mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-12 22:30:19 +08:00
moved stereo stuff from rgbd_sync to stereo_sync
This commit is contained in:
matlabbe
+1
-1
@@ -184,7 +184,7 @@ SET(rtabmap_ros_lib_src
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)
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IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
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SET(rtabmap_ros_lib_src ${rtabmap_ros_lib_src} src/nodelets/rgbd_sync.cpp)
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SET(rtabmap_ros_lib_src ${rtabmap_ros_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp)
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ELSE()
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ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
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ENDIF()
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@@ -18,6 +18,7 @@
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<arg name="rviz" default="true" />
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<arg name="rtabmapviz" default="false" />
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<arg name="local_bundle" default="true" />
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<arg name="stereo_sync" default="false" />
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<param name="use_sim_time" type="bool" value="True"/>
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@@ -27,8 +28,6 @@
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<!-- Run the ROS package stereo_image_proc for image rectification -->
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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@@ -36,6 +35,13 @@
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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<param name="disparity_range" value="128"/>
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</node>
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<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
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<remap from="left/image_rect" to="left/image_rect_color"/>
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<remap from="right/image_rect" to="right/image_rect"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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</node>
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</group>
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<group ns="rtabmap">
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@@ -46,10 +52,12 @@
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
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<remap from="odom" to="/stereo_odometry"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
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<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
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@@ -66,13 +74,15 @@
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<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
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<remap from="odom" to="/stereo_odometry"/>
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@@ -92,8 +102,9 @@
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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@@ -101,6 +112,7 @@
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
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<remap from="odom_info" to="odom_info"/>
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<remap from="odom" to="/stereo_odometry"/>
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<remap from="mapData" to="mapData"/>
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@@ -53,7 +53,6 @@
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<remap from="rgb/image" to="rgb/image_rect_color"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<remap from="depth/camera_info" to="depth_registered/camera_info"/>
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</node>
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</group>
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<group ns="camera2">
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@@ -61,7 +60,6 @@
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<remap from="rgb/image" to="rgb/image_rect_color"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<remap from="depth/camera_info" to="depth_registered/camera_info"/>
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</node>
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</group>
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@@ -29,27 +29,9 @@
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<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<!-- ODOMETRY MAIN ARGUMENTS:
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-"strategy" : Strategy: Frame-to-Map 1=Frame-To-Frame
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-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-"max_depth" : Maximum features depth (m)
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-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
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-"inlier_distance" : RANSAC maximum inliers distance (m)
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-"local_map" : Local map size: number of unique features to keep track
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-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
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-->
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<arg name="strategy" default="0" />
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<arg name="feature" default="6" />
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<arg name="nn" default="3" />
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<arg name="max_depth" default="10.0" />
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<arg name="min_inliers" default="20" />
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<arg name="inlier_distance" default="0.02" />
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<arg name="local_map" default="1000" />
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<arg name="gftt_max_corners" default="1000" />
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<arg name="gftt_min_distance" default="7" />
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<!-- slightly increase default parameters for larger images (qhd=720p) -->
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<arg name="gftt_block_size" default="5" />
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<arg name="gftt_min_distance" default="5" />
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<group ns="rtabmap">
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@@ -60,17 +42,9 @@
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<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
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<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
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<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
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<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
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<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
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<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
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</node>
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@@ -84,17 +58,17 @@
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<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
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<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
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@@ -115,7 +89,7 @@
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<remap from="odom_in" to="rtabmap/odom"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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@@ -119,7 +119,6 @@
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="depth/camera_info" to="$(arg depth_camera_info_topic)"/>
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<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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@@ -130,11 +129,11 @@
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<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
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<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
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<node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
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<remap from="rgb/image" to="$(arg left_image_topic)"/>
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<remap from="depth/image" to="$(arg right_image_topic)"/>
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<remap from="rgb/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="depth/camera_info" to="$(arg right_camera_info_topic)"/>
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<node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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@@ -13,7 +13,6 @@
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<remap from="rgb/image" to="rgb/image_rect_color"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<remap from="depth/camera_info" to="depth_registered/camera_info"/>
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</node>
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</group>
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@@ -22,9 +21,8 @@
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<!-- RGB-D Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<remap from="rgbd_image" to="/camera/rgbd_image"/>
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<param name="Odom/AlignWithGround" type="string" value="true"/>
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<param name="frame_id" type="string" value="camera_link"/>
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@@ -22,7 +22,6 @@
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
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</node>
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<!-- RGB-D Odometry -->
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@@ -128,6 +128,14 @@
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</description>
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</class>
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<class name="rtabmap_ros/stereo_sync"
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type="rtabmap_ros::StereoSync"
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base_class_type="nodelet::Nodelet">
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<description>
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This is my nodelet.
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</description>
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</class>
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<class name="rtabmap_ros/undistort_depth"
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type="rtabmap_ros::UndistortDepth"
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base_class_type="nodelet::Nodelet">
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+15
-27
@@ -101,13 +101,13 @@ private:
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if(approxSync)
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{
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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_, cameraDepthInfoSub_);
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approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3, _4));
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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
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}
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else
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{
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exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_, cameraDepthInfoSub_);
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exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3, _4));
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exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
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}
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ros::NodeHandle rgb_nh(nh, "rgb");
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@@ -122,15 +122,13 @@ private:
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imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
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imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
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cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
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cameraDepthInfoSub_.subscribe(depth_nh, "camera_info", 1);
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std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
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std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
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getName().c_str(),
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approxSync?"approx":"exact",
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imageSub_.getTopic().c_str(),
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imageDepthSub_.getTopic().c_str(),
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cameraInfoSub_.getTopic().c_str(),
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cameraDepthInfoSub_.getTopic().c_str());
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cameraInfoSub_.getTopic().c_str());
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warningThread_ = new boost::thread(boost::bind(&RGBDSync::warningLoop, this, subscribedTopicsMsg, approxSync));
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NODELET_INFO("%s", subscribedTopicsMsg.c_str());
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@@ -158,8 +156,7 @@ private:
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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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const sensor_msgs::CameraInfoConstPtr& cameraDepthInfo)
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const sensor_msgs::CameraInfoConstPtr& cameraInfo)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
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@@ -168,7 +165,7 @@ private:
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msg.header.frame_id = cameraInfo->header.frame_id;
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msg.header.stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
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msg.rgbCameraInfo = *cameraInfo;
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msg.depthCameraInfo = *cameraDepthInfo;
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msg.depthCameraInfo = *cameraInfo;
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if(rgbdImageCompressedPub_.getNumSubscribers())
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{
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@@ -178,24 +175,16 @@ private:
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imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
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if(imageDepthPtr->image.type() == CV_32FC1 || imageDepthPtr->image.type() == CV_16UC1)
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msgCompressed.depthCompressed.header = imageDepthPtr->header;
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if(depthScale_ != 1.0)
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{
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msgCompressed.depthCompressed.header = imageDepthPtr->header;
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if(depthScale_ != 1.0)
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
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}
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else
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{
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
|
||||
}
|
||||
msgCompressed.depthCompressed.format = "png";
|
||||
msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
|
||||
}
|
||||
else
|
||||
{
|
||||
// Assume right stereo image
|
||||
imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
|
||||
msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
|
||||
}
|
||||
msgCompressed.depthCompressed.format = "png";
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
@@ -229,12 +218,11 @@ private:
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
image_transport::SubscriberFilter imageDepthSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraDepthInfoSub_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
|
||||
message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
|
||||
};
|
||||
|
||||
|
||||
@@ -172,7 +172,8 @@ private:
|
||||
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)");
|
||||
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)",
|
||||
imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -250,7 +251,8 @@ private:
|
||||
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)");
|
||||
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)",
|
||||
imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,213 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, 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/CompressedImage.h>
|
||||
#include <sensor_msgs/image_encodings.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
#include "rtabmap_ros/RGBDImage.h"
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
#include "rtabmap/utilite/UConversion.h"
|
||||
|
||||
namespace rtabmap_ros
|
||||
{
|
||||
|
||||
class StereoSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
StereoSync() :
|
||||
warningThread_(0),
|
||||
callbackCalled_(false),
|
||||
approxSync_(0),
|
||||
exactSync_(0)
|
||||
{}
|
||||
|
||||
virtual ~StereoSync()
|
||||
{
|
||||
if(approxSync_)
|
||||
delete approxSync_;
|
||||
if(exactSync_)
|
||||
delete exactSync_;
|
||||
|
||||
if(warningThread_)
|
||||
{
|
||||
callbackCalled_=true;
|
||||
warningThread_->join();
|
||||
delete warningThread_;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = false;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
|
||||
NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
|
||||
NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
|
||||
|
||||
rgbdImagePub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image", 1);
|
||||
rgbdImageCompressedPub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image/compressed", 1);
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
|
||||
exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
|
||||
}
|
||||
|
||||
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 rgb_it(left_nh);
|
||||
image_transport::ImageTransport depth_it(right_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), left_pnh);
|
||||
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), right_pnh);
|
||||
|
||||
imageLeftSub_.subscribe(rgb_it, left_nh.resolveName("image_rect"), 1, hintsRgb);
|
||||
imageRightSub_.subscribe(depth_it, right_nh.resolveName("image_rect"), 1, hintsDepth);
|
||||
cameraInfoLeftSub_.subscribe(left_nh, "camera_info", 1);
|
||||
cameraInfoRightSub_.subscribe(right_nh, "camera_info", 1);
|
||||
|
||||
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
|
||||
getName().c_str(),
|
||||
approxSync?"approx":"exact",
|
||||
imageLeftSub_.getTopic().c_str(),
|
||||
imageRightSub_.getTopic().c_str(),
|
||||
cameraInfoLeftSub_.getTopic().c_str(),
|
||||
cameraInfoRightSub_.getTopic().c_str());
|
||||
|
||||
warningThread_ = new boost::thread(boost::bind(&StereoSync::warningLoop, this, subscribedTopicsMsg, approxSync));
|
||||
NODELET_INFO("%s", subscribedTopicsMsg.c_str());
|
||||
}
|
||||
|
||||
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void callback(
|
||||
const sensor_msgs::ImageConstPtr& imageLeft,
|
||||
const sensor_msgs::ImageConstPtr& imageRight,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
|
||||
{
|
||||
callbackCalled_ = true;
|
||||
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
rtabmap_ros::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfoLeft->header.frame_id;
|
||||
msg.header.stamp = imageLeft->header.stamp>imageRight->header.stamp?imageLeft->header.stamp:imageRight->header.stamp;
|
||||
msg.rgbCameraInfo = *cameraInfoLeft;
|
||||
msg.depthCameraInfo = *cameraInfoRight;
|
||||
|
||||
if(rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
rtabmap_ros::RGBDImage msgCompressed = msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
|
||||
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
|
||||
imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
|
||||
if(rgbdImagePub_.getNumSubscribers())
|
||||
{
|
||||
msg.rgb = *imageLeft;
|
||||
msg.depth = *imageRight;
|
||||
rgbdImagePub_.publish(msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
|
||||
ros::Publisher rgbdImagePub_;
|
||||
ros::Publisher rgbdImageCompressedPub_;
|
||||
|
||||
image_transport::SubscriberFilter imageLeftSub_;
|
||||
image_transport::SubscriberFilter imageRightSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeftSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRightSub_;
|
||||
|
||||
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_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user