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https://github.com/introlab/rtabmap_ros.git
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Added odometry nodelets (issue #96)
This commit is contained in:
matlabbe
@@ -0,0 +1,419 @@
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/*
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Copyright (c) 2010-2014, 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 "OdometryROS.h"
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#include <pluginlib/class_list_macros.h>
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#include <nodelet/nodelet.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 <image_geometry/stereo_camera_model.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 <cv_bridge/cv_bridge.h>
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#include "rtabmap_ros/MsgConversion.h"
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#include <rtabmap/core/util3d.h>
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#include <rtabmap/core/util2d.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UConversion.h>
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using namespace rtabmap;
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namespace rtabmap_ros
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{
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class RGBDOdometry : public rtabmap_ros::OdometryROS
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{
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public:
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RGBDOdometry() :
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OdometryROS(false),
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approxSync_(0),
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exactSync_(0),
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sync2_(0),
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queueSize_(5)
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{
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}
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virtual ~RGBDOdometry()
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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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if(sync2_)
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{
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delete sync2_;
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}
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}
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private:
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virtual void onOdomInit()
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{
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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int depthCameras = 1;
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bool approxSync = true;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize_, queueSize_);
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pnh.param("depth_cameras", depthCameras, depthCameras);
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if(depthCameras <= 0)
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{
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depthCameras = 1;
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}
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if(depthCameras > 2)
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{
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NODELET_FATAL("Only 2 cameras maximum supported yet.");
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}
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if(depthCameras == 2)
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{
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ros::NodeHandle rgb0_nh(nh, "rgb0");
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ros::NodeHandle depth0_nh(nh, "depth0");
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ros::NodeHandle rgb0_pnh(pnh, "rgb0");
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ros::NodeHandle depth0_pnh(pnh, "depth0");
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image_transport::ImageTransport rgb0_it(rgb0_nh);
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image_transport::ImageTransport depth0_it(depth0_nh);
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image_transport::TransportHints hintsRgb0("raw", ros::TransportHints(), rgb0_pnh);
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image_transport::TransportHints hintsDepth0("raw", ros::TransportHints(), depth0_pnh);
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image_mono_sub_.subscribe(rgb0_it, rgb0_nh.resolveName("image"), 1, hintsRgb0);
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image_depth_sub_.subscribe(depth0_it, depth0_nh.resolveName("image"), 1, hintsDepth0);
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info_sub_.subscribe(rgb0_nh, "camera_info", 1);
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ros::NodeHandle rgb1_nh(nh, "rgb1");
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ros::NodeHandle depth1_nh(nh, "depth1");
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ros::NodeHandle rgb1_pnh(pnh, "rgb1");
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ros::NodeHandle depth1_pnh(pnh, "depth1");
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image_transport::ImageTransport rgb1_it(rgb1_nh);
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image_transport::ImageTransport depth1_it(depth1_nh);
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image_transport::TransportHints hintsRgb1("raw", ros::TransportHints(), rgb1_pnh);
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image_transport::TransportHints hintsDepth1("raw", ros::TransportHints(), depth1_pnh);
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image_mono2_sub_.subscribe(rgb1_it, rgb1_nh.resolveName("image"), 1, hintsRgb1);
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image_depth2_sub_.subscribe(depth1_it, depth1_nh.resolveName("image"), 1, hintsDepth1);
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info2_sub_.subscribe(rgb1_nh, "camera_info", 1);
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NODELET_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
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ros::this_node::getName().c_str(),
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image_mono_sub_.getTopic().c_str(),
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image_depth_sub_.getTopic().c_str(),
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info_sub_.getTopic().c_str(),
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image_mono2_sub_.getTopic().c_str(),
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image_depth2_sub_.getTopic().c_str(),
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info2_sub_.getTopic().c_str());
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sync2_ = new message_filters::Synchronizer<MySync2Policy>(
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MySync2Policy(queueSize_),
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image_mono_sub_,
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image_depth_sub_,
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info_sub_,
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image_mono2_sub_,
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image_depth2_sub_,
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info2_sub_);
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sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
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}
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else
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{
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ros::NodeHandle rgb_nh(nh, "rgb");
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ros::NodeHandle depth_nh(nh, "depth");
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ros::NodeHandle rgb_pnh(pnh, "rgb");
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ros::NodeHandle depth_pnh(pnh, "depth");
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::ImageTransport depth_it(depth_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
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image_mono_sub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
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image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
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info_sub_.subscribe(rgb_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_), image_mono_sub_, image_depth_sub_, info_sub_);
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approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
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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_), image_mono_sub_, image_depth_sub_, info_sub_);
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exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
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}
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NODELET_INFO("\n%s subscribed to (%s sync):\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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image_mono_sub_.getTopic().c_str(),
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image_depth_sub_.getTopic().c_str(),
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info_sub_.getTopic().c_str());
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}
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}
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void callback(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& depth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo)
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{
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if(!this->isPaused())
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{
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if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
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depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
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depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
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"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
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image->encoding.c_str(), depth->encoding.c_str());
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return;
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}
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ros::Time stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
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Transform localTransform = getTransform(this->frameId(), image->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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if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
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{
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rtabmap::CameraModel rtabmapModel = rtabmap_ros::cameraModelFromROS(*cameraInfo, localTransform);
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cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
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cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
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rtabmap::SensorData data(
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ptrImage->image,
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ptrDepth->image,
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rtabmapModel,
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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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}
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}
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void callback2(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& depth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo,
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const sensor_msgs::ImageConstPtr& image2,
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const sensor_msgs::ImageConstPtr& depth2,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo2)
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{
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if(!this->isPaused())
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{
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std::vector<sensor_msgs::ImageConstPtr> imageMsgs;
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std::vector<sensor_msgs::ImageConstPtr> depthMsgs;
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std::vector<sensor_msgs::CameraInfoConstPtr> infoMsgs;
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imageMsgs.push_back(image);
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imageMsgs.push_back(image2);
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depthMsgs.push_back(depth);
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depthMsgs.push_back(depth2);
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infoMsgs.push_back(cameraInfo);
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infoMsgs.push_back(cameraInfo2);
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ros::Time higherStamp;
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int imageWidth = imageMsgs[0]->width;
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int imageHeight = imageMsgs[0]->height;
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int cameraCount = imageMsgs.size();
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cv::Mat rgb;
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cv::Mat depth;
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pcl::PointCloud<pcl::PointXYZ> scanCloud;
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std::vector<CameraModel> cameraModels;
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for(unsigned int i=0; i<imageMsgs.size(); ++i)
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{
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if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
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depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
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depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
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return;
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}
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UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
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imageMsgs[i]->width,
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imageHeight,
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imageMsgs[i]->height).c_str());
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UASSERT_MSG(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
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depthMsgs[i]->width,
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imageHeight,
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depthMsgs[i]->height).c_str());
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ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp;
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if(i == 0)
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{
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higherStamp = stamp;
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}
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else if(stamp > higherStamp)
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{
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higherStamp = stamp;
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}
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Transform localTransform = getTransform(this->frameId(), imageMsgs[i]->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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cv_bridge::CvImageConstPtr ptrImage;
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if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i]);
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}
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else if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i], "mono8");
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}
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else
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i], "bgr8");
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}
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cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
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cv::Mat subDepth = ptrDepth->image;
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// initialize
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if(rgb.empty())
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{
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rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
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}
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if(depth.empty())
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{
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depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
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}
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if(ptrImage->image.type() == rgb.type())
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{
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ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
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}
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else
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{
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NODELET_ERROR("Some RGB images are not the same type!");
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return;
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}
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if(subDepth.type() == depth.type())
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{
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subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
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}
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else
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{
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NODELET_ERROR("Some Depth images are not the same type!");
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return;
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}
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cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*infoMsgs[i], localTransform));
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}
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rtabmap::SensorData data(
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rgb,
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depth,
|
||||
cameraModels,
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0,
|
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rtabmap_ros::timestampFromROS(higherStamp));
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||||
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this->processData(data, higherStamp);
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}
|
||||
}
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protected:
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virtual void flushCallbacks()
|
||||
{
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// flush callbacks
|
||||
if(approxSync_)
|
||||
{
|
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delete approxSync_;
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
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approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
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}
|
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if(exactSync_)
|
||||
{
|
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delete exactSync_;
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
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exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
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}
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||||
if(sync2_)
|
||||
{
|
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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);
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user