mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
moved stereo stuff from rgbd_sync to stereo_sync
This commit is contained in:
matlabbe
+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");
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}
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msgCompressed.depthCompressed.format = "png";
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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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// Assume right stereo image
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imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
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msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
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}
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msgCompressed.depthCompressed.format = "png";
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rgbdImageCompressedPub_.publish(msgCompressed);
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}
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@@ -229,12 +218,11 @@ private:
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image_transport::SubscriberFilter imageSub_;
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image_transport::SubscriberFilter imageDepthSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraDepthInfoSub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncDepthPolicy;
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message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
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message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
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};
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@@ -172,7 +172,8 @@ private:
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)",
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imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
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return;
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}
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@@ -250,7 +251,8 @@ private:
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)",
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imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
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return;
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}
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@@ -0,0 +1,213 @@
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/*
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Copyright (c) 2010-2016, 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 <ros/ros.h>
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#include <pluginlib/class_list_macros.h>
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#include <nodelet/nodelet.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CompressedImage.h>
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#include <sensor_msgs/image_encodings.h>
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#include <sensor_msgs/CameraInfo.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 <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <message_filters/subscriber.h>
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#include <cv_bridge/cv_bridge.h>
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#include <opencv2/highgui/highgui.hpp>
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#include <boost/thread.hpp>
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#include "rtabmap_ros/RGBDImage.h"
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#include "rtabmap/core/Compression.h"
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#include "rtabmap/utilite/UConversion.h"
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namespace rtabmap_ros
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{
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class StereoSync : public nodelet::Nodelet
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{
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public:
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StereoSync() :
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warningThread_(0),
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callbackCalled_(false),
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approxSync_(0),
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exactSync_(0)
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{}
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virtual ~StereoSync()
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{
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if(approxSync_)
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delete approxSync_;
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if(exactSync_)
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delete exactSync_;
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if(warningThread_)
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{
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callbackCalled_=true;
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warningThread_->join();
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delete warningThread_;
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}
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}
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private:
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virtual void onInit()
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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 queueSize = 10;
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bool approxSync = false;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize, queueSize);
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NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
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NODELET_INFO("%s: queue_size = %d", getName().c_str(), queueSize);
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rgbdImagePub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image", 1);
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rgbdImageCompressedPub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image/compressed", 1);
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
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approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
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exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, _1, _2, _3, _4));
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}
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport rgb_it(left_nh);
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image_transport::ImageTransport depth_it(right_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), right_pnh);
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imageLeftSub_.subscribe(rgb_it, left_nh.resolveName("image_rect"), 1, hintsRgb);
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imageRightSub_.subscribe(depth_it, right_nh.resolveName("image_rect"), 1, hintsDepth);
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cameraInfoLeftSub_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRightSub_.subscribe(right_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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getName().c_str(),
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approxSync?"approx":"exact",
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imageLeftSub_.getTopic().c_str(),
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imageRightSub_.getTopic().c_str(),
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cameraInfoLeftSub_.getTopic().c_str(),
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cameraInfoRightSub_.getTopic().c_str());
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warningThread_ = new boost::thread(boost::bind(&StereoSync::warningLoop, this, subscribedTopicsMsg, approxSync));
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NODELET_INFO("%s", subscribedTopicsMsg.c_str());
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}
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void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
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{
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ros::Duration r(5.0);
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while(!callbackCalled_)
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{
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r.sleep();
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if(!callbackCalled_)
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{
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ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
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"published (\"$ rostopic hz my_topic\") and the timestamps in their "
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"header are set. %s%s",
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getName().c_str(),
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approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
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"topics should have all the exact timestamp for the callback to be called.",
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subscribedTopicsMsg.c_str());
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}
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}
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}
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void callback(
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const sensor_msgs::ImageConstPtr& imageLeft,
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const sensor_msgs::ImageConstPtr& imageRight,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
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{
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rtabmap_ros::RGBDImage msg;
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msg.header.frame_id = cameraInfoLeft->header.frame_id;
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msg.header.stamp = imageLeft->header.stamp>imageRight->header.stamp?imageLeft->header.stamp:imageRight->header.stamp;
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msg.rgbCameraInfo = *cameraInfoLeft;
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msg.depthCameraInfo = *cameraInfoRight;
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if(rgbdImageCompressedPub_.getNumSubscribers())
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{
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rtabmap_ros::RGBDImage msgCompressed = msg;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
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imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
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imageDepthPtr->toCompressedImageMsg(msgCompressed.depthCompressed, cv_bridge::JPG);
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rgbdImageCompressedPub_.publish(msgCompressed);
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}
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if(rgbdImagePub_.getNumSubscribers())
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{
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msg.rgb = *imageLeft;
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msg.depth = *imageRight;
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rgbdImagePub_.publish(msg);
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}
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}
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}
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private:
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boost::thread * warningThread_;
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bool callbackCalled_;
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ros::Publisher rgbdImagePub_;
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ros::Publisher rgbdImageCompressedPub_;
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image_transport::SubscriberFilter imageLeftSub_;
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image_transport::SubscriberFilter imageRightSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeftSub_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRightSub_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoSync, nodelet::Nodelet);
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}
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