mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 02:07:45 +08:00
created ros2 branch
This commit is contained in:
matlabbe
+133
-189
@@ -25,243 +25,187 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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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 <rtabmap_ros/rgbd_sync.hpp>
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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 <sensor_msgs/msg/compressed_image.hpp>
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#include <sensor_msgs/image_encodings.hpp>
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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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#include "rtabmap_ros/MsgConversion.h"
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namespace rtabmap_ros
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{
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class RGBDSync : public nodelet::Nodelet
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RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
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Node("rgbd_sync", options),
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depthScale_(1.0),
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compressedRate_(0),
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callbackCalled_(false),
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approxSyncDepth_(0),
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exactSyncDepth_(0)
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{
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public:
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RGBDSync() :
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depthScale_(1.0),
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compressedRate_(0),
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warningThread_(0),
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callbackCalled_(false),
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approxSyncDepth_(0),
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exactSyncDepth_(0)
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{}
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int queueSize = 10;
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bool approxSync = true;
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approxSync = this->declare_parameter("approx_sync", approxSync);
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queueSize = this->declare_parameter("queue_size", queueSize);
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depthScale_ = this->declare_parameter("depth_scale", depthScale_);
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compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
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virtual ~RGBDSync()
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RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
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RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
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RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
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RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
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rgbdImagePub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image", 1);
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rgbdImageCompressedPub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image/compressed", 1);
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if(approxSync)
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{
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if(approxSyncDepth_)
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delete approxSyncDepth_;
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if(exactSyncDepth_)
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delete exactSyncDepth_;
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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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approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
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approxSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_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_);
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exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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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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image_transport::TransportHints hints(this);
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imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rmw_qos_profile_sensor_data);
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imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rmw_qos_profile_sensor_data);
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cameraInfoSub_.subscribe(this, "rgb/camera_info", rmw_qos_profile_sensor_data);
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int queueSize = 10;
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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_scale", depthScale_, depthScale_);
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pnh.param("compressed_rate", compressedRate_, compressedRate_);
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subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
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get_name(),
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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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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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NODELET_INFO("%s: depth_scale = %f", getName().c_str(), depthScale_);
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NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);
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RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg_.c_str());
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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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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_);
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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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ros::NodeHandle depth_nh(nh, "depth");
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ros::NodeHandle rgb_pnh(pnh, "rgb");
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ros::NodeHandle depth_pnh(pnh, "depth");
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image_transport::ImageTransport rgb_it(rgb_nh);
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image_transport::ImageTransport depth_it(depth_nh);
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image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
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image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
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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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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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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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}
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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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warningThread_ = new std::thread([&](){
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rclcpp::Rate r(1/5.0);
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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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RCLCPP_WARN(this->get_logger(),
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"%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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this->get_name(),
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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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subscribedTopicsMsg_.c_str());
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}
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}
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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& image,
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const sensor_msgs::ImageConstPtr& depth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo)
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RGBDSync::~RGBDSync()
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{
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delete approxSyncDepth_;
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delete exactSyncDepth_;
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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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void RGBDSync::callback(
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const sensor_msgs::msg::Image::ConstSharedPtr image,
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const sensor_msgs::msg::Image::ConstSharedPtr depth,
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const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
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{
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callbackCalled_ = true;
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if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
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{
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callbackCalled_ = true;
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if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
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double rgbStamp = timestampFromROS(image->header.stamp);
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double depthStamp = timestampFromROS(depth->header.stamp);
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rtabmap_ros::msg::RGBDImage::UniquePtr msg(new rtabmap_ros::msg::RGBDImage);
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msg->header.frame_id = cameraInfo->header.frame_id;
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msg->header.stamp = rgbStamp>depthStamp?image->header.stamp:depth->header.stamp;
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msg->rgb_camera_info = *cameraInfo;
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msg->depth_camera_info = *cameraInfo;
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if(rgbdImageCompressedPub_->get_subscription_count())
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{
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double rgbStamp = image->header.stamp.toSec();
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double depthStamp = depth->header.stamp.toSec();
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double infoStamp = cameraInfo->header.stamp.toSec();
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rtabmap_ros::RGBDImage msg;
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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 = *cameraInfo;
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if(rgbdImageCompressedPub_.getNumSubscribers())
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bool publishCompressed = true;
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if (compressedRate_ > 0.0)
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{
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bool publishCompressed = true;
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if (compressedRate_ > 0.0)
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if ( lastCompressedPublished_ + rclcpp::Duration(1.0/compressedRate_) > now())
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{
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if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
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{
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NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
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publishCompressed = false;
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}
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}
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if(publishCompressed)
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{
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lastCompressedPublished_ = ros::Time::now();
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rtabmap_ros::RGBDImage msgCompressed = msg;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
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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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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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rgbdImageCompressedPub_.publish(msgCompressed);
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RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
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publishCompressed = false;
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}
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}
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if(rgbdImagePub_.getNumSubscribers())
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if(publishCompressed)
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{
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msg.rgb = *image;
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lastCompressedPublished_ = now();
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rtabmap_ros::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_ros::msg::RGBDImage);
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*msgCompressed = *msg;
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
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imagePtr->toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
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msgCompressed->depth_compressed.header = imageDepthPtr->header;
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if(depthScale_ != 1.0)
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{
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cv_bridge::CvImagePtr imageDepthPtr = cv_bridge::toCvCopy(depth);
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imageDepthPtr->image*=depthScale_;
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msg.depth = *imageDepthPtr->toImageMsg();
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msgCompressed->depth_compressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
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}
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else
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{
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msg.depth = *depth;
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msgCompressed->depth_compressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
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}
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rgbdImagePub_.publish(msg);
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}
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msgCompressed->depth_compressed.format = "png";
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if( rgbStamp != image->header.stamp.toSec() ||
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depthStamp != depth->header.stamp.toSec())
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{
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NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
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"sure the node publishing the topics doesn't override the same data after publishing them. A "
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"solution is to use this node within another nodelet manager. Stamps: "
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"rgb=%f->%f depth=%f->%f",
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rgbStamp, image->header.stamp.toSec(),
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depthStamp, depth->header.stamp.toSec());
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rgbdImageCompressedPub_->publish(std::move(msgCompressed));
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}
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}
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if(rgbdImagePub_->get_subscription_count())
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{
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msg->rgb = *image;
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if(depthScale_ != 1.0)
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{
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cv_bridge::CvImagePtr imageDepthPtr = cv_bridge::toCvCopy(depth);
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imageDepthPtr->image*=depthScale_;
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msg->depth = *imageDepthPtr->toImageMsg();
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}
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else
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{
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msg->depth = *depth;
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}
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rgbdImagePub_->publish(std::move(msg));
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}
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if( rgbStamp != timestampFromROS(image->header.stamp) ||
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depthStamp != timestampFromROS(depth->header.stamp))
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{
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RCLCPP_ERROR(this->get_logger(), "Input stamps changed between the beginning and the end of the callback! Make "
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"sure the node publishing the topics doesn't override the same data after publishing them. A "
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"solution is to use this node within another nodelet manager. Stamps: "
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"rgb=%f->%f depth=%f->%f",
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rgbStamp, timestampFromROS(image->header.stamp),
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depthStamp, timestampFromROS(depth->header.stamp));
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}
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}
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private:
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double depthScale_;
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double compressedRate_;
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boost::thread * warningThread_;
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bool callbackCalled_;
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ros::Time lastCompressedPublished_;
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ros::Publisher rgbdImagePub_;
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ros::Publisher rgbdImageCompressedPub_;
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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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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> MyExactSyncDepthPolicy;
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message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RGBDSync, nodelet::Nodelet);
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}
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}
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#include "rclcpp_components/register_node_macro.hpp"
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// Register the component with class_loader.
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// This acts as a sort of entry point, allowing the component to be discoverable when its library
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// is being loaded into a running process.
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RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_ros::RGBDSync)
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