mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node).
This commit is contained in:
matlabbe
+193
-230
@@ -63,7 +63,8 @@ public:
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OdometryROS(false, true, false),
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approxSync_(0),
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exactSync_(0),
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sync2_(0),
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approxSync2_(0),
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exactSync2_(0),
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queueSize_(5)
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{
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}
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@@ -78,9 +79,13 @@ public:
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{
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delete exactSync_;
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}
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if(sync2_)
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if(approxSync2_)
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{
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delete sync2_;
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delete approxSync2_;
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}
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if(exactSync2_)
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{
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delete exactSync2_;
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}
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}
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@@ -91,65 +96,50 @@ private:
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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int depthCameras = 1;
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int rgbdCameras = 1;
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bool approxSync = true;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize_, queueSize_);
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pnh.param("depth_cameras", depthCameras, depthCameras);
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if(depthCameras <= 0)
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if(pnh.hasParam("depth_cameras"))
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{
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depthCameras = 1;
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ROS_ERROR("\"depth_cameras\" parameter doesn't exist anymore. It is replaced by \"rgbd_cameras\" with the \"rgbd_image\" input topics.");
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}
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if(depthCameras > 2)
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pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
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if(rgbdCameras <= 0)
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{
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rgbdCameras = 1;
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}
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if(rgbdCameras > 2)
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{
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NODELET_FATAL("Only 2 cameras maximum supported yet.");
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}
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if(depthCameras == 2)
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if(rgbdCameras == 2)
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{
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ros::NodeHandle rgb0_nh(nh, "rgb0");
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ros::NodeHandle depth0_nh(nh, "depth0");
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ros::NodeHandle rgb0_pnh(pnh, "rgb0");
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ros::NodeHandle depth0_pnh(pnh, "depth0");
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image_transport::ImageTransport rgb0_it(rgb0_nh);
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image_transport::ImageTransport depth0_it(depth0_nh);
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image_transport::TransportHints hintsRgb0("raw", ros::TransportHints(), rgb0_pnh);
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image_transport::TransportHints hintsDepth0("raw", ros::TransportHints(), depth0_pnh);
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rgbd_image1_sub_.subscribe(nh, "rgbd_image0", 1);
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rgbd_image2_sub_.subscribe(nh, "rgbd_image1", 1);
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image_mono_sub_.subscribe(rgb0_it, rgb0_nh.resolveName("image"), 1, hintsRgb0);
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image_depth_sub_.subscribe(depth0_it, depth0_nh.resolveName("image"), 1, hintsDepth0);
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info_sub_.subscribe(rgb0_nh, "camera_info", 1);
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ros::NodeHandle rgb1_nh(nh, "rgb1");
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ros::NodeHandle depth1_nh(nh, "depth1");
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ros::NodeHandle rgb1_pnh(pnh, "rgb1");
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ros::NodeHandle depth1_pnh(pnh, "depth1");
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image_transport::ImageTransport rgb1_it(rgb1_nh);
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image_transport::ImageTransport depth1_it(depth1_nh);
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image_transport::TransportHints hintsRgb1("raw", ros::TransportHints(), rgb1_pnh);
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image_transport::TransportHints hintsDepth1("raw", ros::TransportHints(), depth1_pnh);
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image_mono2_sub_.subscribe(rgb1_it, rgb1_nh.resolveName("image"), 1, hintsRgb1);
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image_depth2_sub_.subscribe(depth1_it, depth1_nh.resolveName("image"), 1, hintsDepth1);
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info2_sub_.subscribe(rgb1_nh, "camera_info", 1);
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sync2_ = new message_filters::Synchronizer<MySync2Policy>(
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MySync2Policy(queueSize_),
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image_mono_sub_,
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image_depth_sub_,
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info_sub_,
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image_mono2_sub_,
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image_depth2_sub_,
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info2_sub_);
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sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
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NODELET_INFO("\n%s subscribed to (approx sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
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if(approxSync)
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{
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approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
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MyApproxSync2Policy(queueSize_),
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rgbd_image1_sub_,
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rgbd_image2_sub_);
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approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2));
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}
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else
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{
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exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
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MyExactSync2Policy(queueSize_),
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rgbd_image1_sub_,
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rgbd_image2_sub_);
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exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2));
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}
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NODELET_INFO("\n%s subscribed to (%s sync):\n %s,\n %s",
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ros::this_node::getName().c_str(),
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image_mono_sub_.getTopic().c_str(),
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image_depth_sub_.getTopic().c_str(),
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info_sub_.getTopic().c_str(),
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image_mono2_sub_.getTopic().c_str(),
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image_depth2_sub_.getTopic().c_str(),
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info2_sub_.getTopic().c_str());
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approxSync?"approx":"exact",
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rgbd_image1_sub_.getTopic().c_str(),
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rgbd_image2_sub_.getTopic().c_str());
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}
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else
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{
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@@ -197,6 +187,117 @@ private:
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uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "0"));
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}
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void commonCallback(
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const std::vector<cv_bridge::CvImageConstPtr> & rgbImages,
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const std::vector<cv_bridge::CvImageConstPtr> & depthImages,
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const std::vector<sensor_msgs::CameraInfo>& cameraInfos)
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{
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ROS_ASSERT(rgbImages.size() > 0 && rgbImages.size() == depthImages.size() && rgbImages.size() == cameraInfos.size());
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ros::Time higherStamp;
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int imageWidth = rgbImages[0]->image.cols;
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int imageHeight = rgbImages[0]->image.rows;
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int cameraCount = rgbImages.size();
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cv::Mat rgb;
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cv::Mat depth;
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pcl::PointCloud<pcl::PointXYZ> scanCloud;
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std::vector<CameraModel> cameraModels;
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for(unsigned int i=0; i<rgbImages.size(); ++i)
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{
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if(!(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
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depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
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depthImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
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return;
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}
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UASSERT_MSG(rgbImages[i]->image.cols == imageWidth && rgbImages[i]->image.rows == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
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rgbImages[i]->image.cols,
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imageHeight,
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rgbImages[i]->image.rows).c_str());
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UASSERT_MSG(depthImages[i]->image.cols == imageWidth && depthImages[i]->image.rows == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
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depthImages[i]->image.cols,
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imageHeight,
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depthImages[i]->image.rows).c_str());
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ros::Time stamp = rgbImages[i]->header.stamp>depthImages[i]->header.stamp?rgbImages[i]->header.stamp:depthImages[i]->header.stamp;
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if(i == 0)
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{
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higherStamp = stamp;
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}
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else if(stamp > higherStamp)
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{
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higherStamp = stamp;
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}
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Transform localTransform = getTransform(this->frameId(), rgbImages[i]->header.frame_id, stamp);
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if(localTransform.isNull())
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{
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return;
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}
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cv_bridge::CvImageConstPtr ptrImage = rgbImages[i];
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if(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
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rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
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{
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ptrImage = cv_bridge::cvtColor(rgbImages[i], "mono8");
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}
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cv_bridge::CvImageConstPtr ptrDepth = depthImages[i];
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cv::Mat subDepth = ptrDepth->image;
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// initialize
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if(rgb.empty())
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{
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rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
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}
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if(depth.empty())
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{
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depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
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}
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if(ptrImage->image.type() == rgb.type())
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{
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ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
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}
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else
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{
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NODELET_ERROR("Some RGB images are not the same type!");
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return;
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}
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if(subDepth.type() == depth.type())
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{
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subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
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}
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else
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{
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NODELET_ERROR("Some Depth images are not the same type!");
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return;
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}
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cameraModels.push_back(rtabmap_ros::cameraModelFromROS(cameraInfos[i], localTransform));
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}
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rtabmap::SensorData data(
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rgb,
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depth,
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cameraModels,
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0,
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rtabmap_ros::timestampFromROS(higherStamp));
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this->processData(data, higherStamp);
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}
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void callback(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& depth,
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@@ -204,178 +305,32 @@ private:
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{
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if(!this->isPaused())
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{
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if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
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depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
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depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
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"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
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image->encoding.c_str(), depth->encoding.c_str());
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return;
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}
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
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std::vector<sensor_msgs::CameraInfo> infoMsgs;
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imageMsgs[0] = cv_bridge::toCvShare(image);
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depthMsgs[0] = cv_bridge::toCvShare(depth);
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infoMsgs.push_back(*cameraInfo);
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// use the highest stamp to make sure that there will be no future interpolation required when synchronized with another node
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ros::Time stamp = image->header.stamp > depth->header.stamp? image->header.stamp : depth->header.stamp;
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Transform localTransform = getTransform(this->frameId(), image->header.frame_id, stamp);
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if(localTransform.isNull())
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{
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return;
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}
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if(image->data.size() && depth->data.size() && cameraInfo->K[4] != 0)
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{
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rtabmap::CameraModel rtabmapModel = rtabmap_ros::cameraModelFromROS(*cameraInfo, localTransform);
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cv_bridge::CvImagePtr ptrImage = cv_bridge::toCvCopy(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
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cv_bridge::CvImagePtr ptrDepth = cv_bridge::toCvCopy(depth);
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rtabmap::SensorData data(
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ptrImage->image,
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ptrDepth->image,
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rtabmapModel,
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0,
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rtabmap_ros::timestampFromROS(stamp));
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this->processData(data, stamp);
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}
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this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
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}
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}
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void callback2(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& depth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo,
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const sensor_msgs::ImageConstPtr& image2,
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const sensor_msgs::ImageConstPtr& depth2,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo2)
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const rtabmap_ros::RGBDImageConstPtr& image,
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const rtabmap_ros::RGBDImageConstPtr& image2)
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{
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if(!this->isPaused())
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{
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std::vector<sensor_msgs::ImageConstPtr> imageMsgs;
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std::vector<sensor_msgs::ImageConstPtr> depthMsgs;
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std::vector<sensor_msgs::CameraInfoConstPtr> infoMsgs;
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imageMsgs.push_back(image);
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imageMsgs.push_back(image2);
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depthMsgs.push_back(depth);
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depthMsgs.push_back(depth2);
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infoMsgs.push_back(cameraInfo);
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infoMsgs.push_back(cameraInfo2);
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2);
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2);
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std::vector<sensor_msgs::CameraInfo> infoMsgs;
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rtabmap_ros::toCvShare(image, imageMsgs[0], depthMsgs[0]);
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rtabmap_ros::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
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infoMsgs.push_back(image->cameraInfo);
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infoMsgs.push_back(image2->cameraInfo);
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ros::Time higherStamp;
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int imageWidth = imageMsgs[0]->width;
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int imageHeight = imageMsgs[0]->height;
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int cameraCount = imageMsgs.size();
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cv::Mat rgb;
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cv::Mat depth;
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pcl::PointCloud<pcl::PointXYZ> scanCloud;
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std::vector<CameraModel> cameraModels;
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for(unsigned int i=0; i<imageMsgs.size(); ++i)
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{
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if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
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depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
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depthMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
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return;
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}
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UASSERT_MSG(imageMsgs[i]->width == imageWidth && imageMsgs[i]->height == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
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imageMsgs[i]->width,
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imageHeight,
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imageMsgs[i]->height).c_str());
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UASSERT_MSG(depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight,
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uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
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imageWidth,
|
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depthMsgs[i]->width,
|
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imageHeight,
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depthMsgs[i]->height).c_str());
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ros::Time stamp = imageMsgs[i]->header.stamp>depthMsgs[i]->header.stamp?imageMsgs[i]->header.stamp:depthMsgs[i]->header.stamp;
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if(i == 0)
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{
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higherStamp = stamp;
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}
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else if(stamp > higherStamp)
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{
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higherStamp = stamp;
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}
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Transform localTransform = getTransform(this->frameId(), imageMsgs[i]->header.frame_id, stamp);
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if(localTransform.isNull())
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{
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return;
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}
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cv_bridge::CvImageConstPtr ptrImage;
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if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i]);
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}
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else if(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
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imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i], "mono8");
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}
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else
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{
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ptrImage = cv_bridge::toCvShare(imageMsgs[i], "bgr8");
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}
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cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsgs[i]);
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cv::Mat subDepth = ptrDepth->image;
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// initialize
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if(rgb.empty())
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{
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rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
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}
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if(depth.empty())
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{
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depth = cv::Mat(imageHeight, imageWidth*cameraCount, subDepth.type());
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}
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||||
|
||||
if(ptrImage->image.type() == rgb.type())
|
||||
{
|
||||
ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
|
||||
}
|
||||
else
|
||||
{
|
||||
NODELET_ERROR("Some RGB images are not the same type!");
|
||||
return;
|
||||
}
|
||||
|
||||
if(subDepth.type() == depth.type())
|
||||
{
|
||||
subDepth.copyTo(cv::Mat(depth, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
|
||||
}
|
||||
else
|
||||
{
|
||||
NODELET_ERROR("Some Depth images are not the same type!");
|
||||
return;
|
||||
}
|
||||
|
||||
cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*infoMsgs[i], localTransform));
|
||||
}
|
||||
|
||||
rtabmap::SensorData data(
|
||||
rgb,
|
||||
depth,
|
||||
cameraModels,
|
||||
0,
|
||||
rtabmap_ros::timestampFromROS(higherStamp));
|
||||
|
||||
this->processData(data, higherStamp);
|
||||
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -395,18 +350,23 @@ protected:
|
||||
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
|
||||
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, _1, _2, _3));
|
||||
}
|
||||
if(sync2_)
|
||||
if(approxSync2_)
|
||||
{
|
||||
delete sync2_;
|
||||
sync2_ = new message_filters::Synchronizer<MySync2Policy>(
|
||||
MySync2Policy(queueSize_),
|
||||
image_mono_sub_,
|
||||
image_depth_sub_,
|
||||
info_sub_,
|
||||
image_mono2_sub_,
|
||||
image_depth2_sub_,
|
||||
info2_sub_);
|
||||
sync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2, _3, _4, _5, _6));
|
||||
delete approxSync2_;
|
||||
approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
|
||||
MyApproxSync2Policy(queueSize_),
|
||||
rgbd_image1_sub_,
|
||||
rgbd_image2_sub_);
|
||||
approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2));
|
||||
}
|
||||
if(exactSync2_)
|
||||
{
|
||||
delete exactSync2_;
|
||||
exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
|
||||
MyExactSync2Policy(queueSize_),
|
||||
rgbd_image1_sub_,
|
||||
rgbd_image2_sub_);
|
||||
exactSync2_->registerCallback(boost::bind(&RGBDOdometry::callback2, this, _1, _2));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -414,15 +374,18 @@ private:
|
||||
image_transport::SubscriberFilter image_mono_sub_;
|
||||
image_transport::SubscriberFilter image_depth_sub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
|
||||
image_transport::SubscriberFilter image_mono2_sub_;
|
||||
image_transport::SubscriberFilter image_depth2_sub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> info2_sub_;
|
||||
|
||||
message_filters::Subscriber<rtabmap_ros::RGBDImage> rgbd_image1_sub_;
|
||||
message_filters::Subscriber<rtabmap_ros::RGBDImage> rgbd_image2_sub_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
|
||||
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MySync2Policy;
|
||||
message_filters::Synchronizer<MySync2Policy> * sync2_;
|
||||
typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> MyApproxSync2Policy;
|
||||
message_filters::Synchronizer<MyApproxSync2Policy> * approxSync2_;
|
||||
typedef message_filters::sync_policies::ExactTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> MyExactSync2Policy;
|
||||
message_filters::Synchronizer<MyExactSync2Policy> * exactSync2_;
|
||||
int queueSize_;
|
||||
};
|
||||
|
||||
|
||||
@@ -0,0 +1,165 @@
|
||||
/*
|
||||
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 "rtabmap_ros/RGBDImage.h"
|
||||
|
||||
#include "rtabmap/core/Compression.h"
|
||||
|
||||
namespace rtabmap_ros
|
||||
{
|
||||
|
||||
class RGBDSync : public nodelet::Nodelet
|
||||
{
|
||||
public:
|
||||
RGBDSync() :
|
||||
approxSyncDepth_(0),
|
||||
exactSyncDepth_(0)
|
||||
{}
|
||||
|
||||
virtual ~RGBDSync()
|
||||
{
|
||||
if(approxSyncDepth_)
|
||||
delete approxSyncDepth_;
|
||||
if(exactSyncDepth_)
|
||||
delete exactSyncDepth_;
|
||||
}
|
||||
|
||||
private:
|
||||
virtual void onInit()
|
||||
{
|
||||
ros::NodeHandle & nh = getNodeHandle();
|
||||
ros::NodeHandle & pnh = getPrivateNodeHandle();
|
||||
|
||||
int queueSize = 10;
|
||||
bool approxSync = true;
|
||||
pnh.param("approx_sync", approxSync, approxSync);
|
||||
pnh.param("queue_size", queueSize, queueSize);
|
||||
|
||||
NODELET_INFO("Approximate time sync = %s", approxSync?"true":"false");
|
||||
|
||||
rgbdImagePub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image", 1);
|
||||
rgbdImageCompressedPub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image/compressed", 1);
|
||||
|
||||
if(approxSync)
|
||||
{
|
||||
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
approxSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
|
||||
}
|
||||
else
|
||||
{
|
||||
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
|
||||
exactSyncDepth_->registerCallback(boost::bind(&RGBDSync::callback, this, _1, _2, _3));
|
||||
}
|
||||
|
||||
ros::NodeHandle rgb_nh(nh, "rgb");
|
||||
ros::NodeHandle depth_nh(nh, "depth");
|
||||
ros::NodeHandle rgb_pnh(pnh, "rgb");
|
||||
ros::NodeHandle depth_pnh(pnh, "depth");
|
||||
image_transport::ImageTransport rgb_it(rgb_nh);
|
||||
image_transport::ImageTransport depth_it(depth_nh);
|
||||
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
|
||||
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
|
||||
|
||||
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
|
||||
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
|
||||
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
|
||||
}
|
||||
|
||||
void callback(
|
||||
const sensor_msgs::ImageConstPtr& image,
|
||||
const sensor_msgs::ImageConstPtr& depth,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
|
||||
{
|
||||
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
rtabmap_ros::RGBDImage msg;
|
||||
msg.header.frame_id = cameraInfo->header.frame_id;
|
||||
msg.header.stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
|
||||
msg.cameraInfo = *cameraInfo;
|
||||
|
||||
if(rgbdImageCompressedPub_.getNumSubscribers())
|
||||
{
|
||||
rtabmap_ros::RGBDImage msgCompressed = msg;
|
||||
|
||||
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
|
||||
imagePtr->toCompressedImageMsg(msgCompressed.rgbCompressed, cv_bridge::JPG);
|
||||
|
||||
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
|
||||
ROS_ASSERT(imageDepthPtr->image.type() == CV_32FC1 || imageDepthPtr->image.type() == CV_16UC1);
|
||||
msgCompressed.depthCompressed.header = imageDepthPtr->header;
|
||||
msgCompressed.depthCompressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
|
||||
msgCompressed.depthCompressed.format = "png";
|
||||
|
||||
rgbdImageCompressedPub_.publish(msgCompressed);
|
||||
}
|
||||
|
||||
if(rgbdImagePub_.getNumSubscribers())
|
||||
{
|
||||
msg.rgb = *image;
|
||||
msg.depth = *depth;
|
||||
rgbdImagePub_.publish(msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
ros::Publisher rgbdImagePub_;
|
||||
ros::Publisher rgbdImageCompressedPub_;
|
||||
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
image_transport::SubscriberFilter imageDepthSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
|
||||
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> MyExactSyncDepthPolicy;
|
||||
message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RGBDSync, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user