mirror of
https://github.com/introlab/rtabmap_ros.git
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236 lines
8.6 KiB
C++
236 lines
8.6 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap_ros/OdometryROS.h"
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#include "pluginlib/class_list_macros.h"
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#include "nodelet/nodelet.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/time_synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.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 <sensor_msgs/Image.h>
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#include <sensor_msgs/image_encodings.h>
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#include <image_geometry/stereo_camera_model.h>
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#include <cv_bridge/cv_bridge.h>
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#include "rtabmap_ros/MsgConversion.h"
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UTimer.h>
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using namespace rtabmap;
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namespace rtabmap_ros
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{
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class StereoOdometry : public rtabmap_ros::OdometryROS
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{
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public:
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StereoOdometry() :
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rtabmap_ros::OdometryROS(true),
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approxSync_(0),
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exactSync_(0),
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queueSize_(5)
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{
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}
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virtual ~StereoOdometry()
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{
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if(approxSync_)
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{
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delete approxSync_;
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}
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if(exactSync_)
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{
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delete exactSync_;
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}
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}
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private:
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virtual void onOdomInit()
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{
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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bool approxSync = false;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("queue_size", queueSize_, queueSize_);
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NODELET_INFO("Approximate time sync = %s", approxSync?"true":"false");
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport left_it(left_nh);
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image_transport::ImageTransport right_it(right_nh);
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image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
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imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
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imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
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cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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NODELET_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
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ros::this_node::getName().c_str(),
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approxSync?"approx":"exact",
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imageRectLeft_.getTopic().c_str(),
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imageRectRight_.getTopic().c_str(),
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cameraInfoLeft_.getTopic().c_str(),
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cameraInfoRight_.getTopic().c_str());
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}
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void callback(
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const sensor_msgs::ImageConstPtr& imageRectLeft,
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const sensor_msgs::ImageConstPtr& imageRectRight,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
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{
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if(!this->isPaused())
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{
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if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended)");
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return;
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}
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ros::Time stamp = imageRectLeft->header.stamp>imageRectRight->header.stamp?imageRectLeft->header.stamp:imageRectRight->header.stamp;
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Transform localTransform = getTransform(this->frameId(), imageRectLeft->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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ros::WallTime time = ros::WallTime::now();
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int quality = -1;
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if(imageRectLeft->data.size() && imageRectRight->data.size())
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{
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rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*cameraInfoLeft, *cameraInfoRight, localTransform);
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if(stereoModel.baseline() <= 0)
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{
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NODELET_FATAL("The stereo baseline (%f) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo "
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"setup where the Tx (or P(0,3)) is negative in the right camera info msg.", stereoModel.baseline());
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return;
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}
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if(stereoModel.baseline() > 10.0)
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{
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static bool shown = false;
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if(!shown)
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{
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NODELET_WARN("Detected baseline (%f m) is quite large! Is your "
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"right camera_info P(0,3) correctly set? Note that "
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"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
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stereoModel.baseline());
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shown = true;
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}
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}
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cv_bridge::CvImagePtr ptrImageLeft = cv_bridge::toCvCopy(imageRectLeft, "mono8");
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cv_bridge::CvImagePtr ptrImageRight = cv_bridge::toCvCopy(imageRectRight, "mono8");
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UTimer stepTimer;
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//
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UDEBUG("localTransform = %s", localTransform.prettyPrint().c_str());
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rtabmap::SensorData data(
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ptrImageLeft->image,
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ptrImageRight->image,
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stereoModel,
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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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else
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{
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NODELET_WARN("Odom: input images empty?!?");
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}
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}
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}
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protected:
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virtual void flushCallbacks()
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{
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//flush callbacks
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if(approxSync_)
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{
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delete approxSync_;
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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if(exactSync_)
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{
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delete exactSync_;
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
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}
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}
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private:
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image_transport::SubscriberFilter imageRectLeft_;
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image_transport::SubscriberFilter imageRectRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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int queueSize_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoOdometry, nodelet::Nodelet);
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}
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