mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 09:17:47 +08:00
247 lines
8.2 KiB
C++
247 lines
8.2 KiB
C++
/*
|
|
Copyright (c) 2010-2014, 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 <message_filters/subscriber.h>
|
|
#include <message_filters/time_synchronizer.h>
|
|
#include <message_filters/sync_policies/approximate_time.h>
|
|
|
|
#include <image_transport/image_transport.h>
|
|
#include <image_transport/subscriber_filter.h>
|
|
|
|
#include <sensor_msgs/CameraInfo.h>
|
|
|
|
#include <cv_bridge/cv_bridge.h>
|
|
|
|
#include <rtabmap/core/util2d.h>
|
|
|
|
namespace rtabmap_ros
|
|
{
|
|
|
|
class StereoThrottleNodelet : public nodelet::Nodelet
|
|
{
|
|
public:
|
|
//Constructor
|
|
StereoThrottleNodelet():
|
|
rate_(0),
|
|
approxSync_(0),
|
|
exactSync_(0),
|
|
decimation_(1)
|
|
{
|
|
}
|
|
|
|
virtual ~StereoThrottleNodelet()
|
|
{
|
|
if(approxSync_)
|
|
{
|
|
delete approxSync_;
|
|
}
|
|
if(exactSync_)
|
|
{
|
|
delete exactSync_;
|
|
}
|
|
}
|
|
|
|
private:
|
|
ros::Time last_update_;
|
|
double rate_;
|
|
virtual void onInit()
|
|
{
|
|
ros::NodeHandle& nh = getNodeHandle();
|
|
ros::NodeHandle& pnh = getPrivateNodeHandle();
|
|
|
|
ros::NodeHandle left_nh(nh, "left");
|
|
ros::NodeHandle right_nh(nh, "right");
|
|
ros::NodeHandle left_pnh(pnh, "left");
|
|
ros::NodeHandle right_pnh(pnh, "right");
|
|
image_transport::ImageTransport left_it(left_nh);
|
|
image_transport::ImageTransport right_it(right_nh);
|
|
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
|
|
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
|
|
|
|
int queueSize = 5;
|
|
bool approxSync = false;
|
|
pnh.param("approx_sync", approxSync, approxSync);
|
|
pnh.param("rate", rate_, rate_);
|
|
pnh.param("queue_size", queueSize, queueSize);
|
|
pnh.param("decimation", decimation_, decimation_);
|
|
ROS_ASSERT(decimation_ >= 1);
|
|
ROS_INFO("Rate=%f Hz", rate_);
|
|
ROS_INFO("Decimation=%d", decimation_);
|
|
ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
|
|
|
|
if(approxSync)
|
|
{
|
|
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
|
|
approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
|
|
}
|
|
else
|
|
{
|
|
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
|
|
exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
|
|
}
|
|
|
|
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
|
|
imageRight_.subscribe(right_it, right_nh.resolveName("image"), 1, hintsRight);
|
|
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
|
|
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
|
|
|
|
imageLeftPub_ = left_it.advertise(left_nh.resolveName("image")+"_throttle", 1);
|
|
imageRightPub_ = right_it.advertise(right_nh.resolveName("image")+"_throttle", 1);
|
|
infoLeftPub_ = left_nh.advertise<sensor_msgs::CameraInfo>(left_nh.resolveName("camera_info")+"_throttle", 1);
|
|
infoRightPub_ = right_nh.advertise<sensor_msgs::CameraInfo>(right_nh.resolveName("camera_info")+"_throttle", 1);
|
|
};
|
|
|
|
void callback(const sensor_msgs::ImageConstPtr& imageLeft,
|
|
const sensor_msgs::ImageConstPtr& imageRight,
|
|
const sensor_msgs::CameraInfoConstPtr& camInfoLeft,
|
|
const sensor_msgs::CameraInfoConstPtr& camInfoRight)
|
|
{
|
|
if (rate_ > 0.0)
|
|
{
|
|
NODELET_DEBUG("update set to %f", rate_);
|
|
if ( last_update_ + ros::Duration(1.0/rate_) > ros::Time::now())
|
|
{
|
|
NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
NODELET_DEBUG("rate unset continuing");
|
|
|
|
last_update_ = ros::Time::now();
|
|
|
|
if(imageLeftPub_.getNumSubscribers())
|
|
{
|
|
if(decimation_ > 1)
|
|
{
|
|
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
|
|
cv_bridge::CvImage out;
|
|
out.header = imagePtr->header;
|
|
out.encoding = imagePtr->encoding;
|
|
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
|
|
imageLeftPub_.publish(out.toImageMsg());
|
|
}
|
|
else
|
|
{
|
|
imageLeftPub_.publish(imageLeft);
|
|
}
|
|
}
|
|
if(imageRightPub_.getNumSubscribers())
|
|
{
|
|
if(decimation_ > 1)
|
|
{
|
|
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageRight);
|
|
cv_bridge::CvImage out;
|
|
out.header = imagePtr->header;
|
|
out.encoding = imagePtr->encoding;
|
|
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
|
|
imageRightPub_.publish(out.toImageMsg());
|
|
}
|
|
else
|
|
{
|
|
imageRightPub_.publish(imageRight);
|
|
}
|
|
}
|
|
if(infoLeftPub_.getNumSubscribers())
|
|
{
|
|
if(decimation_ > 1)
|
|
{
|
|
sensor_msgs::CameraInfo info = *camInfoLeft;
|
|
info.height /= decimation_;
|
|
info.width /= decimation_;
|
|
info.roi.height /= decimation_;
|
|
info.roi.width /= decimation_;
|
|
info.K[2]/=float(decimation_); // cx
|
|
info.K[5]/=float(decimation_); // cy
|
|
info.K[0]/=float(decimation_); // fx
|
|
info.K[4]/=float(decimation_); // fy
|
|
info.P[2]/=float(decimation_); // cx
|
|
info.P[6]/=float(decimation_); // cy
|
|
info.P[0]/=float(decimation_); // fx
|
|
info.P[5]/=float(decimation_); // fy
|
|
info.P[3]/=float(decimation_); // Tx
|
|
infoLeftPub_.publish(info);
|
|
}
|
|
else
|
|
{
|
|
infoLeftPub_.publish(camInfoLeft);
|
|
}
|
|
}
|
|
if(infoRightPub_.getNumSubscribers())
|
|
{
|
|
if(decimation_ > 1)
|
|
{
|
|
sensor_msgs::CameraInfo info = *camInfoRight;
|
|
info.height /= decimation_;
|
|
info.width /= decimation_;
|
|
info.roi.height /= decimation_;
|
|
info.roi.width /= decimation_;
|
|
info.K[2]/=float(decimation_); // cx
|
|
info.K[5]/=float(decimation_); // cy
|
|
info.K[0]/=float(decimation_); // fx
|
|
info.K[4]/=float(decimation_); // fy
|
|
info.P[2]/=float(decimation_); // cx
|
|
info.P[6]/=float(decimation_); // cy
|
|
info.P[0]/=float(decimation_); // fx
|
|
info.P[5]/=float(decimation_); // fy
|
|
info.P[3]/=float(decimation_); // Tx
|
|
infoRightPub_.publish(info);
|
|
}
|
|
else
|
|
{
|
|
infoRightPub_.publish(camInfoRight);
|
|
}
|
|
}
|
|
}
|
|
|
|
image_transport::Publisher imageLeftPub_;
|
|
image_transport::Publisher imageRightPub_;
|
|
ros::Publisher infoLeftPub_;
|
|
ros::Publisher infoRightPub_;
|
|
|
|
image_transport::SubscriberFilter imageLeft_;
|
|
image_transport::SubscriberFilter imageRight_;
|
|
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
|
|
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
|
|
|
|
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
|
|
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
|
|
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
|
|
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
|
|
|
|
int decimation_;
|
|
|
|
};
|
|
|
|
|
|
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoThrottleNodelet, nodelet::Nodelet);
|
|
}
|