c_str(), frameId_.c_str());
odometry_->reset(tfPose);
}
@@ -560,7 +543,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
odomInfoPub_.publish(infoMsg);
}
ROS_INFO("Odom: quality=%d, std dev=%fm, update time=%fs", info.inliers, pose.isNull()?0.0f:std::sqrt(info.variance), (ros::WallTime::now()-time).toSec());
NODELET_INFO( "Odom: quality=%d, std dev=%fm, update time=%fs", info.inliers, pose.isNull()?0.0f:std::sqrt(info.variance), (ros::WallTime::now()-time).toSec());
}
bool OdometryROS::isOdometryF2M() const
@@ -570,7 +553,7 @@ bool OdometryROS::isOdometryF2M() const
bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: reset odom!");
NODELET_INFO( "visual_odometry: reset odom!");
odometry_->reset();
this->flushCallbacks();
return true;
@@ -579,7 +562,7 @@ bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
bool OdometryROS::resetToPose(rtabmap_ros::ResetPose::Request& req, rtabmap_ros::ResetPose::Response&)
{
Transform pose(req.x, req.y, req.z, req.roll, req.pitch, req.yaw);
ROS_INFO("visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
NODELET_INFO( "visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
odometry_->reset(pose);
this->flushCallbacks();
return true;
@@ -589,12 +572,12 @@ bool OdometryROS::pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
if(paused_)
{
ROS_WARN("visual_odometry: Already paused!");
NODELET_WARN( "visual_odometry: Already paused!");
}
else
{
paused_ = true;
ROS_INFO("visual_odometry: paused!");
NODELET_INFO( "visual_odometry: paused!");
}
return true;
}
@@ -603,37 +586,37 @@ bool OdometryROS::resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
if(!paused_)
{
ROS_WARN("visual_odometry: Already running!");
NODELET_WARN( "visual_odometry: Already running!");
}
else
{
paused_ = false;
ROS_INFO("visual_odometry: resumed!");
NODELET_INFO( "visual_odometry: resumed!");
}
return true;
}
bool OdometryROS::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Debug");
NODELET_INFO( "visual_odometry: Set log level to Debug");
ULogger::setLevel(ULogger::kDebug);
return true;
}
bool OdometryROS::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Info");
NODELET_INFO( "visual_odometry: Set log level to Info");
ULogger::setLevel(ULogger::kInfo);
return true;
}
bool OdometryROS::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Warning");
NODELET_INFO( "visual_odometry: Set log level to Warning");
ULogger::setLevel(ULogger::kWarning);
return true;
}
bool OdometryROS::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Error");
NODELET_INFO( "visual_odometry: Set log level to Error");
ULogger::setLevel(ULogger::kError);
return true;
}
src/OdometryROS.h → src/nodelets/OdometryROS.h
+9 -4
View File
@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define ODOMETRYROS_H_
#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf/transform_listener.h>
@@ -46,14 +47,13 @@ class Odometry;
namespace rtabmap_ros {
class OdometryROS
class OdometryROS : public nodelet::Nodelet
{
public:
static void processArguments(int argc, char * argv[], bool stereo = false);
public:
OdometryROS(int argc, char * argv[], bool stereo = false);
OdometryROS(bool stereo);
virtual ~OdometryROS();
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -76,6 +76,10 @@ public:
protected:
virtual void flushCallbacks() = 0;
private:
virtual void onInit();
virtual void onOdomInit() = 0;
private:
rtabmap::Odometry * odometry_;
@@ -108,6 +112,7 @@ private:
bool paused_;
int resetCountdown_;
int resetCurrentCount_;
bool stereo_;
};
}
src/nodelets/rgbd_odometry.cpp
+419
View File
@@ -0,0 +1,419 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "OdometryROS.h"
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <image_geometry/stereo_camera_model.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
using namespace rtabmap;
namespace rtabmap_ros
{
class RGBDOdometry : public rtabmap_ros::OdometryROS
{
public:
RGBDOdometry() :
OdometryROS(false),
approxSync_(0),
exactSync_(0),
sync2_(0),
queueSize_(5)
{
}
virtual ~RGBDOdometry()
{
if(approxSync_)
{
delete approxSync_;
}
if(exactSync_)
{
delete exactSync_;
}
if(sync2_)
{
delete sync2_;
}
}
private:
virtual void onOdomInit()
{
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
int depthCameras = 1;
bool approxSync = true;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("queue_size", queueSize_, queueSize_);
pnh.param("depth_cameras", depthCameras, depthCameras);
if(depthCameras <= 0)
{
depthCameras = 1;
}
if(depthCameras > 2)
{
NODELET_FATAL("Only 2 cameras maximum supported yet.");
}
if(depthCameras == 2)
{
ros::NodeHandle rgb0_nh(nh, "rgb0");
ros::NodeHandle depth0_nh(nh, "depth0");
ros::NodeHandle rgb0_pnh(pnh, "rgb0");
ros::NodeHandle depth0_pnh(pnh, "depth0");
image_transport::ImageTransport rgb0_it(rgb0_nh);
image_transport::ImageTransport depth0_it(depth0_nh);
image_transport::TransportHints hintsRgb0("raw", ros::TransportHints(), rgb0_pnh);
image_transport::TransportHints hintsDepth0("raw", ros::TransportHints(), depth0_pnh);
image_mono_sub_.subscribe(rgb0_it, rgb0_nh.resolveName("image"), 1, hintsRgb0);
image_depth_sub_.subscribe(depth0_it, depth0_nh.resolveName("image"), 1, hintsDepth0);
info_sub_.subscribe(rgb0_nh, "camera_info", 1);
ros::NodeHandle rgb1_nh(nh, "rgb1");
ros::NodeHandle depth1_nh(nh, "depth1");
ros::NodeHandle rgb1_pnh(pnh, "rgb1");
ros::NodeHandle depth1_pnh(pnh, "depth1");
image_transport::ImageTransport rgb1_it(rgb1_nh);
image_transport::ImageTransport depth1_it(depth1_nh);
image_transport::TransportHints hintsRgb1("raw", ros::TransportHints(), rgb1_pnh);
image_transport::TransportHints hintsDepth1("raw", ros::TransportHints(), depth1_pnh);
image_mono2_sub_.subscribe(rgb1_it, rgb1_nh.resolveName("image"), 1, hintsRgb1);
image_depth2_sub_.subscribe(depth1_it, depth1_nh.resolveName("image"), 1, hintsDepth1);
info2_sub_.subscribe(rgb1_nh, "camera_info", 1);
NODELET_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
image_mono_sub_.getTopic().c_str(),
image_depth_sub_.getTopic().c_str(),
info_sub_.getTopic().c_str(),
image_mono2_sub_.getTopic().c_str(),
image_depth2_sub_.getTopic().c_str(),
info2_sub_.getTopic().c_str());
sync2_ = new message_filters::Synchronizer<MySync2Policy>(
MySync2Policy(queueSize_),
image_mono_sub_,
image_depth_sub_,
info_sub_,
image_mono2_sub_,
image_depth2_sub_,
info2_sub_);
sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
}
else
{
ros::NodeHandle rgb_nh(nh, "rgb");
ros::NodeHandle depth_nh(nh, "depth");
ros::NodeHandle rgb_pnh(pnh, "rgb");
ros::NodeHandle depth_pnh(pnh, "depth");
image_transport::ImageTransport rgb_it(rgb_nh);
image_transport::ImageTransport depth_it(depth_nh);
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
image_mono_sub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
info_sub_.subscribe(rgb_nh, "camera_info", 1);
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
NODELET_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
approxSync?"approx":"exact",
image_mono_sub_.getTopic().c_str(),
image_depth_sub_.getTopic().c_str(),
info_sub_.getTopic().c_str());
}
}
void callback(
const sensor_msgs::ImageConstPtr& image,
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
if(!this->isPaused())
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
{
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
image->encoding.c_str(), depth->encoding.c_str());
return;
}
ros::Time stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
Transform localTransform = getTransform(this->frameId(), image->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
{
rtabmap::CameraModel rtabmapModel = rtabmap_ros::cameraModelFromROS(*cameraInfo, localTransform);
cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
rtabmap::SensorData data(
ptrImage->image,
ptrDepth->image,
rtabmapModel,
0,
rtabmap_ros::timestampFromROS(stamp));
this->processData(data, stamp);
}
}
}
void callback2(
const sensor_msgs::ImageConstPtr& image,
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo,
const sensor_msgs::ImageConstPtr& image2,
const sensor_msgs::ImageConstPtr& depth2,
const sensor_msgs::CameraInfoConstPtr& cameraInfo2)
{
if(!this->isPaused())
{
std::vector<sensor_msgs::ImageConstPtr> imageMsgs;
std::vector<sensor_msgs::ImageConstPtr> depthMsgs;
std::vector<sensor_msgs::CameraInfoConstPtr> infoMsgs;
imageMsgs.push_back(image);
imageMsgs.push_back(image2);
depthMsgs.push_back(depth);
depthMsgs.push_back(depth2);
infoMsgs.push_back(cameraInfo);
infoMsgs.push_back(cameraInfo2);
ros::Time higherStamp;
int imageWidth = imageMsgs[0]->width;
int imageHeight = imageMsgs[0]->height;
int cameraCount = imageMsgs.size();
cv::Mat rgb;
cv::Mat depth;
pcl::PointCloud<pcl::PointXYZ> scanCloud;
std::vector<CameraModel> cameraModels;
for(unsigned int i=0; i<imageMsgs.size(); ++i)
{
if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
return;
}
UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
imageMsgs[i]->width,
imageHeight,
imageMsgs[i]->height).c_str());
UASSERT_MSG(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
depthMsgs[i]->width,
imageHeight,
depthMsgs[i]->height).c_str());
ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp;
if(i == 0)
{
higherStamp = stamp;
}
else if(stamp > higherStamp)
{
higherStamp = stamp;
}
Transform localTransform = getTransform(this->frameId(), imageMsgs[i]->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
cv_bridge::CvImageConstPtr ptrImage;
if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i]);
}
else if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i], "mono8");
}
else
{
ptrImage = cv_bridge::toCvShare(imageMsgs[i], "bgr8");
}
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
cv::Mat subDepth = ptrDepth->image;
// initialize
if(rgb.empty())
{
rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
}
if(depth.empty())
{
depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
}
if(ptrImage->image.type() == rgb.type())
{
ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
}
else
{
NODELET_ERROR("Some RGB images are not the same type!");
return;
}
if(subDepth.type() == depth.type())
{
subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
}
else
{
NODELET_ERROR("Some Depth images are not the same type!");
return;
}
cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*infoMsgs[i], localTransform));
}
rtabmap::SensorData data(
rgb,
depth,
cameraModels,
0,
rtabmap_ros::timestampFromROS(higherStamp));
this->processData(data, higherStamp);
}
}
protected:
virtual void flushCallbacks()
{
// flush callbacks
if(approxSync_)
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
}
if(sync2_)
{
delete sync2_;
sync2_ = new message_filters::Synchronizer<MySync2Policy>(
MySync2Policy(queueSize_),
image_mono_sub_,
image_depth_sub_,
info_sub_,
image_mono2_sub_,
image_depth2_sub_,
info2_sub_);
sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
}
}
private:
image_transport::SubscriberFilter image_mono_sub_;
image_transport::SubscriberFilter image_depth_sub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
image_transport::SubscriberFilter image_mono2_sub_;
image_transport::SubscriberFilter image_depth2_sub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> info2_sub_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MySync2Policy;
message_filters::Synchronizer<MySync2Policy> * sync2_;
int queueSize_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RGBDOdometry, nodelet::Nodelet);
}
src/nodelets/stereo_odometry.cpp
+235
View File
@@ -0,0 +1,235 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "OdometryROS.h"
#include "pluginlib/class_list_macros.h"
#include "nodelet/nodelet.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <image_geometry/stereo_camera_model.h>
#include <cv_bridge/cv_bridge.h>
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
using namespace rtabmap;
namespace rtabmap_ros
{
class StereoOdometry : public rtabmap_ros::OdometryROS
{
public:
StereoOdometry() :
rtabmap_ros::OdometryROS(true),
approxSync_(0),
exactSync_(0),
queueSize_(5)
{
}
virtual ~StereoOdometry()
{
if(approxSync_)
{
delete approxSync_;
}
if(exactSync_)
{
delete exactSync_;
}
}
private:
virtual void onOdomInit()
{
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
bool approxSync = false;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("queue_size", queueSize_, queueSize_);
NODELET_INFO("Approximate time sync = %s", approxSync?"true":"false");
ros::NodeHandle left_nh(nh, "left");
ros::NodeHandle right_nh(nh, "right");
ros::NodeHandle left_pnh(pnh, "left");
ros::NodeHandle right_pnh(pnh, "right");
image_transport::ImageTransport left_it(left_nh);
image_transport::ImageTransport right_it(right_nh);
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
NODELET_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
approxSync?"approx":"exact",
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
cameraInfoLeft_.getTopic().c_str(),
cameraInfoRight_.getTopic().c_str());
}
void callback(
const sensor_msgs::ImageConstPtr& imageRectLeft,
const sensor_msgs::ImageConstPtr& imageRectRight,
const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
{
if(!this->isPaused())
{
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
{
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
return;
}
ros::Time stamp = imageRectLeft->header.stamp>imageRectRight->header.stamp?imageRectLeft->header.stamp:imageRectRight->header.stamp;
Transform localTransform = getTransform(this->frameId(), imageRectLeft->header.frame_id, stamp);
if(localTransform.isNull())
{
return;
}
ros::WallTime time = ros::WallTime::now();
int quality = -1;
if(imageRectLeft->data.size() && imageRectRight->data.size())
{
rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*cameraInfoLeft, *cameraInfoRight, localTransform);
if(stereoModel.baseline() <= 0)
{
NODELET_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", stereoModel.baseline());
return;
}
if(stereoModel.baseline() > 10.0)
{
static bool shown = false;
if(!shown)
{
NODELET_WARN("Detected baseline (%f m) is quite large! Is your "
"right camera_info P(0,3) correctly set? Note that "
"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
stereoModel.baseline());
shown = true;
}
}
cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::toCvCopy(imageRectLeft, "mono8");
cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
UTimer stepTimer;
//
UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
rtabmap::SensorData data(
ptrImageLeft->image,
ptrImageRight->image,
stereoModel,
0,
rtabmap_ros::timestampFromROS(stamp));
this->processData(data, stamp);
}
else
{
NODELET_WARN("Odom: input images empty?!?");
}
}
}
protected:
virtual void flushCallbacks()
{
//flush callbacks
if(approxSync_)
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
}
}
private:
image_transport::SubscriberFilter imageRectLeft_;
image_transport::SubscriberFilter imageRectRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
int queueSize_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoOdometry, nodelet::Nodelet);
}