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).

2026-10-07 02:07:45 +08:00 · 2016-09-26 16:37:31 -04:00
parent 3b6daf7189
commit babb8c8509
24 changed files with 2942 additions and 2920 deletions
@@ -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);
+}
+