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Added pointcloud_to_depthimage node, supporting bgra8/rgba8 format as well as smaller depth image than rgb

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This commit is contained in:
matlabbe
2017-02-23 00:18:08 -05:00
parent 2739ddf771
commit b4a2389bae
3 changed files with 223 additions and 10 deletions
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CMakeLists.txt
+4 -1
View File
@@ -18,7 +18,7 @@ find_package(rviz)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.11.13 REQUIRED)
find_package(RTABMap 0.12.1 REQUIRED)
find_package(OpenCV REQUIRED)
@@ -321,6 +321,9 @@ target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp)
target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries})
add_executable(pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
target_link_libraries(pointcloud_to_depthimage rtabmap_ros ${Libraries})
#############
## Install ##
#############
src/MsgConversion.cpp
+25 -9
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@@ -1088,6 +1088,14 @@ bool convertRGBDMsgs(
int imageWidth = imageMsgs[0]->image.cols;
int imageHeight = imageMsgs[0]->image.rows;
int depthWidth = depthMsgs[0]->image.cols;
int depthHeight = depthMsgs[0]->image.rows;
UASSERT_MSG(
imageWidth % depthWidth == 0 && imageHeight % depthHeight == 0 &&
imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
int cameraCount = imageMsgs.size();
for(unsigned int i=0; i<imageMsgs.size(); ++i)
{
@@ -1095,12 +1103,17 @@ bool convertRGBDMsgs(
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
imageMsgs[i]->encoding.c_str(),
depthMsgs[i]->encoding.c_str());
return false;
}
@@ -1110,11 +1123,11 @@ bool convertRGBDMsgs(
imageMsgs[i]->image.cols,
imageHeight,
imageMsgs[i]->image.rows).c_str());
UASSERT_MSG(depthMsgs[i]->image.cols == imageWidth && depthMsgs[i]->image.rows == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
UASSERT_MSG(depthMsgs[i]->image.cols == depthWidth && depthMsgs[i]->image.rows == depthHeight,
uFormat("depthWidth=%d vs %d imageHeight=%d vs %d",
depthWidth,
depthMsgs[i]->image.cols,
imageHeight,
depthHeight,
depthMsgs[i]->image.rows).c_str());
rtabmap::Transform localTransform = rtabmap_ros::getTransform(frameId, depthMsgs[i]->header.frame_id, depthMsgs[i]->header.stamp, listener, waitForTransform);
@@ -1170,7 +1183,7 @@ bool convertRGBDMsgs(
}
if(depth.empty())
{
depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
depth = cv::Mat(depthHeight, depthWidth*cameraCount, subDepth.type());
}
if(ptrImage->image.type() == rgb.type())
@@ -1185,7 +1198,7 @@ bool convertRGBDMsgs(
if(subDepth.type() == depth.type())
{
subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
subDepth.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight)));
}
else
{
@@ -1224,7 +1237,10 @@ bool convertStereoMsg(
rightImageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
rightImageMsg->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 Current left=%s and right=%s",
leftImageMsg->encoding.c_str(),
rightImageMsg->encoding.c_str());
return false;
}
src/PointCloudToDepthImageNode.cpp
+194
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@@ -0,0 +1,194 @@
/*
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 <ros/publisher.h>
#include <ros/subscriber.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_transport/image_transport.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.h>
image_transport::Publisher depthImage16Pub;
image_transport::Publisher depthImage32Pub;
std::string fixedFrameId;
tf::TransformListener * listener;
double waitForTransform = 0.1;
int fillHolesSize = 0;
double fillHolesError = 0.1;
int decimation = 1;
void callback(
const sensor_msgs::PointCloud2ConstPtr & pointCloud2Msg,
const sensor_msgs::CameraInfoConstPtr & cameraInfoMsg)
{
if(depthImage32Pub.getNumSubscribers() > 0 || depthImage16Pub.getNumSubscribers() > 0)
{
rtabmap::Transform cloudDisplacement = rtabmap_ros::getTransform(
pointCloud2Msg->header.frame_id,
fixedFrameId,
pointCloud2Msg->header.stamp,
cameraInfoMsg->header.stamp,
*listener,
waitForTransform);
if(cloudDisplacement.isNull())
{
return;
}
rtabmap::Transform cloudToCamera = rtabmap_ros::getTransform(
pointCloud2Msg->header.frame_id,
cameraInfoMsg->header.frame_id,
cameraInfoMsg->header.stamp,
*listener,
waitForTransform);
if(cloudToCamera.isNull())
{
return;
}
rtabmap::Transform localTransform = cloudToCamera*cloudDisplacement;
rtabmap::CameraModel model = rtabmap_ros::cameraModelFromROS(*cameraInfoMsg, localTransform);
if(decimation > 1)
{
if(model.imageWidth()%decimation == 0 && model.imageHeight()%decimation == 0)
{
model = model.scaled(1.0f/float(decimation));
}
else
{
ROS_ERROR("decimation (%d) not valid for image size %dx%d",
decimation,
model.imageWidth(),
model.imageHeight());
}
}
pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*pointCloud2Msg, *cloud);
cv_bridge::CvImage depthImage;
depthImage.image = rtabmap::util3d::projectCloudToCamera(model.imageSize(), model.K(), cloud, model.localTransform());
if(fillHolesSize > 0)
{
depthImage.image = rtabmap::util2d::fillDepthHoles(depthImage.image, fillHolesSize, fillHolesError);
}
depthImage.header = cameraInfoMsg->header;
if(depthImage32Pub.getNumSubscribers())
{
depthImage.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
depthImage32Pub.publish(depthImage.toImageMsg());
}
if(depthImage16Pub.getNumSubscribers())
{
depthImage.encoding = sensor_msgs::image_encodings::TYPE_16UC1;
depthImage.image = rtabmap::util2d::cvtDepthFromFloat(depthImage.image);
depthImage16Pub.publish(depthImage.toImageMsg());
}
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "pointcloud_to_depthimage");
ULogger::setLevel(ULogger::kError);
ULogger::setType(ULogger::kTypeConsole);
listener = new tf::TransformListener();
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
int queueSize = 10;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("fixed_frame_id", fixedFrameId, fixedFrameId);
pnh.param("wait_for_transform", waitForTransform, waitForTransform);
pnh.param("fill_holes_size", fillHolesSize, fillHolesSize);
pnh.param("fill_holes_error", fillHolesError, fillHolesError);
pnh.param("decimation", decimation, decimation);
if(fixedFrameId.empty())
{
ROS_ERROR("fixed_frame_id should be set! If the robot "
"is moving, it could be \"odom\". If not moving, it "
"could be \"base_link\".");
return -1;
}
ROS_INFO("Params:");
ROS_INFO(" queue_size=%d", queueSize);
ROS_INFO(" fixed_frame_id=%s", fixedFrameId.c_str());
ROS_INFO(" wait_for_transform=%fs", waitForTransform);
ROS_INFO(" fill_holes_size=%d pixels (0=disabled)", fillHolesSize);
ROS_INFO(" fill_holes_error=%f", fillHolesError);
ROS_INFO(" decimation=%d", decimation);
image_transport::ImageTransport it(nh);
depthImage16Pub = it.advertise("image_raw", 1); // 16 bits unsigned in mm
depthImage32Pub = it.advertise("image", 1); // 32 bits float in meters
message_filters::Subscriber<sensor_msgs::PointCloud2> pointCloudSub;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> approxSync(MyApproxSyncPolicy(queueSize), pointCloudSub, cameraInfoSub);
approxSync.registerCallback(boost::bind(&callback, _1, _2));
pointCloudSub.subscribe(nh, "cloud", 1);
cameraInfoSub.subscribe(nh, "camera_info", 1);
ros::spin();
delete listener;
return 0;
}