mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-10 11:39:49 +08:00
131 lines
5.7 KiB
C++
131 lines
5.7 KiB
C++
/*
|
|
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_util/visibility.h>
|
|
#include "rclcpp/rclcpp.hpp"
|
|
|
|
#include <sensor_msgs/msg/point_cloud2.hpp>
|
|
#include <sensor_msgs/msg/image.hpp>
|
|
#include <sensor_msgs/msg/camera_info.hpp>
|
|
#include <stereo_msgs/msg/disparity_image.hpp>
|
|
|
|
#include <rtabmap_msgs/msg/rgbd_image.hpp>
|
|
|
|
#include <image_transport/image_transport.hpp>
|
|
#include <image_transport/subscriber_filter.hpp>
|
|
|
|
#include <message_filters/sync_policies/approximate_time.h>
|
|
#include <message_filters/sync_policies/exact_time.h>
|
|
#include <message_filters/subscriber.h>
|
|
|
|
#include <pcl/point_cloud.h>
|
|
#include <pcl/point_types.h>
|
|
#include <pcl/pcl_base.h>
|
|
|
|
#include <rtabmap/core/Parameters.h>
|
|
|
|
namespace rtabmap_util
|
|
{
|
|
|
|
class PointCloudXYZRGB : public rclcpp::Node
|
|
{
|
|
public:
|
|
RTABMAP_UTIL_PUBLIC
|
|
explicit PointCloudXYZRGB(const rclcpp::NodeOptions & options);
|
|
virtual ~PointCloudXYZRGB();
|
|
|
|
private:
|
|
void depthCallback(
|
|
const sensor_msgs::msg::Image::ConstSharedPtr image,
|
|
const sensor_msgs::msg::Image::ConstSharedPtr imageDepth,
|
|
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo);
|
|
|
|
void disparityCallback(
|
|
const sensor_msgs::msg::Image::ConstSharedPtr image,
|
|
const stereo_msgs::msg::DisparityImage::ConstSharedPtr imageDisparity,
|
|
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo);
|
|
|
|
void stereoCallback(const sensor_msgs::msg::Image::ConstSharedPtr imageLeft,
|
|
const sensor_msgs::msg::Image::ConstSharedPtr imageRight,
|
|
const sensor_msgs::msg::CameraInfo::ConstSharedPtr camInfoLeft,
|
|
const sensor_msgs::msg::CameraInfo::ConstSharedPtr camInfoRight);
|
|
|
|
void rgbdImageCallback(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image);
|
|
|
|
void processAndPublish(pcl::PointCloud<pcl::PointXYZRGB>::Ptr & pclCloud, pcl::IndicesPtr & indices, const std_msgs::msg::Header & header);
|
|
|
|
private:
|
|
|
|
double maxDepth_;
|
|
double minDepth_;
|
|
double voxelSize_;
|
|
int decimation_;
|
|
double noiseFilterRadius_;
|
|
int noiseFilterMinNeighbors_;
|
|
int normalK_;
|
|
double normalRadius_;
|
|
bool filterNaNs_;
|
|
std::vector<float> roiRatios_;
|
|
rtabmap::ParametersMap stereoBMParameters_;
|
|
|
|
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloudPub_;
|
|
|
|
rclcpp::Subscription<rtabmap_msgs::msg::RGBDImage>::SharedPtr rgbdImageSub_;
|
|
|
|
image_transport::SubscriberFilter imageSub_;
|
|
image_transport::SubscriberFilter imageDepthSub_;
|
|
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
|
|
|
|
message_filters::Subscriber<stereo_msgs::msg::DisparityImage> imageDisparitySub_;
|
|
|
|
image_transport::SubscriberFilter imageLeft_;
|
|
image_transport::SubscriberFilter imageRight_;
|
|
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoLeft_;
|
|
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoRight_;
|
|
|
|
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyApproxSyncDepthPolicy;
|
|
message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
|
|
|
|
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, stereo_msgs::msg::DisparityImage, sensor_msgs::msg::CameraInfo> MyApproxSyncDisparityPolicy;
|
|
message_filters::Synchronizer<MyApproxSyncDisparityPolicy> * approxSyncDisparity_;
|
|
|
|
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo> MyApproxSyncStereoPolicy;
|
|
message_filters::Synchronizer<MyApproxSyncStereoPolicy> * approxSyncStereo_;
|
|
|
|
typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyExactSyncDepthPolicy;
|
|
message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
|
|
|
|
typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, stereo_msgs::msg::DisparityImage, sensor_msgs::msg::CameraInfo> MyExactSyncDisparityPolicy;
|
|
message_filters::Synchronizer<MyExactSyncDisparityPolicy> * exactSyncDisparity_;
|
|
|
|
typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo> MyExactSyncStereoPolicy;
|
|
message_filters::Synchronizer<MyExactSyncStereoPolicy> * exactSyncStereo_;
|
|
};
|
|
|
|
}
|
|
|