/*
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 <rtabmap_odom/rgbd_odometry.hpp>

#ifdef PRE_ROS_IRON
#include <image_geometry/stereo_camera_model.h>
#else
#include <image_geometry/stereo_camera_model.hpp>
#endif

#include <sensor_msgs/image_encodings.hpp>

#include "rtabmap_conversions/MsgConversion.h"
#include <rtabmap_msgs/msg/rgbd_images.hpp>

#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>

using namespace rtabmap;

namespace rtabmap_odom
{

RGBDOdometry::RGBDOdometry(const rclcpp::NodeOptions & options) :
		OdometryROS("rgbd_odometry", options),
		approxSync_(0),
		exactSync_(0),
		approxSync2_(0),
		exactSync2_(0),
		approxSync3_(0),
		exactSync3_(0),
		approxSync4_(0),
		exactSync4_(0),
		approxSync5_(0),
		exactSync5_(0),
		approxSync6_(0),
		exactSync6_(0),
		topicQueueSize_(10),
		syncQueueSize_(5),
		keepColor_(false)
{
	OdometryROS::init(false, true, false);
}

RGBDOdometry::~RGBDOdometry()
{
	delete approxSync_;
	delete exactSync_;
	delete approxSync2_;
	delete exactSync2_;
	delete approxSync3_;
	delete exactSync3_;
	delete approxSync4_;
	delete exactSync4_;
	delete approxSync5_;
	delete exactSync5_;
	delete approxSync6_;
	delete exactSync6_;
}

void RGBDOdometry::onOdomInit()
{
	int rgbdCameras = 1;
	bool approxSync = true;
	bool subscribeRGBD = false;
	double approxSyncMaxInterval = 0.0;
	approxSync = this->declare_parameter("approx_sync", approxSync);
	approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
	topicQueueSize_ = this->declare_parameter("topic_queue_size", topicQueueSize_);
	int queueSize = this->declare_parameter("queue_size", -1);
	if(queueSize != -1)
	{
		syncQueueSize_ = queueSize;
		RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
				 "to \"sync_queue_size\" and will be removed "
				 "in future versions! The value (%d) is copied to "
				 "\"sync_queue_size\".", syncQueueSize_);
	}
	syncQueueSize_ = this->declare_parameter("sync_queue_size", syncQueueSize_);
	int qosCamInfo = this->declare_parameter("qos_camera_info", (int)qos());
	subscribeRGBD = this->declare_parameter("subscribe_rgbd", subscribeRGBD);
	rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
	if(rgbdCameras < 0)
	{
		rgbdCameras = 0;
	}
	keepColor_ = this->declare_parameter("keep_color", keepColor_);

	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync    = %s", approxSync?"true":"false");
	if(approxSync)
		RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval);
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: topic_queue_size = %d", topicQueueSize_);
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: sync_queue_size  = %d", syncQueueSize_);
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: qos             = %d", (int)qos());
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: qos_camera_info = %d", qosCamInfo);
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgbd_cameras   = %d", rgbdCameras);
	RCLCPP_INFO(this->get_logger(), "RGBDOdometry: keep_color     = %s", keepColor_?"true":"false");

	rclcpp::SubscriptionOptions options;
	options.callback_group = dataCallbackGroup_;

	std::string subscribedTopic;
	std::string subscribedTopicsMsg;
	if(subscribeRGBD)
	{
		if(rgbdCameras >= 2)
		{
			rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			if(rgbdCameras >= 3)
			{
				rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			}
			if(rgbdCameras >= 4)
			{
				rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			}
			if(rgbdCameras >= 5)
			{
				rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			}
			if(rgbdCameras >= 6)
			{
				rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
			}

			if(rgbdCameras == 2)
			{
				if(approxSync)
				{
					approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
							MyApproxSync2Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_);
					if(approxSyncMaxInterval > 0.0)
						approxSync2_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
					approxSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
				}
				else
				{
					exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
							MyExactSync2Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_);
					exactSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
				}
				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
						rgbd_image2_sub_.getSubscriber()->get_topic_name());
			}
			else if(rgbdCameras == 3)
			{
				if(approxSync)
				{
					approxSync3_ = new message_filters::Synchronizer<MyApproxSync3Policy>(
							MyApproxSync3Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_);
					if(approxSyncMaxInterval > 0.0)
							approxSync3_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
					approxSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
				}
				else
				{
					exactSync3_ = new message_filters::Synchronizer<MyExactSync3Policy>(
							MyExactSync3Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_);
					exactSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
				}
				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
						rgbd_image2_sub_.getSubscriber()->get_topic_name(),
						rgbd_image3_sub_.getSubscriber()->get_topic_name());
			}
			else if(rgbdCameras == 4)
			{
				if(approxSync)
				{
					approxSync4_ = new message_filters::Synchronizer<MyApproxSync4Policy>(
							MyApproxSync4Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_);
					if(approxSyncMaxInterval > 0.0)
						approxSync4_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
					approxSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
				}
				else
				{
					exactSync4_ = new message_filters::Synchronizer<MyExactSync4Policy>(
							MyExactSync4Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_);
					exactSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
				}
				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s,\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
						rgbd_image2_sub_.getSubscriber()->get_topic_name(),
						rgbd_image3_sub_.getSubscriber()->get_topic_name(),
						rgbd_image4_sub_.getSubscriber()->get_topic_name());
			}
			else if(rgbdCameras == 5)
			{
				if(approxSync)
				{
					approxSync5_ = new message_filters::Synchronizer<MyApproxSync5Policy>(
							MyApproxSync5Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_,
							rgbd_image5_sub_);
					if(approxSyncMaxInterval > 0.0)
						approxSync5_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
					approxSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
				}
				else
				{
					exactSync5_ = new message_filters::Synchronizer<MyExactSync5Policy>(
							MyExactSync5Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_,
							rgbd_image5_sub_);
					exactSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
				}
				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n  %s \\\n  %s \\\n   %s \\\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
						rgbd_image2_sub_.getSubscriber()->get_topic_name(),
						rgbd_image3_sub_.getSubscriber()->get_topic_name(),
						rgbd_image4_sub_.getSubscriber()->get_topic_name(),
						rgbd_image5_sub_.getSubscriber()->get_topic_name());
			}
			else if(rgbdCameras == 6)
			{
				if(approxSync)
				{
					approxSync6_ = new message_filters::Synchronizer<MyApproxSync6Policy>(
							MyApproxSync6Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_,
							rgbd_image5_sub_,
							rgbd_image6_sub_);
					if(approxSyncMaxInterval > 0.0)
						approxSync6_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
					approxSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
				}
				else
				{
					exactSync6_ = new message_filters::Synchronizer<MyExactSync6Policy>(
							MyExactSync6Policy(syncQueueSize_),
							rgbd_image1_sub_,
							rgbd_image2_sub_,
							rgbd_image3_sub_,
							rgbd_image4_sub_,
							rgbd_image5_sub_,
							rgbd_image6_sub_);
					exactSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
				}
				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n  %s \\\n  %s \\\n   %s \\\n   %s \\\n   %s",
						get_name(),
						approxSync?"approx":"exact",
						approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
						rgbd_image1_sub_.getTopic().c_str(),
						rgbd_image2_sub_.getTopic().c_str(),
						rgbd_image3_sub_.getTopic().c_str(),
						rgbd_image4_sub_.getTopic().c_str(),
						rgbd_image5_sub_.getTopic().c_str(),
						rgbd_image6_sub_.getTopic().c_str());
			}
			else
			{
				RCLCPP_FATAL(this->get_logger(),
						  "%s doesn't support more than 6 cameras (rgbd_cameras=%d) with "
						  "internal synchronization interface, set rgbd_cameras=0 and use "
						  "rgbd_images input topic instead for more cameras (for which "
						  "rgbdx_sync node can sync up to 8 cameras).",
						  get_name(), rgbdCameras);
			}
		}
		else if(rgbdCameras == 0)
		{
			rgbdxSub_ = create_subscription<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&RGBDOdometry::callbackRGBDX, this, std::placeholders::_1), options);

			subscribedTopic = rgbdxSub_->get_topic_name();
			subscribedTopicsMsg = uFormat("\n%s subscribed to:\n   %s",
					get_name(),
					rgbdxSub_->get_topic_name());
		}
		else
		{
			rgbdSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&RGBDOdometry::callbackRGBD, this, std::placeholders::_1), options);

			subscribedTopic = rgbdSub_->get_topic_name();
			subscribedTopicsMsg =
					uFormat("\n%s subscribed to:\n   %s",
					get_name(),
					rgbdSub_->get_topic_name());
		}
	}
	else
	{
		image_transport::TransportHints hints(this);
		image_mono_sub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
		image_depth_sub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
		info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options);

		if(approxSync)
		{
			approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
			if(approxSyncMaxInterval > 0.0)
				approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
			approxSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
		}
		else
		{
			exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
			exactSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
		}

		subscribedTopic = image_mono_sub_.getSubscriber().getTopic();
		subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s, topic_queue_size=%d, sync_queue_size=%d):\n   %s,\n   %s,\n   %s",
				get_name(),
				approxSync?"approx":"exact",
				approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
				topicQueueSize_,
				syncQueueSize_,
				image_mono_sub_.getSubscriber().getTopic().c_str(),
				image_depth_sub_.getSubscriber().getTopic().c_str(),
				info_sub_.getSubscriber()->get_topic_name());
	}
	initDiagnosticMsg(subscribedTopicsMsg, approxSync, subscribedTopic);
}

void RGBDOdometry::updateParameters(ParametersMap & parameters)
{
	//make sure we are using Reg/Strategy=0
	ParametersMap::iterator iter = parameters.find(Parameters::kRegStrategy());
	if(iter != parameters.end() && iter->second.compare("0") != 0)
	{
		RCLCPP_WARN(this->get_logger(), "RGBD odometry works only with \"Reg/Strategy\"=0. Ignoring value %s.", iter->second.c_str());
	}
	uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "0"));

	int estimationType = Parameters::defaultVisEstimationType();
	Parameters::parse(parameters, Parameters::kVisEstimationType(), estimationType);
	int rgbdCameras = 1;
	bool subscribeRGBD = false;
	this->get_parameter("subscribe_rgbd", subscribeRGBD);
	this->get_parameter("rgbd_cameras", rgbdCameras);
	if(subscribeRGBD && rgbdCameras> 1 && estimationType>0)
	{
		RCLCPP_WARN(this->get_logger(), "Setting \"%s\" parameter to 0 (%d is not supported "
				"for multi-cameras) as \"subscribe_rgbd\" is "
				"true and \"rgbd_cameras\">1. Set \"%s\" to 0 to suppress this warning.",
				Parameters::kVisEstimationType().c_str(),
				estimationType,
				Parameters::kVisEstimationType().c_str());
		uInsert(parameters, ParametersPair(Parameters::kVisEstimationType(), "0"));
	}
}

void RGBDOdometry::commonCallback(
			const std::vector<cv_bridge::CvImageConstPtr> & rgbImages,
			const std::vector<cv_bridge::CvImageConstPtr> & depthImages,
			const std::vector<sensor_msgs::msg::CameraInfo>& cameraInfos)
{
	UASSERT(rgbImages.size() > 0 && rgbImages.size() == depthImages.size() && rgbImages.size() == cameraInfos.size());
	rclcpp::Time higherStamp;
	int imageWidth = rgbImages[0]->image.cols;
	int imageHeight = rgbImages[0]->image.rows;
	int depthWidth = depthImages[0]->image.cols;
	int depthHeight = depthImages[0]->image.rows;

	UASSERT_MSG(
			imageWidth/depthWidth == imageHeight/depthHeight,
			uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());

	int cameraCount = rgbImages.size();
	cv::Mat rgb;
	cv::Mat depth;
	std::vector<rtabmap::CameraModel> cameraModels;
	for(unsigned int i=0; i<rgbImages.size(); ++i)
	{
		if(!(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
			 rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0) ||
			!(depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
			 depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
			 depthImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
		{
			RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
			"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
				rgbImages[i]->encoding.c_str(),
				depthImages[i]->encoding.c_str());
			return;
		}
		UASSERT_MSG(rgbImages[i]->image.cols == imageWidth && rgbImages[i]->image.rows == imageHeight,
				uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
						imageWidth,
						rgbImages[i]->image.cols,
						imageHeight,
						rgbImages[i]->image.rows).c_str());
		UASSERT_MSG(depthImages[i]->image.cols == depthWidth && depthImages[i]->image.rows == depthHeight,
				uFormat("depthWidth=%d vs %d depthHeight=%d vs %d",
						depthWidth,
						depthImages[i]->image.cols,
						depthHeight,
						depthImages[i]->image.rows).c_str());

		rclcpp::Time stamp = rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp)>rtabmap_conversions::timestampFromROS(depthImages[i]->header.stamp)?rgbImages[i]->header.stamp:depthImages[i]->header.stamp;

		if(i == 0)
		{
			higherStamp = stamp;
		}
		else if(stamp > higherStamp)
		{
			higherStamp = stamp;
		}

		Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), rgbImages[i]->header.frame_id, stamp, tfBuffer(), waitForTransform());
		if(localTransform.isNull())
		{
			return;
		}

		if(i>0)
		{
			double stampDiff = fabs(rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp) - rtabmap_conversions::timestampFromROS(rgbImages[i-1]->header.stamp));
			if(stampDiff > 1.0/60.0)
			{
				static bool warningShown = false;
				if(!warningShown)
				{
					RCLCPP_WARN(this->get_logger(), "The time difference between cameras %d and %d is "
							"high (diff=%fs, cam%d=%fs, cam%d=%fs). You may want "
							"to set approx_sync_max_interval to reject bad synchronizations or use "
							"approx_sync=false if streams have all the exact same timestamp. This "
							"message is only printed once.",
							i-1, i,
							stampDiff,
							i-1, rtabmap_conversions::timestampFromROS(rgbImages[i-1]->header.stamp),
							i, rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp));
					warningShown = true;
				}
			}
		}

		cv_bridge::CvImageConstPtr ptrImage = rgbImages[i];
		if(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
		   rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
		{
			if(keepColor_ && rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) != 0)
			{
				ptrImage = cv_bridge::cvtColor(rgbImages[i], "bgr8");
			}
			else
			{
				ptrImage = cv_bridge::cvtColor(rgbImages[i], "mono8");
			}
		}

		cv_bridge::CvImageConstPtr ptrDepth = depthImages[i];

		// initialize
		if(rgb.empty())
		{
			rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
		}
		if(depth.empty())
		{
			depth = cv::Mat(depthHeight, depthWidth*cameraCount, ptrDepth->image.type());
		}

		if(ptrImage->image.type() == rgb.type())
		{
			ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
		}
		else
		{
			RCLCPP_ERROR(this->get_logger(), "Some RGB images are not the same type! %d vs %d", ptrImage->image.type(), rgb.type());
			return;
		}

		if(ptrDepth->image.type() == depth.type())
		{
			ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight)));
		}
		else
		{
			RCLCPP_ERROR(this->get_logger(), "Some Depth images are not the same type! %d vs %d", ptrDepth->image.type(), depth.type());
			return;
		}

		cameraModels.push_back(rtabmap_conversions::cameraModelFromROS(cameraInfos[i], localTransform));
	}

	rtabmap::SensorData data(
			rgb,
			depth,
			cameraModels,
			0,
			rtabmap_conversions::timestampFromROS(higherStamp));

	std_msgs::msg::Header header;
	header.stamp = higherStamp;
	header.frame_id = rgbImages.size()==1?rgbImages[0]->header.frame_id:"";
	this->processData(data, header);
}

void RGBDOdometry::callback(
		const sensor_msgs::msg::Image::ConstSharedPtr image,
		const sensor_msgs::msg::Image::ConstSharedPtr depth,
		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		imageMsgs[0] = cv_bridge::toCvShare(image);
		depthMsgs[0] = cv_bridge::toCvShare(depth);
		infoMsgs.push_back(*cameraInfo);

		double stampDiff = fabs(rtabmap_conversions::timestampFromROS(image->header.stamp) - rtabmap_conversions::timestampFromROS(depth->header.stamp));
		if(stampDiff > 0.020)
		{
			RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is "
					"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
					"to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use "
					"approx_sync=false if streams have all the exact same timestamp.",
					stampDiff,
					rtabmap_conversions::timestampFromROS(image->header.stamp),
					rtabmap_conversions::timestampFromROS(depth->header.stamp));
		}

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBDX(
		const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr images)
{
	tick(images->header.stamp);

	if(!this->isPaused())
	{
		if(images->rgbd_images.empty())
		{
			RCLCPP_ERROR(this->get_logger(), "Input topic \"%s\" doesn't contain any image(s)!", rgbdxSub_->get_topic_name());
			return;
		}
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(images->rgbd_images.size());
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(images->rgbd_images.size());
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		for(size_t i=0; i<images->rgbd_images.size(); ++i)
		{
			rtabmap_conversions::toCvShare(images->rgbd_images[i], images, imageMsgs[i], depthMsgs[i]);
			infoMsgs.push_back(images->rgbd_images[i].rgb_camera_info);
		}

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		infoMsgs.push_back(image->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD2(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
		infoMsgs.push_back(image->rgb_camera_info);
		infoMsgs.push_back(image2->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD3(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
		rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
		infoMsgs.push_back(image->rgb_camera_info);
		infoMsgs.push_back(image2->rgb_camera_info);
		infoMsgs.push_back(image3->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD4(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
		rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
		rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
		infoMsgs.push_back(image->rgb_camera_info);
		infoMsgs.push_back(image2->rgb_camera_info);
		infoMsgs.push_back(image3->rgb_camera_info);
		infoMsgs.push_back(image4->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD5(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
		rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
		rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
		rtabmap_conversions::toCvShare(image5, imageMsgs[4], depthMsgs[4]);
		infoMsgs.push_back(image->rgb_camera_info);
		infoMsgs.push_back(image2->rgb_camera_info);
		infoMsgs.push_back(image3->rgb_camera_info);
		infoMsgs.push_back(image4->rgb_camera_info);
		infoMsgs.push_back(image5->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::callbackRGBD6(
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
		const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
	tick(image->header.stamp);

	if(!this->isPaused())
	{
		std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6);
		std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6);
		std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
		rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
		rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
		rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
		rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
		rtabmap_conversions::toCvShare(image5, imageMsgs[4], depthMsgs[4]);
		rtabmap_conversions::toCvShare(image6, imageMsgs[5], depthMsgs[5]);
		infoMsgs.push_back(image->rgb_camera_info);
		infoMsgs.push_back(image2->rgb_camera_info);
		infoMsgs.push_back(image3->rgb_camera_info);
		infoMsgs.push_back(image4->rgb_camera_info);
		infoMsgs.push_back(image5->rgb_camera_info);
		infoMsgs.push_back(image6->rgb_camera_info);

		this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
	}
}

void RGBDOdometry::flushCallbacks()
{
	// flush callbacks
	if(approxSync_)
	{
		delete approxSync_;
		approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
		approxSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
	}
	if(exactSync_)
	{
		delete exactSync_;
		exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
		exactSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
	}
	if(approxSync2_)
	{
		delete approxSync2_;
		approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
				MyApproxSync2Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_);
		approxSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
	}
	if(exactSync2_)
	{
		delete exactSync2_;
		exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
				MyExactSync2Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_);
		exactSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
	}
	if(approxSync3_)
	{
		delete approxSync3_;
		approxSync3_ = new message_filters::Synchronizer<MyApproxSync3Policy>(
				MyApproxSync3Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_);
		approxSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
	}
	if(exactSync3_)
	{
		delete exactSync3_;
		exactSync3_ = new message_filters::Synchronizer<MyExactSync3Policy>(
				MyExactSync3Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_);
		exactSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
	}
	if(approxSync4_)
	{
		delete approxSync4_;
		approxSync4_ = new message_filters::Synchronizer<MyApproxSync4Policy>(
				MyApproxSync4Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_);
		approxSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
	}
	if(exactSync4_)
	{
		delete exactSync4_;
		exactSync4_ = new message_filters::Synchronizer<MyExactSync4Policy>(
				MyExactSync4Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_);
		exactSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
	}
	if(approxSync5_)
	{
		delete approxSync5_;
		approxSync5_ = new message_filters::Synchronizer<MyApproxSync5Policy>(
				MyApproxSync5Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_,
				rgbd_image5_sub_);
		approxSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
	}
	if(exactSync5_)
	{
		delete exactSync5_;
		exactSync5_ = new message_filters::Synchronizer<MyExactSync5Policy>(
				MyExactSync5Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_,
				rgbd_image5_sub_);
		exactSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
	}
	if(approxSync6_)
	{
		delete approxSync6_;
		approxSync6_ = new message_filters::Synchronizer<MyApproxSync6Policy>(
				MyApproxSync6Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_,
				rgbd_image5_sub_,
				rgbd_image6_sub_);
		approxSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
	}
	if(exactSync6_)
	{
		delete exactSync6_;
		exactSync6_ = new message_filters::Synchronizer<MyExactSync6Policy>(
				MyExactSync6Policy(syncQueueSize_),
				rgbd_image1_sub_,
				rgbd_image2_sub_,
				rgbd_image3_sub_,
				rgbd_image4_sub_,
				rgbd_image5_sub_,
				rgbd_image6_sub_);
		exactSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
	}
}

}

#include "rclcpp_components/register_node_macro.hpp"

// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_odom::RGBDOdometry)