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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 20:49:50 +08:00
Added odometry nodelets (issue #96)
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matlabbe
+38
-197
@@ -25,212 +25,53 @@ 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 "OdometryROS.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/time_synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/image_encodings.h>
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#include <image_geometry/stereo_camera_model.h>
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#include <cv_bridge/cv_bridge.h>
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#include "rtabmap_ros/MsgConversion.h"
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#include "ros/ros.h"
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#include "nodelet/loader.h"
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <rtabmap/core/Parameters.h>
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using namespace rtabmap;
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class StereoOdometry : public rtabmap_ros::OdometryROS
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{
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public:
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StereoOdometry(int argc, char * argv[]) :
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rtabmap_ros::OdometryROS(argc, argv, true),
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approxSync_(0),
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exactSync_(0),
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queueSize_(5)
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{
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ros::NodeHandle nh;
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ros::NodeHandle pnh("~");
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bool approxSync = false;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize_, queueSize_);
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ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport left_it(left_nh);
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image_transport::ImageTransport right_it(right_nh);
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image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
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imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
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imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
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cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
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ros::this_node::getName().c_str(),
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approxSync?"approx":"exact",
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imageRectLeft_.getTopic().c_str(),
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imageRectRight_.getTopic().c_str(),
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cameraInfoLeft_.getTopic().c_str(),
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cameraInfoRight_.getTopic().c_str());
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}
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virtual ~StereoOdometry()
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{
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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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void callback(
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const sensor_msgs::ImageConstPtr& imageRectLeft,
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const sensor_msgs::ImageConstPtr& imageRectRight,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
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{
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if(!this->isPaused())
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{
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if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
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return;
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}
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ros::Time stamp = imageRectLeft->header.stamp>imageRectRight->header.stamp?imageRectLeft->header.stamp:imageRectRight->header.stamp;
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Transform localTransform = getTransform(this->frameId(), imageRectLeft->header.frame_id, stamp);
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if(localTransform.isNull())
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{
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return;
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}
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ros::WallTime time = ros::WallTime::now();
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int quality = -1;
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if(imageRectLeft->data.size() && imageRectRight->data.size())
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{
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rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*cameraInfoLeft, *cameraInfoRight, localTransform);
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if(stereoModel.baseline() <= 0)
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{
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ROS_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
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"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", stereoModel.baseline());
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return;
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}
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if(stereoModel.baseline() > 10.0)
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{
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static bool shown = false;
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if(!shown)
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{
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ROS_WARN("Detected baseline (%f m) is quite large! Is your "
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"right camera_info P(0,3) correctly set? Note that "
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"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
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stereoModel.baseline());
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shown = true;
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}
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}
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cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::toCvCopy(imageRectLeft, "mono8");
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cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
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UTimer stepTimer;
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//
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UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
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rtabmap::SensorData data(
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ptrImageLeft->image,
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ptrImageRight->image,
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stereoModel,
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0,
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rtabmap_ros::timestampFromROS(stamp));
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this->processData(data, stamp);
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}
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else
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{
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ROS_WARN("Odom: input images empty?!?");
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}
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}
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}
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protected:
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virtual void flushCallbacks()
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{
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//flush callbacks
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if(approxSync_)
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{
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delete approxSync_;
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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if(exactSync_)
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{
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delete exactSync_;
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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}
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private:
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image_transport::SubscriberFilter imageRectLeft_;
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image_transport::SubscriberFilter imageRectRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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int queueSize_;
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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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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning);
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//pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
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ros::init(argc, argv, "stereo_odometry");
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// process "--params" argument
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rtabmap_ros::OdometryROS::processArguments(argc, argv, true);
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for(int i=1;i<argc;++i)
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{
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if(strcmp(argv[i], "--params") == 0)
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{
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rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(true);
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for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
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{
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std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
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std::cout <<
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str <<
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std::setw(60 - str.size()) <<
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" [" <<
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rtabmap::Parameters::getDescription(iter->first).c_str() <<
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"]" <<
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std::endl;
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}
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ROS_WARN("Node will now exit after showing default odometry parameters because "
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"argument \"--params\" is detected!");
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exit(0);
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}
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else if(strcmp(argv[i], "--udebug") == 0)
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{
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ULogger::setLevel(ULogger::kDebug);
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}
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else if(strcmp(argv[i], "--uinfo") == 0)
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{
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ULogger::setLevel(ULogger::kInfo);
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}
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}
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StereoOdometry odom(argc, argv);
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nodelet::Loader nodelet;
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nodelet::M_string remap(ros::names::getRemappings());
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nodelet::V_string nargv;
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std::string nodelet_name = ros::this_node::getName();
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nodelet.load(nodelet_name, "rtabmap_ros/stereo_odometry", remap, nargv);
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ros::spin();
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return 0;
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}
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