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ros-pkg: added disparity_to_depth nodelet

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Aded new demo using stereo disparity instead of Kinect depth: launch/demo/demo_stereo.launch

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1654 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-18 23:16:16 +00:00
parent 36c647e6fe
commit 8c4e4b6188
12 changed files with 238 additions and 116 deletions
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CMakeLists.txt
+1
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@@ -118,6 +118,7 @@ add_library(rtabmap_ros
src/nodelets/data_throttle.cpp
src/nodelets/data_odom_sync.cpp
src/nodelets/point_cloud_xyzrgb.cpp
src/nodelets/disparity_to_depth.cpp
src/MsgConversion.cpp
src/rviz/MapCloudDisplay.cpp
src/rviz/InfoDisplay.cpp
launch/demo/demo_stereo.launch
+82
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@@ -0,0 +1,82 @@
<launch>
<!-- 6DOF stereo demo: download a bag example from http://projects.csail.mit.edu/stata/downloads.php.
You will need to remove the transform /combined_odometry from the /tf messages:
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
Run the example:
$ roslaunch rtabmap demo_stereo.launch
$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
-->
<param name="use_sim_time" type="bool" value="True"/>
<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
<group ns="/wide_stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="disparity" args="load stereo_image_proc/disparity standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Run the viso2_ros package -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/wide_stereo"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="/base_footprint"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="scan" to="/base_scan"/>
<param name="frame_id" type="string" value="/base_footprint"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="SURF/HessianThreshold" type="string" value="600"/>
<param name="LccBow/MaxDepth" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<!-- Uncomment to force 3dof loop closure constraint using -->
<!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) -->
<!--
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.3"/>
<param name="LccIcp2/MaxFitness" type="string" value="5"/>
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
-->
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
</group>
</launch>
nodelet_plugins.xml
+8
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@@ -22,4 +22,12 @@
This is my nodelet.
</description>
</class>
<class name="rtabmap/disparity_to_depth"
type="rtabmap::DisparityToDepth"
base_class_type="nodelet::Nodelet">
<description>
This is my nodelet.
</description>
</class>
</library>
package.xml
+2
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@@ -19,6 +19,7 @@
<build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>stereo_msgs</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
@@ -38,6 +39,7 @@
<run_depend>std_msgs</run_depend>
<run_depend>std_srvs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>stereo_msgs</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf_conversions</run_depend>
src/CameraNode.cpp
+1 -1
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@@ -236,7 +236,7 @@ protected:
if(event->getClassName().compare("CameraEvent") == 0)
{
rtabmap::CameraEvent * e = (rtabmap::CameraEvent*)event;
const cv::Mat & image = e->image().image();
const cv::Mat & image = e->data().image();
if(!image.empty() && image.depth() == CV_8U)
{
cv_bridge::CvImage img;
src/CoreNode.cpp
+9
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@@ -50,6 +50,10 @@ int main(int argc, char** argv)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
{
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
@@ -98,6 +102,11 @@ int main(int argc, char** argv)
"argument \"--params\" is detected!");
exit(0);
}
else
{
ROS_ERROR("Not recognized argument \"%s\"", argv[i]);
exit(-1);
}
}
CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
src/CoreWrapper.cpp
+16 -87
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@@ -34,6 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UFile.h>
@@ -45,6 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl_ros/transforms.h>
#include <pcl_conversions/pcl_conversions.h>
#include <laser_geometry/laser_geometry.h>
#include <image_geometry/stereo_camera_model.h>
//msgs
#include "rtabmap/Info.h"
@@ -159,10 +162,10 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
if(isRGBD)
{
// RGBD SLAM
if(!subscribeDepth && !subscribeLaserScan)
if(!subscribeDepth)
{
ROS_WARN("ROS param subscribe_depth and subscribe_laserScan are false, but RTAB-Map "
"parameter \"RGBD/Enabled\" is true! Please set subscribe_depth and subscribe_laserScan "
ROS_WARN("ROS param subscribe_depth is false, but RTAB-Map "
"parameter \"RGBD/Enabled\" is true! Please set subscribe_depth "
"to true to use rtabmap node for RGB-D SLAM, or set \"RGBD/Enabled\" to false for loop closure "
"detection on images-only.");
}
@@ -212,8 +215,6 @@ CoreWrapper::~CoreWrapper()
delete transformThread_;
}
if(scanSync_)
delete scanSync_;
if(depthSync_)
delete depthSync_;
if(depthScanSync_)
@@ -411,78 +412,6 @@ void CoreWrapper::depthCallback(
}
}
void CoreWrapper::scanCallback(
const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
if(!paused_)
{
if(rate_>0.0f)
{
if(ros::Time::now() - time_ < ros::Duration(1.0f/rate_))
{
return;
}
}
time_ = ros::Time::now();
if(!(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8");
return;
}
// TF ready?
try
{
tf::StampedTransform tmp;
tfListener_.lookupTransform(frameId_, scanMsg->header.frame_id, scanMsg->header.stamp, tmp);
}
catch(tf::TransformException & ex)
{
ROS_WARN("%s",ex.what());
return;
}
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
pcl::PointCloud<pcl::PointXYZ> pclScan;
pcl::fromROSMsg(scanOut, pclScan);
cv::Mat scan = util3d::depth2DFromPointCloud(pclScan);
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage;
if(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::toCvShare(imageMsg, "mono8");
}
else
{
ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
}
process(ptrImage->header.seq,
ptrImage->image,
odom,
odomMsg->header.frame_id,
cv::Mat(),
0.0f,
0.0f,
0.0f,
0.0f,
Transform(),
scan);
}
}
void CoreWrapper::depthScanCallback(
const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -610,7 +539,7 @@ void CoreWrapper::process(
depth16 = depth;
}
Image data(image,
SensorData data(image,
depth16,
scan,
depthFx,
@@ -1278,6 +1207,15 @@ void CoreWrapper::setupCallbacks(
bool subscribeLaserScan,
int queueSize)
{
if(subscribeLaserScan)
{
if(!subscribeDepth)
{
ROS_WARN("When subscribing to laser scan, you should subscribe to depth too. Subscribing to depth...");
subscribeDepth = true;
}
}
ros::NodeHandle nh; // public
ros::NodeHandle pnh("~"); // private
ros::NodeHandle rgb_nh(nh, "rgb");
@@ -1310,15 +1248,6 @@ void CoreWrapper::setupCallbacks(
depthSync_ = new message_filters::Synchronizer<MyDepthSyncPolicy>(MyDepthSyncPolicy(queueSize), imageSub_, odomSub_, imageDepthSub_, cameraInfoSub_);
depthSync_->registerCallback(boost::bind(&CoreWrapper::depthCallback, this, _1, _2, _3, _4));
}
else if(!subscribeDepth && subscribeLaserScan)
{
ROS_INFO("Registering LaserScan callback...");
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
odomSub_.subscribe(nh, "odom", 1);
scanSub_.subscribe(nh, "scan", 1);
scanSync_ = new message_filters::Synchronizer<MyScanSyncPolicy>(MyScanSyncPolicy(queueSize), imageSub_, odomSub_, scanSub_);
scanSync_->registerCallback(boost::bind(&CoreWrapper::scanCallback, this, _1, _2, _3));
}
else
{
ROS_INFO("Registering default callback...");
src/CoreWrapper.h
+3 -9
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@@ -45,6 +45,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Odometry.h>
#include <stereo_msgs/DisparityImage.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Parameters.h>
@@ -72,9 +73,6 @@ private:
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void scanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void depthScanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
@@ -130,7 +128,9 @@ private:
image_transport::Subscriber defaultSub_;
image_transport::SubscriberFilter imageSub_;
image_transport::SubscriberFilter imageDepthSub_;
image_transport::SubscriberFilter imageSubRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSubRight_;
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
@@ -149,12 +149,6 @@ private:
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
nav_msgs::Odometry,
sensor_msgs::LaserScan> MyScanSyncPolicy;
message_filters::Synchronizer<MyScanSyncPolicy> * scanSync_;
tf::TransformBroadcaster tfBroadcaster_;
tf::TransformListener tfListener_;
src/DataRecorderNode.cpp
+5 -5
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@@ -171,7 +171,7 @@ private:
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg)
{
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
cv::Mat(),
cv::Mat(),
@@ -237,7 +237,7 @@ private:
depth16 = ptrDepth->image;
}
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
depth16,
cv::Mat(),
@@ -306,7 +306,7 @@ private:
depth16 = ptrDepth->image;
}
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
depth16,
cv::Mat(),
@@ -348,7 +348,7 @@ private:
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
cv::Mat(),
scan,
@@ -428,7 +428,7 @@ private:
depth16 = ptrDepth->image;
}
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
depth16,
scan,
src/GuiWrapper.cpp
+6 -13
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@@ -551,16 +551,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
void GuiWrapper::defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg)
{
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
rtabmap::Image image(
cv::Mat(),
cv::Mat(),
0.0f,
0.0f,
0.0f,
0.0f,
odom,
Transform());
this->post(new OdometryEvent(image));
rtabmap::SensorData data;
data.setPose(odom);
this->post(new OdometryEvent(data));
}
void GuiWrapper::depthCallback(
@@ -593,7 +586,7 @@ void GuiWrapper::depthCallback(
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
depthFx,
@@ -634,7 +627,7 @@ void GuiWrapper::scanCallback(
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
cv::Mat(),
scan,
@@ -687,7 +680,7 @@ void GuiWrapper::depthScanCallback(
float depthCx = cameraInfoMsg->K[2];
float depthCy = cameraInfoMsg->K[5];
rtabmap::Image image(
rtabmap::SensorData image(
ptrImage->image.clone(),
ptrDepth->image.clone(),
scan,
src/VisualOdometryNode.cpp
+1 -1
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@@ -215,7 +215,7 @@ public:
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, "mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
rtabmap::Image data(ptrImage->image,
rtabmap::SensorData data(ptrImage->image,
ptrDepth->image.type() == CV_32FC1?util3d::cvtDepthFromFloat(ptrDepth->image):ptrDepth->image,
depthFx,
depthFy,
src/nodelets/disparity_to_depth.cpp
+104
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@@ -0,0 +1,104 @@
/*
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 <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <stereo_msgs/DisparityImage.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
namespace rtabmap
{
class DisparityToDepth : public nodelet::Nodelet
{
public:
DisparityToDepth() {}
virtual ~DisparityToDepth(){}
private:
virtual void onInit()
{
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
image_transport::ImageTransport it(nh);
pub_ = it.advertise("depth", 1);
sub_ = nh.subscribe("disparity", 1, &DisparityToDepth::callback, this);
}
void callback(const stereo_msgs::DisparityImageConstPtr& disparityMsg)
{
if(disparityMsg->image.encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) !=0)
{
ROS_ERROR("Input type must be disparity=32FC1");
return;
}
if(pub_.getNumSubscribers())
{
// sensor_msgs::image_encodings::TYPE_32FC1
cv::Mat disparity(disparityMsg->image.height, disparityMsg->image.width, CV_32FC1, const_cast<uchar*>(disparityMsg->image.data.data()));
cv::Mat depth = cv::Mat::zeros(disparity.rows, disparity.cols, CV_32F);
for (int i = 0; i < disparity.rows; i++)
{
for (int j = 0; j < disparity.cols; j++)
{
float disparity_value = disparity.at<float>(i,j);
if (disparity_value > disparityMsg->min_disparity && disparity_value < disparityMsg->max_disparity)
{
// baseline * focal / disparity
depth.at<float>(i,j) = disparityMsg->T * disparityMsg->f / disparity_value;
}
}
}
// convert to ROS sensor_msg::Image
cv_bridge::CvImage cvDepth(disparityMsg->header, sensor_msgs::image_encodings::TYPE_32FC1, depth);
sensor_msgs::Image depthMsg;
cvDepth.toImageMsg(depthMsg);
//publish the message
pub_.publish(depthMsg);
}
}
private:
image_transport::Publisher pub_;
ros::Subscriber sub_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap::DisparityToDepth, nodelet::Nodelet);
}