/
base_realsense_node.cpp
2105 lines (1895 loc) · 83.1 KB
/
base_realsense_node.cpp
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#include "../include/base_realsense_node.h"
#include "assert.h"
#include <boost/algorithm/string.hpp>
#include <algorithm>
#include <cctype>
#include <mutex>
#include <tf/transform_broadcaster.h>
using namespace realsense2_camera;
using namespace ddynamic_reconfigure;
// stream_index_pair sip{stream_type, stream_index};
#define STREAM_NAME(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _stream_name[sip.first] << ((sip.second>0) ? std::to_string(sip.second) : ""))).str()
#define FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_frame")).str()
#define OPTICAL_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_optical_frame")).str()
#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str()
SyncedImuPublisher::SyncedImuPublisher(ros::Publisher imu_publisher, std::size_t waiting_list_size):
_publisher(imu_publisher), _pause_mode(false),
_waiting_list_size(waiting_list_size)
{}
SyncedImuPublisher::~SyncedImuPublisher()
{
PublishPendingMessages();
}
void SyncedImuPublisher::Publish(sensor_msgs::Imu imu_msg)
{
std::lock_guard<std::mutex> lock_guard(_mutex);
if (_pause_mode)
{
if (_pending_messages.size() >= _waiting_list_size)
{
throw std::runtime_error("SyncedImuPublisher inner list reached maximum size of " + std::to_string(_pending_messages.size()));
}
_pending_messages.push(imu_msg);
}
else
{
_publisher.publish(imu_msg);
// ROS_INFO_STREAM("iid1:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec());
}
return;
}
void SyncedImuPublisher::Pause()
{
if (!_is_enabled) return;
std::lock_guard<std::mutex> lock_guard(_mutex);
_pause_mode = true;
}
void SyncedImuPublisher::Resume()
{
std::lock_guard<std::mutex> lock_guard(_mutex);
PublishPendingMessages();
_pause_mode = false;
}
void SyncedImuPublisher::PublishPendingMessages()
{
// ROS_INFO_STREAM("publish imu: " << _pending_messages.size());
while (!_pending_messages.empty())
{
const sensor_msgs::Imu &imu_msg = _pending_messages.front();
_publisher.publish(imu_msg);
// ROS_INFO_STREAM("iid2:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec());
_pending_messages.pop();
}
}
std::string BaseRealSenseNode::getNamespaceStr()
{
auto ns = ros::this_node::getNamespace();
ns.erase(std::remove(ns.begin(), ns.end(), '/'), ns.end());
return ns;
}
BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle,
ros::NodeHandle& privateNodeHandle,
rs2::device dev,
const std::string& serial_no) :
_base_frame_id(""), _node_handle(nodeHandle),
_pnh(privateNodeHandle), _dev(dev), _json_file_path(""),
_serial_no(serial_no),
_is_initialized_time_base(false),
_namespace(getNamespaceStr())
{
// Types for depth stream
_image_format[RS2_STREAM_DEPTH] = CV_16UC1; // CVBridge type
_encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type
_unit_step_size[RS2_STREAM_DEPTH] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_DEPTH] = "depth";
_depth_aligned_encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
// Infrared stream
_image_format[RS2_STREAM_INFRARED] = CV_8UC1; // CVBridge type
_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::MONO8; // ROS message type
_unit_step_size[RS2_STREAM_INFRARED] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_INFRARED] = "infra";
_depth_aligned_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for color stream
_image_format[RS2_STREAM_COLOR] = CV_8UC3; // CVBridge type
_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::RGB8; // ROS message type
_unit_step_size[RS2_STREAM_COLOR] = 3; // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_COLOR] = "color";
_depth_aligned_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for fisheye stream
_image_format[RS2_STREAM_FISHEYE] = CV_8UC1; // CVBridge type
_encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::MONO8; // ROS message type
_unit_step_size[RS2_STREAM_FISHEYE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_FISHEYE] = "fisheye";
_depth_aligned_encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for Motion-Module streams
_stream_name[RS2_STREAM_GYRO] = "gyro";
_stream_name[RS2_STREAM_ACCEL] = "accel";
_stream_name[RS2_STREAM_POSE] = "pose";
}
void BaseRealSenseNode::toggleSensors(bool enabled)
{
for (auto it=_sensors.begin(); it != _sensors.end(); it++)
{
auto& sens = _sensors[it->first];
try
{
if (enabled)
sens.start(_syncer);
else
sens.stop();
}
catch(const rs2::wrong_api_call_sequence_error& ex)
{
ROS_DEBUG_STREAM("toggleSensors: " << ex.what());
}
}
}
void BaseRealSenseNode::setupErrorCallback()
{
for (auto&& s : _dev.query_sensors())
{
s.set_notifications_callback([&](const rs2::notification& n)
{
std::vector<std::string> error_strings({"RT IC2 Config error",
"Motion Module force pause",
"stream start failure"});
if (n.get_severity() >= RS2_LOG_SEVERITY_ERROR)
{
ROS_WARN_STREAM("Hardware Notification:" << n.get_description() << "," << n.get_timestamp() << "," << n.get_severity() << "," << n.get_category());
}
if (error_strings.end() != find_if(error_strings.begin(), error_strings.end(), [&n] (std::string err)
{return (n.get_description().find(err) != std::string::npos); }))
{
ROS_ERROR_STREAM("Hardware Reset is needed. use option: initial_reset:=true");
_dev.hardware_reset();
}
});
}
}
void BaseRealSenseNode::publishTopics()
{
getParameters();
setupDevice();
setupErrorCallback();
setupPublishers();
setupStreams();
setupFilters();
publishStaticTransforms();
ROS_INFO_STREAM("RealSense Node Is Up!");
}
bool is_checkbox(rs2::options sensor, rs2_option option)
{
rs2::option_range op_range = sensor.get_option_range(option);
return op_range.max == 1.0f &&
op_range.min == 0.0f &&
op_range.step == 1.0f;
}
bool is_enum_option(rs2::options sensor, rs2_option option)
{
rs2::option_range op_range = sensor.get_option_range(option);
if (op_range.step < 0.001f) return false;
for (auto i = op_range.min; i <= op_range.max; i += op_range.step)
{
if (sensor.get_option_value_description(option, i) == nullptr)
return false;
}
return true;
}
bool is_int_option(rs2::options sensor, rs2_option option)
{
rs2::option_range op_range = sensor.get_option_range(option);
return (op_range.step == 1.0);
}
std::map<std::string, int> get_enum_method(rs2::options sensor, rs2_option option)
{
std::map<std::string, int> dict; // An enum to set size
if (is_enum_option(sensor, option))
{
rs2::option_range op_range = sensor.get_option_range(option);
const auto op_range_min = int(op_range.min);
const auto op_range_max = int(op_range.max);
const auto op_range_step = int(op_range.step);
for (auto val = op_range_min; val <= op_range_max; val += op_range_step)
{
dict[sensor.get_option_value_description(option, val)] = val;
}
}
return dict;
}
namespace realsense2_camera
{
template <typename K, typename V>
std::ostream& operator<<(std::ostream& os, const std::map<K, V>& m)
{
os << '{';
for (const auto& kv : m)
{
os << " {" << kv.first << ": " << kv.second << '}';
}
os << " }";
return os;
}
}
/**
* Same as ros::names::isValidCharInName, but re-implemented here because it's not exposed.
*/
bool isValidCharInName(char c)
{
return std::isalnum(c) || c == '/' || c == '_';
}
/**
* ROS Graph Resource names don't allow spaces and hyphens (see http://wiki.ros.org/Names),
* so we replace them here with underscores.
*/
std::string create_graph_resource_name(const std::string &original_name)
{
std::string fixed_name = original_name;
std::transform(fixed_name.begin(), fixed_name.end(), fixed_name.begin(),
[](unsigned char c) { return std::tolower(c); });
std::replace_if(fixed_name.begin(), fixed_name.end(), [](const char c) { return !isValidCharInName(c); },
'_');
return fixed_name;
}
void BaseRealSenseNode::registerDynamicOption(ros::NodeHandle& nh, rs2::options sensor, std::string& module_name)
{
ros::NodeHandle nh1(module_name);
std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddynrec = std::make_shared<ddynamic_reconfigure::DDynamicReconfigure>(nh1);
for (auto i = 0; i < RS2_OPTION_COUNT; i++)
{
rs2_option option = static_cast<rs2_option>(i);
const std::string option_name(create_graph_resource_name(rs2_option_to_string(option)));
if (!sensor.supports(option) || sensor.is_option_read_only(option))
{
continue;
}
if (is_checkbox(sensor, option))
{
auto option_value = bool(sensor.get_option(option));
if (nh1.param(option_name, option_value, option_value))
{
sensor.set_option(option, option_value);
}
ddynrec->registerVariable<bool>(
option_name, option_value,
[option, sensor](bool new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option));
continue;
}
const auto enum_dict = get_enum_method(sensor, option);
if (enum_dict.empty())
{
rs2::option_range op_range = sensor.get_option_range(option);
const auto sensor_option_value = sensor.get_option(option);
auto option_value = sensor_option_value;
if (nh1.param(option_name, option_value, option_value))
{
if (option_value < op_range.min || op_range.max < option_value)
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option
<< " outside the range [" << op_range.min << ", " << op_range.max
<< "]. Using current sensor value " << sensor_option_value << " instead.");
option_value = sensor_option_value;
}
else
{
sensor.set_option(option, option_value);
}
}
if (is_int_option(sensor, option))
{
ddynrec->registerVariable<int>(
option_name, int(option_value),
[option, sensor](int new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), int(op_range.min), int(op_range.max));
}
else
{
if (i == RS2_OPTION_DEPTH_UNITS)
{
if (ROS_DEPTH_SCALE >= op_range.min && ROS_DEPTH_SCALE <= op_range.max)
{
sensor.set_option(option, ROS_DEPTH_SCALE);
op_range.min = ROS_DEPTH_SCALE;
op_range.max = ROS_DEPTH_SCALE;
_depth_scale_meters = ROS_DEPTH_SCALE;
}
}
else
{
ddynrec->registerVariable<double>(
option_name, option_value,
[option, sensor](double new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), double(op_range.min), double(op_range.max));
}
}
}
else
{
const auto sensor_option_value = sensor.get_option(option);
auto option_value = int(sensor_option_value);
if (nh1.param(option_name, option_value, option_value))
{
if (std::find_if(enum_dict.cbegin(), enum_dict.cend(),
[&option_value](const std::pair<std::string, int>& kv) {
return kv.second == option_value;
}) == enum_dict.cend())
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value
<< " that is not in the enum " << enum_dict
<< ". Using current sensor value " << sensor_option_value << " instead.");
option_value = sensor_option_value;
}
else
{
sensor.set_option(option, option_value);
}
}
ddynrec->registerEnumVariable<int>(
option_name, option_value,
[option, sensor](int new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), enum_dict);
}
}
ddynrec->publishServicesTopics();
_ddynrec.push_back(ddynrec);
}
void BaseRealSenseNode::registerDynamicReconfigCb(ros::NodeHandle& nh)
{
ROS_INFO("Setting Dynamic reconfig parameters.");
for(rs2::sensor sensor : _dev_sensors)
{
std::string module_name = create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME));
ROS_DEBUG_STREAM("module_name:" << module_name);
registerDynamicOption(nh, sensor, module_name);
}
for (NamedFilter nfilter : _filters)
{
std::string module_name = nfilter._name;
auto sensor = *(nfilter._filter);
ROS_DEBUG_STREAM("module_name:" << module_name);
registerDynamicOption(nh, sensor, module_name);
}
ROS_INFO("Done Setting Dynamic reconfig parameters.");
}
rs2_stream BaseRealSenseNode::rs2_string_to_stream(std::string str)
{
if (str == "RS2_STREAM_ANY")
return RS2_STREAM_ANY;
if (str == "RS2_STREAM_COLOR")
return RS2_STREAM_COLOR;
if (str == "RS2_STREAM_INFRARED")
return RS2_STREAM_INFRARED;
if (str == "RS2_STREAM_FISHEYE")
return RS2_STREAM_FISHEYE;
throw std::runtime_error("Unknown stream string " + str);
}
void BaseRealSenseNode::getParameters()
{
ROS_INFO("getParameters...");
_pnh.param("align_depth", _align_depth, ALIGN_DEPTH);
_pnh.param("enable_pointcloud", _pointcloud, POINTCLOUD);
std::string pc_texture_stream("");
int pc_texture_idx;
_pnh.param("pointcloud_texture_stream", pc_texture_stream, std::string("RS2_STREAM_COLOR"));
_pnh.param("pointcloud_texture_index", pc_texture_idx, 0);
_pointcloud_texture = stream_index_pair{rs2_string_to_stream(pc_texture_stream), pc_texture_idx};
_pnh.param("filters", _filters_str, DEFAULT_FILTERS);
_pointcloud |= (_filters_str.find("pointcloud") != std::string::npos);
_pnh.param("enable_sync", _sync_frames, SYNC_FRAMES);
if (_pointcloud || _align_depth || _filters_str.size() > 0)
_sync_frames = true;
_pnh.param("json_file_path", _json_file_path, std::string(""));
for (auto& stream : IMAGE_STREAMS)
{
std::string param_name(_stream_name[stream.first] + "_width");
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _width[stream], IMAGE_WIDTH);
param_name = _stream_name[stream.first] + "_height";
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _height[stream], IMAGE_HEIGHT);
param_name = _stream_name[stream.first] + "_fps";
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _fps[stream], IMAGE_FPS);
param_name = "enable_" + STREAM_NAME(stream);
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _enable[stream], true);
}
for (auto& stream : HID_STREAMS)
{
std::string param_name(_stream_name[stream.first] + "_fps");
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _fps[stream], IMU_FPS);
param_name = "enable_" + STREAM_NAME(stream);
_pnh.param(param_name, _enable[stream], ENABLE_IMU);
ROS_DEBUG_STREAM("_enable[" << _stream_name[stream.first] << "]:" << _enable[stream]);
}
_pnh.param("base_frame_id", _base_frame_id, DEFAULT_BASE_FRAME_ID);
_pnh.param("odom_frame_id", _odom_frame_id, DEFAULT_ODOM_FRAME_ID);
std::vector<stream_index_pair> streams(IMAGE_STREAMS);
streams.insert(streams.end(), HID_STREAMS.begin(), HID_STREAMS.end());
for (auto& stream : streams)
{
std::string param_name(static_cast<std::ostringstream&&>(std::ostringstream() << STREAM_NAME(stream) << "_frame_id").str());
_pnh.param(param_name, _frame_id[stream], FRAME_ID(stream));
ROS_DEBUG_STREAM("frame_id: reading parameter:" << param_name << " : " << _frame_id[stream]);
param_name = static_cast<std::ostringstream&&>(std::ostringstream() << STREAM_NAME(stream) << "_optical_frame_id").str();
_pnh.param(param_name, _optical_frame_id[stream], OPTICAL_FRAME_ID(stream));
ROS_DEBUG_STREAM("optical: reading parameter:" << param_name << " : " << _optical_frame_id[stream]);
}
std::string unite_imu_method_str("");
_pnh.param("unite_imu_method", unite_imu_method_str, DEFAULT_UNITE_IMU_METHOD);
if (unite_imu_method_str == "linear_interpolation")
_imu_sync_method = imu_sync_method::LINEAR_INTERPOLATION;
else if (unite_imu_method_str == "copy")
_imu_sync_method = imu_sync_method::COPY;
else
_imu_sync_method = imu_sync_method::NONE;
if (_imu_sync_method > imu_sync_method::NONE)
{
_pnh.param("imu_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_IMU_OPTICAL_FRAME_ID);
}
for (auto& stream : IMAGE_STREAMS)
{
if (stream == DEPTH) continue;
if (stream.second > 1) continue;
std::string param_name(static_cast<std::ostringstream&&>(std::ostringstream() << "aligned_depth_to_" << STREAM_NAME(stream) << "_frame_id").str());
_pnh.param(param_name, _depth_aligned_frame_id[stream], ALIGNED_DEPTH_TO_FRAME_ID(stream));
}
_pnh.param("allow_no_texture_points", _allow_no_texture_points, ALLOW_NO_TEXTURE_POINTS);
_pnh.param("clip_distance", _clipping_distance, static_cast<float>(-1.0));
_pnh.param("linear_accel_cov", _linear_accel_cov, static_cast<double>(0.01));
_pnh.param("angular_velocity_cov", _angular_velocity_cov, static_cast<double>(0.01));
_pnh.param("hold_back_imu_for_frames", _hold_back_imu_for_frames, HOLD_BACK_IMU_FOR_FRAMES);
_pnh.param("publish_odom_tf", _publish_odom_tf, PUBLISH_ODOM_TF);
}
void BaseRealSenseNode::setupDevice()
{
ROS_INFO("setupDevice...");
try{
if (!_json_file_path.empty())
{
if (_dev.is<rs400::advanced_mode>())
{
std::stringstream ss;
std::ifstream in(_json_file_path);
if (in.is_open())
{
ss << in.rdbuf();
std::string json_file_content = ss.str();
auto adv = _dev.as<rs400::advanced_mode>();
adv.load_json(json_file_content);
ROS_INFO_STREAM("JSON file is loaded! (" << _json_file_path << ")");
}
else
ROS_WARN_STREAM("JSON file provided doesn't exist! (" << _json_file_path << ")");
}
else
ROS_WARN("Device does not support advanced settings!");
}
else
ROS_INFO("JSON file is not provided");
ROS_INFO_STREAM("ROS Node Namespace: " << _namespace);
auto camera_name = _dev.get_info(RS2_CAMERA_INFO_NAME);
ROS_INFO_STREAM("Device Name: " << camera_name);
ROS_INFO_STREAM("Device Serial No: " << _serial_no);
auto fw_ver = _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION);
ROS_INFO_STREAM("Device FW version: " << fw_ver);
auto pid = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
ROS_INFO_STREAM("Device Product ID: 0x" << pid);
ROS_INFO_STREAM("Enable PointCloud: " << ((_pointcloud)?"On":"Off"));
ROS_INFO_STREAM("Align Depth: " << ((_align_depth)?"On":"Off"));
ROS_INFO_STREAM("Sync Mode: " << ((_sync_frames)?"On":"Off"));
_dev_sensors = _dev.query_sensors();
std::function<void(rs2::frame)> frame_callback_function, imu_callback_function;
if (_sync_frames)
{
frame_callback_function = _syncer;
auto frame_callback_inner = [this](rs2::frame frame){
frame_callback(frame);
};
_syncer.start(frame_callback_inner);
}
else
{
frame_callback_function = [this](rs2::frame frame){frame_callback(frame);};
}
if (_imu_sync_method == imu_sync_method::NONE)
{
imu_callback_function = [this](rs2::frame frame){imu_callback(frame);};
}
else
{
imu_callback_function = [this](rs2::frame frame){imu_callback_sync(frame, _imu_sync_method);};
}
std::function<void(rs2::frame)> multiple_message_callback_function = [this](rs2::frame frame){multiple_message_callback(frame, _imu_sync_method);};
ROS_INFO_STREAM("Device Sensors: ");
for(auto&& elem : _dev_sensors)
{
std::string module_name = elem.get_info(RS2_CAMERA_INFO_NAME);
if ("Stereo Module" == module_name)
{
_sensors[DEPTH] = elem;
_sensors[INFRA1] = elem;
_sensors[INFRA2] = elem;
_sensors_callback[module_name] = frame_callback_function;
}
else if ("Coded-Light Depth Sensor" == module_name)
{
_sensors[DEPTH] = elem;
_sensors[INFRA1] = elem;
_sensors_callback[module_name] = frame_callback_function;
}
else if ("RGB Camera" == module_name)
{
_sensors[COLOR] = elem;
_sensors_callback[module_name] = frame_callback_function;
}
else if ("Wide FOV Camera" == module_name)
{
_sensors[FISHEYE] = elem;
_sensors_callback[module_name] = frame_callback_function;
}
else if ("Motion Module" == module_name)
{
_sensors[GYRO] = elem;
_sensors[ACCEL] = elem;
_sensors_callback[module_name] = imu_callback_function;
}
else if ("Tracking Module" == module_name)
{
_sensors[GYRO] = elem;
_sensors[ACCEL] = elem;
_sensors[POSE] = elem;
_sensors[FISHEYE1] = elem;
_sensors[FISHEYE2] = elem;
_sensors_callback[module_name] = multiple_message_callback_function;
}
else
{
ROS_ERROR_STREAM("Module Name \"" << module_name << "\" isn't supported by LibRealSense! Terminating RealSense Node...");
ros::shutdown();
exit(1);
}
ROS_INFO_STREAM(std::string(elem.get_info(RS2_CAMERA_INFO_NAME)) << " was found.");
}
// Update "enable" map
for (std::pair<stream_index_pair, bool> const& enable : _enable )
{
const stream_index_pair& stream_index(enable.first);
if (enable.second && _sensors.find(stream_index) == _sensors.end())
{
ROS_INFO_STREAM("(" << rs2_stream_to_string(stream_index.first) << ", " << stream_index.second << ") sensor isn't supported by current device! -- Skipping...");
_enable[enable.first] = false;
}
}
}
catch(const std::exception& ex)
{
ROS_ERROR_STREAM("An exception has been thrown: " << ex.what());
throw;
}
catch(...)
{
ROS_ERROR_STREAM("Unknown exception has occured!");
throw;
}
}
void BaseRealSenseNode::setupPublishers()
{
ROS_INFO("setupPublishers...");
image_transport::ImageTransport image_transport(_node_handle);
for (auto& stream : IMAGE_STREAMS)
{
if (_enable[stream])
{
std::stringstream image_raw, camera_info;
bool rectified_image = false;
if (stream == DEPTH || stream == INFRA1 || stream == INFRA2)
rectified_image = true;
std::string stream_name(STREAM_NAME(stream));
image_raw << stream_name << "/image_" << ((rectified_image)?"rect_":"") << "raw";
camera_info << stream_name << "/camera_info";
std::shared_ptr<FrequencyDiagnostics> frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], stream_name, _serial_no));
_image_publishers[stream] = {image_transport.advertise(image_raw.str(), 1), frequency_diagnostics};
_info_publisher[stream] = _node_handle.advertise<sensor_msgs::CameraInfo>(camera_info.str(), 1);
if (_align_depth && (stream != DEPTH) && stream.second < 2)
{
std::stringstream aligned_image_raw, aligned_camera_info;
aligned_image_raw << "aligned_depth_to_" << stream_name << "/image_raw";
aligned_camera_info << "aligned_depth_to_" << stream_name << "/camera_info";
std::string aligned_stream_name = "aligned_depth_to_" + stream_name;
std::shared_ptr<FrequencyDiagnostics> frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], aligned_stream_name, _serial_no));
_depth_aligned_image_publishers[stream] = {image_transport.advertise(aligned_image_raw.str(), 1), frequency_diagnostics};
_depth_aligned_info_publisher[stream] = _node_handle.advertise<sensor_msgs::CameraInfo>(aligned_camera_info.str(), 1);
}
if (stream == DEPTH && _pointcloud)
{
_pointcloud_publisher = _node_handle.advertise<sensor_msgs::PointCloud2>("depth/color/points", 1);
}
}
}
_synced_imu_publisher = std::make_shared<SyncedImuPublisher>();
if (_imu_sync_method > imu_sync_method::NONE && _enable[GYRO] && _enable[ACCEL])
{
ROS_INFO("Start publisher IMU");
_synced_imu_publisher = std::make_shared<SyncedImuPublisher>(_node_handle.advertise<sensor_msgs::Imu>("imu", 1));
_synced_imu_publisher->Enable(_hold_back_imu_for_frames);
_info_publisher[GYRO] = _node_handle.advertise<IMUInfo>("imu_info", 1, true);
}
else
{
if (_enable[GYRO])
{
_imu_publishers[GYRO] = _node_handle.advertise<sensor_msgs::Imu>("gyro/sample", 100);
_info_publisher[GYRO] = _node_handle.advertise<IMUInfo>("gyro/imu_info", 1, true);
}
if (_enable[ACCEL])
{
_imu_publishers[ACCEL] = _node_handle.advertise<sensor_msgs::Imu>("accel/sample", 100);
_info_publisher[ACCEL] = _node_handle.advertise<IMUInfo>("accel/imu_info", 1, true);
}
}
if (_enable[POSE])
{
_imu_publishers[POSE] = _node_handle.advertise<nav_msgs::Odometry>("odom/sample", 100);
}
if (_enable[FISHEYE] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[FISHEYE] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_fisheye", 1, true);
}
if (_enable[COLOR] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[COLOR] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_color", 1, true);
}
if (_enable[INFRA1] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[INFRA1] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_infra1", 1, true);
}
if (_enable[INFRA2] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[INFRA2] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_infra2", 1, true);
}
}
void BaseRealSenseNode::publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t)
{
for (auto it = frames.begin(); it != frames.end(); ++it)
{
auto frame = (*it);
auto stream_type = frame.get_profile().stream_type();
if (RS2_STREAM_DEPTH == stream_type)
continue;
auto stream_index = frame.get_profile().stream_index();
if (stream_index > 1)
{
continue;
}
stream_index_pair sip{stream_type, stream_index};
auto& info_publisher = _depth_aligned_info_publisher.at(sip);
auto& image_publisher = _depth_aligned_image_publishers.at(sip);
if(0 != info_publisher.getNumSubscribers() ||
0 != image_publisher.first.getNumSubscribers())
{
std::shared_ptr<rs2::align> align;
try{
align = _align.at(stream_type);
}
catch(const std::out_of_range& e)
{
ROS_DEBUG_STREAM("Allocate align filter for:" << rs2_stream_to_string(sip.first) << sip.second);
align = (_align[stream_type] = std::make_shared<rs2::align>(stream_type));
}
rs2::frameset processed = frames.apply_filter(*align);
rs2::depth_frame aligned_depth_frame = processed.get_depth_frame();
publishFrame(aligned_depth_frame, t, sip,
_depth_aligned_image,
_depth_aligned_info_publisher,
_depth_aligned_image_publishers, _depth_aligned_seq,
_depth_aligned_camera_info, _optical_frame_id,
_depth_aligned_encoding);
}
}
}
void BaseRealSenseNode::enable_devices()
{
for (auto& elem : IMAGE_STREAMS)
{
if (_enable[elem])
{
auto& sens = _sensors[elem];
auto profiles = sens.get_stream_profiles();
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
ROS_DEBUG_STREAM("Sensor profile: " <<
"stream_type: " << rs2_stream_to_string(elem.first) << "(" << elem.second << ")" <<
"Format: " << video_profile.format() <<
", Width: " << video_profile.width() <<
", Height: " << video_profile.height() <<
", FPS: " << video_profile.fps());
if ((video_profile.stream_type() == elem.first) &&
(_width[elem] == 0 || video_profile.width() == _width[elem]) &&
(_height[elem] == 0 || video_profile.height() == _height[elem]) &&
(_fps[elem] == 0 || video_profile.fps() == _fps[elem]) &&
video_profile.stream_index() == elem.second)
{
_width[elem] = video_profile.width();
_height[elem] = video_profile.height();
_fps[elem] = video_profile.fps();
_enabled_profiles[elem].push_back(profile);
_image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0));
ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem]);
break;
}
}
if (_enabled_profiles.find(elem) == _enabled_profiles.end())
{
ROS_WARN_STREAM("Given stream configuration is not supported by the device! " <<
" Stream: " << rs2_stream_to_string(elem.first) <<
", Stream Index: " << elem.second <<
", Width: " << _width[elem] <<
", Height: " << _height[elem] <<
", FPS: " << _fps[elem]);
_enable[elem] = false;
}
}
}
if (_align_depth)
{
for (auto& profiles : _enabled_profiles)
{
_depth_aligned_image[profiles.first] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0));
_depth_scaled_image[profiles.first] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0));
}
}
// Streaming HID
for (auto& elem : HID_STREAMS)
{
if (_enable[elem])
{
auto& sens = _sensors[elem];
auto profiles = sens.get_stream_profiles();
ROS_DEBUG_STREAM("Available profiles:");
for (rs2::stream_profile& profile : profiles)
{
ROS_DEBUG_STREAM("type:" << rs2_stream_to_string(profile.stream_type()) <<
" fps: " << profile.fps() << ". format: " << profile.format());
}
for (rs2::stream_profile& profile : profiles)
{
if (profile.stream_type() == elem.first &&
(_fps[elem] == 0 || profile.fps() == _fps[elem]))
{
_fps[elem] = profile.fps();
_enabled_profiles[elem].push_back(profile);
break;
}
}
if (_enabled_profiles.find(elem) == _enabled_profiles.end())
{
std::string stream_name(STREAM_NAME(elem));
ROS_WARN_STREAM("No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]);
ROS_WARN_STREAM("profiles found for " <<stream_name << ":");
for (rs2::stream_profile& profile : profiles)
{
if (profile.stream_type() != elem.first) continue;
ROS_WARN_STREAM("fps: " << profile.fps() << ". format: " << profile.format());
}
}
}
}
}
void BaseRealSenseNode::setupFilters()
{
std::vector<std::string> filters_str;
boost::split(filters_str, _filters_str, [](char c){return c == ',';});
bool use_disparity_filter(false);
bool use_colorizer_filter(false);
bool use_decimation_filter(false);
for (std::vector<std::string>::const_iterator s_iter=filters_str.begin(); s_iter!=filters_str.end(); s_iter++)
{
if ((*s_iter) == "colorizer")
{
use_colorizer_filter = true;
}
else if ((*s_iter) == "disparity")
{
use_disparity_filter = true;
}
else if ((*s_iter) == "spatial")
{
ROS_INFO("Add Filter: spatial");
_filters.push_back(NamedFilter("spatial", std::make_shared<rs2::spatial_filter>()));
}
else if ((*s_iter) == "temporal")
{
ROS_INFO("Add Filter: temporal");
_filters.push_back(NamedFilter("temporal", std::make_shared<rs2::temporal_filter>()));
}
else if ((*s_iter) == "hole_filling")
{
ROS_INFO("Add Filter: hole_filling");
_filters.push_back(NamedFilter("hole_filling", std::make_shared<rs2::hole_filling_filter>()));
}
else if ((*s_iter) == "decimation")
{
use_decimation_filter = true;
}
else if ((*s_iter) == "pointcloud")
{
assert(_pointcloud); // For now, it is set in getParameters()..
}
else if ((*s_iter).size() > 0)
{
ROS_ERROR_STREAM("Unknown Filter: " << (*s_iter));
throw;
}
}
if (use_disparity_filter)
{
ROS_INFO("Add Filter: disparity");
_filters.insert(_filters.begin(), NamedFilter("disparity_start", std::make_shared<rs2::disparity_transform>()));
_filters.push_back(NamedFilter("disparity_end", std::make_shared<rs2::disparity_transform>(false)));
ROS_INFO("Done Add Filter: disparity");
}
if (use_decimation_filter)
{
ROS_INFO("Add Filter: decimation");
_filters.insert(_filters.begin(),NamedFilter("decimation", std::make_shared<rs2::decimation_filter>()));
}
if (use_colorizer_filter)
{
ROS_INFO("Add Filter: colorizer");
_filters.push_back(NamedFilter("colorizer", std::make_shared<rs2::colorizer>()));
// Types for depth stream
_image_format[DEPTH.first] = _image_format[COLOR.first]; // CVBridge type
_encoding[DEPTH.first] = _encoding[COLOR.first]; // ROS message type
_unit_step_size[DEPTH.first] = _unit_step_size[COLOR.first]; // sensor_msgs::ImagePtr row step size
_width[DEPTH] = _width[COLOR];
_height[DEPTH] = _height[COLOR];
_image[DEPTH] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0));
}
if (_pointcloud)
{
ROS_INFO("Add Filter: pointcloud");
_filters.push_back(NamedFilter("pointcloud", std::make_shared<rs2::pointcloud>(_pointcloud_texture.first, _pointcloud_texture.second)));
}
ROS_INFO("num_filters: %d", static_cast<int>(_filters.size()));
}
cv::Mat& BaseRealSenseNode::fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image)
{
static const auto meter_to_mm = 0.001f;
if (abs(_depth_scale_meters - meter_to_mm) < 1e-6)
{
to_image = from_image;
return to_image;
}
if (to_image.size() != from_image.size())
{
to_image.create(from_image.rows, from_image.cols, from_image.type());
}
CV_Assert(from_image.depth() == _image_format[RS2_STREAM_DEPTH]);
int nRows = from_image.rows;
int nCols = from_image.cols;
if (from_image.isContinuous())
{
nCols *= nRows;
nRows = 1;
}
int i,j;
const uint16_t* p_from;
uint16_t* p_to;
for( i = 0; i < nRows; ++i)
{
p_from = from_image.ptr<uint16_t>(i);
p_to = to_image.ptr<uint16_t>(i);
for ( j = 0; j < nCols; ++j)
{
p_to[j] = p_from[j] * _depth_scale_meters / meter_to_mm;
}
}
return to_image;
}
void BaseRealSenseNode::clip_depth(rs2::depth_frame depth_frame, float clipping_dist)
{
uint16_t* p_depth_frame = reinterpret_cast<uint16_t*>(const_cast<void*>(depth_frame.get_data()));
uint16_t clipping_value = static_cast<uint16_t>(clipping_dist / _depth_scale_meters);