mirror of
https://github.com/introlab/rtabmap_ros.git
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317 lines
12 KiB
C++
317 lines
12 KiB
C++
/*
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Copyright (c) 2010-2014, 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 <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 <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <sensor_msgs/PointCloud2.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 <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 <image_geometry/pinhole_camera_model.h>
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#include <image_geometry/stereo_camera_model.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 <cv_bridge/cv_bridge.h>
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#include <opencv2/highgui/highgui.hpp>
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#include "rtabmap/core/util3d.h"
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#include "rtabmap/core/util3d_filtering.h"
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namespace rtabmap_ros
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{
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class PointCloudXYZRGB : public nodelet::Nodelet
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{
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public:
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PointCloudXYZRGB() :
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maxDepth_(0.0),
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voxelSize_(0.0),
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decimation_(1),
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noiseFilterRadius_(0.0),
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noiseFilterMinNeighbors_(5),
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approxSyncDepth_(0),
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approxSyncStereo_(0),
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exactSyncDepth_(0),
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exactSyncStereo_(0)
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{}
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virtual ~PointCloudXYZRGB()
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{
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if(approxSyncDepth_)
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delete approxSyncDepth_;
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if(approxSyncStereo_)
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delete approxSyncStereo_;
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if(exactSyncDepth_)
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delete exactSyncDepth_;
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if(exactSyncStereo_)
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delete exactSyncStereo_;
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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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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("max_depth", maxDepth_, maxDepth_);
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pnh.param("voxel_size", voxelSize_, voxelSize_);
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pnh.param("decimation", decimation_, decimation_);
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pnh.param("noise_filter_radius", noiseFilterRadius_, noiseFilterRadius_);
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pnh.param("noise_filter_min_neighbors", noiseFilterMinNeighbors_, noiseFilterMinNeighbors_);
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ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
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cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("cloud", 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(&PointCloudXYZRGB::depthCallback, this, _1, _2, _3));
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approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, _1, _2, _3, _4));
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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(&PointCloudXYZRGB::depthCallback, this, _1, _2, _3));
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exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, _1, _2, _3, _4));
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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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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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imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
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imageRight_.subscribe(right_it, right_nh.resolveName("image"), 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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}
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void depthCallback(
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const sensor_msgs::ImageConstPtr& image,
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const sensor_msgs::ImageConstPtr& imageDepth,
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const sensor_msgs::CameraInfoConstPtr& cameraInfo)
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{
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if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
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image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) &&
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!(imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
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imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
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imageDepth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
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{
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ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1,mono16");
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return;
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}
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if(cloudPub_.getNumSubscribers())
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{
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cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
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cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
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image_geometry::PinholeCameraModel model;
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model.fromCameraInfo(*cameraInfo);
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float fx = model.fx();
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float fy = model.fy();
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float cx = model.cx();
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float cy = model.cy();
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;
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pclCloud = rtabmap::util3d::cloudFromDepthRGB(
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imagePtr->image,
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imageDepthPtr->image,
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cx,
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cy,
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fx,
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fy,
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decimation_);
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processAndPublish(pclCloud, imagePtr->header);
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}
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}
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void stereoCallback(const sensor_msgs::ImageConstPtr& imageLeft,
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const sensor_msgs::ImageConstPtr& imageRight,
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const sensor_msgs::CameraInfoConstPtr& camInfoLeft,
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const sensor_msgs::CameraInfoConstPtr& camInfoRight)
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{
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if(!(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
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imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
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imageLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
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!(imageRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
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imageRight->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
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imageRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
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imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
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{
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ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
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return;
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}
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if(cloudPub_.getNumSubscribers())
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{
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cv_bridge::CvImageConstPtr ptrLeftImage, ptrRightImage;
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if(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
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imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
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{
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ptrLeftImage = cv_bridge::toCvShare(imageLeft, "mono8");
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}
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else
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{
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ptrLeftImage = cv_bridge::toCvShare(imageLeft, "bgr8");
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}
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ptrRightImage = cv_bridge::toCvShare(imageRight, "mono8");
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image_geometry::StereoCameraModel model;
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model.fromCameraInfo(*camInfoLeft, *camInfoRight);
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float fx = model.left().fx();
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float cx = model.left().cx();
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float cy = model.left().cy();
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float baseline = model.baseline();
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;
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pclCloud = rtabmap::util3d::cloudFromStereoImages(
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ptrLeftImage->image,
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ptrRightImage->image,
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cx,
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cy,
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fx,
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baseline,
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decimation_);
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processAndPublish(pclCloud, imageLeft->header);
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}
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}
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void processAndPublish(pcl::PointCloud<pcl::PointXYZRGB>::Ptr & pclCloud, const std_msgs::Header & header)
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{
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if(pclCloud->size() && maxDepth_ > 0)
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{
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pclCloud = rtabmap::util3d::passThrough(pclCloud, "z", 0, maxDepth_);
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}
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if(pclCloud->size() && noiseFilterRadius_ > 0.0 && noiseFilterMinNeighbors_ > 0)
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{
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pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
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pcl::copyPointCloud(*pclCloud, *indices, *tmp);
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pclCloud = tmp;
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}
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if(pclCloud->size() && voxelSize_ > 0.0)
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{
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pclCloud = rtabmap::util3d::voxelize(pclCloud, voxelSize_);
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}
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sensor_msgs::PointCloud2 rosCloud;
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pcl::toROSMsg(*pclCloud, rosCloud);
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rosCloud.header.stamp = header.stamp;
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rosCloud.header.frame_id = header.frame_id;
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//publish the message
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cloudPub_.publish(rosCloud);
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}
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private:
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double maxDepth_;
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double voxelSize_;
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int decimation_;
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double noiseFilterRadius_;
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int noiseFilterMinNeighbors_;
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ros::Publisher cloudPub_;
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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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image_transport::SubscriberFilter imageLeft_;
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image_transport::SubscriberFilter imageRight_;
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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> MyApproxSyncDepthPolicy;
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message_filters::Synchronizer<MyApproxSyncDepthPolicy> * approxSyncDepth_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncStereoPolicy;
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message_filters::Synchronizer<MyApproxSyncStereoPolicy> * approxSyncStereo_;
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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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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncStereoPolicy;
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message_filters::Synchronizer<MyExactSyncStereoPolicy> * exactSyncStereo_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap_ros::PointCloudXYZRGB, nodelet::Nodelet);
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}
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