-
Notifications
You must be signed in to change notification settings - Fork 400
/
openni_listener.cpp
1127 lines (1001 loc) · 49.3 KB
/
openni_listener.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/* This file is part of RGBDSLAM.
*
* RGBDSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RGBDSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
*/
#ifdef HEMACLOUDS
#define PCL_NO_PRECOMPILE
#endif
#include "parameter_server.h"
//Documentation see header file
#include "pcl/conversions.h"
#include <pcl/common/distances.h>
#include <pcl/io/io.h>
#include <pcl/io/impl/pcd_io.hpp>
//#include "pcl/common/transform.h"
#include "pcl_ros/transforms.h"
#include "openni_listener.h"
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
#include <sstream>
#include <algorithm> // std::min
#include <string>
#include <cv.h>
//#include <ctime>
#include <sensor_msgs/PointCloud2.h>
#include <Eigen/Core>
#include "node.h"
#include "misc.h"
#include "features.h"
//#include <image_geometry/pinhole_camera_model.h>
//#include "pcl/ros/for_each_type.h"
//For rosbag reading
#include <rosbag/view.h>
#include <boost/foreach.hpp>
#include "scoped_timer.h"
//for comparison with ground truth from mocap and movable cameras on robots
#include <tf/transform_listener.h>
typedef message_filters::Subscriber<sensor_msgs::Image> image_sub_type;
typedef message_filters::Subscriber<sensor_msgs::CameraInfo> cinfo_sub_type;
typedef message_filters::Subscriber<sensor_msgs::PointCloud2> pc_sub_type;
typedef message_filters::Subscriber<nav_msgs::Odometry> odom_sub_type;
///Helper for loadBag to circumvent ugly pointer mess if using tflistener
///by sending out tf messages instead of directly adding it to the "Transformer"
///base class of TransformListener
void addTFMessageDirectlyToTransformer(tf::tfMessageConstPtr msg, tf::Transformer* transformer)
{
for (size_t i = 0; i < msg->transforms.size(); i++)
{
if(msg->transforms[i].header.frame_id == "/world"
|| msg->transforms[i].header.frame_id == "/kinect")
{
continue;//HACK for non-tree tf-graph of rgbd_benchmark
}
try
{
tf::StampedTransform stTrans;
tf::transformStampedMsgToTF(msg->transforms[i], stTrans);
transformer->setTransform(stTrans);
ROS_DEBUG("Set transform from %s to %s with timestamp %20.10f",
msg->transforms[i].header.frame_id.c_str(),
msg->transforms[i].child_frame_id.c_str(),
stTrans.stamp_.toSec());
}
catch (tf::TransformException& ex)
{
ROS_ERROR("Failure to set recieved transform from %s to %s with error: %s\n", msg->transforms[i].child_frame_id.c_str(), msg->transforms[i].header.frame_id.c_str(), ex.what());
}
}
}
void OpenNIListener::visualize_images(cv::Mat visual_image, cv::Mat depth_image){
if(ParameterServer::instance()->get<bool>("visualize_mono_depth_overlay")){
cv::Mat visual_edges = cv::Mat( visual_image.rows, visual_image.cols, CV_8UC1);
cv::Mat depth_edges = cv::Mat( depth_image.rows, depth_image.cols, CV_8UC1);
overlay_edges(visual_image, depth_image, visual_edges, depth_edges);
Q_EMIT newDepthImage(cvMat2QImage(depth_image,depth_image, depth_image+visual_edges, 1)); //show registration by edge overlay
cv::Mat monochrome;
if(visual_image.type() != CV_8UC1) {
monochrome = cv::Mat( visual_image.rows, visual_image.cols, CV_8UC1);
cv::cvtColor(visual_image, monochrome, CV_RGB2GRAY);
} else {
monochrome = visual_image;
}
Q_EMIT newVisualImage(cvMat2QImage(monochrome, monochrome + depth_edges, monochrome, 0)); //visual_idx=0
} else { // No overlay
Q_EMIT newVisualImage(cvMat2QImage(visual_image, 0)); //visual_idx=0
Q_EMIT newDepthImage(cvMat2QImage(depth_image, 1));
}
}
OpenNIListener::OpenNIListener(GraphManager* graph_mgr)
: graph_mgr_(graph_mgr),
stereo_sync_(NULL), kinect_sync_(NULL), no_cloud_sync_(NULL),
visua_sub_(NULL), depth_sub_(NULL), cloud_sub_(NULL),
depth_mono8_img_(cv::Mat()),
pause_(ParameterServer::instance()->get<bool>("start_paused")),
getOneFrame_(false),
first_frame_(true),
data_id_(0),
num_processed_(0),
image_encoding_("rgb8")
{
ParameterServer* ps = ParameterServer::instance();
if(ps->get<bool>("encoding_bgr")){
image_encoding_ = "bgr8";//used in conversion to qimage. exact value does not matter, just not rgb8
}
detector_.reset(createDetector(ps->get<std::string>("feature_detector_type")));
extractor_ = createDescriptorExtractor(ps->get<std::string>("feature_extractor_type"));
setupSubscribers();
}
void OpenNIListener::setupSubscribers(){
ParameterServer* ps = ParameterServer::instance();
int q = ps->get<int>("subscriber_queue_size");
ros::NodeHandle nh;
tflistener_ = new tf::TransformListener(nh);
std::string bagfile_name = ps->get<std::string>("bagfile_name");
if(bagfile_name.empty()){
std::string visua_tpc = ps->get<std::string>("topic_image_mono");
std::string depth_tpc = ps->get<std::string>("topic_image_depth");
std::string cinfo_tpc = ps->get<std::string>("camera_info_topic");
std::string cloud_tpc = ps->get<std::string>("topic_points");
std::string widev_tpc = ps->get<std::string>("wide_topic");
std::string widec_tpc = ps->get<std::string>("wide_cloud_topic");
//All information from Kinect
if(!visua_tpc.empty() && !depth_tpc.empty() && !cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type (nh, depth_tpc, q);
cloud_sub_ = new pc_sub_type (nh, cloud_tpc, q);
kinect_sync_ = new message_filters::Synchronizer<KinectSyncPolicy>(KinectSyncPolicy(q), *visua_sub_, *depth_sub_, *cloud_sub_),
kinect_sync_->registerCallback(boost::bind(&OpenNIListener::kinectCallback, this, _1, _2, _3));
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to " << visua_tpc << ", " << depth_tpc << " and " << cloud_tpc);
}
//No cloud, but visual image and depth
else if(!visua_tpc.empty() && !depth_tpc.empty() && !cinfo_tpc.empty() && cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type(nh, depth_tpc, q);
cinfo_sub_ = new cinfo_sub_type(nh, cinfo_tpc, q);
no_cloud_sync_ = new message_filters::Synchronizer<NoCloudSyncPolicy>(NoCloudSyncPolicy(q), *visua_sub_, *depth_sub_, *cinfo_sub_);
no_cloud_sync_->registerCallback(boost::bind(&OpenNIListener::noCloudCallback, this, _1, _2, _3));
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to " << visua_tpc << " and " << depth_tpc);
}
//All information from stereo
if(!widec_tpc.empty() && !widev_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, widev_tpc, q);
cloud_sub_ = new pc_sub_type(nh, widec_tpc, q);
stereo_sync_ = new message_filters::Synchronizer<StereoSyncPolicy>(StereoSyncPolicy(q), *visua_sub_, *cloud_sub_);
stereo_sync_->registerCallback(boost::bind(&OpenNIListener::stereoCallback, this, _1, _2));
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to " << widev_tpc << " and " << widec_tpc );
}
if(ps->get<bool>("use_robot_odom")){
odom_sub_= new odom_sub_type(nh, ps->get<std::string>("odometry_tpc"), 3);
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to odometry on " << ps->get<std::string>("odometry_tpc"));
odom_sub_->registerCallback(boost::bind(&OpenNIListener::odomCallback,this,_1));
}
}
else {
ROS_WARN("RGBDSLAM loads a bagfile - therefore doesn't subscribe to topics.");
}
}
static std::vector<std::string> createTopicsVector(const std::string& visua_tpc,
const std::string& depth_tpc,
const std::string& points_tpc,
const std::string& cinfo_tpc,
const std::string& odom_tpc,
const std::string& tf_tpc)
{
// Image topics to load for bagfiles
std::vector<std::string> topics;
topics.push_back(visua_tpc);
topics.push_back(depth_tpc);
if(points_tpc.empty()){
topics.push_back(cinfo_tpc);
} else {
topics.push_back(points_tpc);
}
topics.push_back(tf_tpc);
if(ParameterServer::instance()->get<bool>("use_robot_odom")){
ROS_INFO_STREAM_NAMED("OpenNIListener", "Using odometry on topic " << odom_tpc);
topics.push_back(odom_tpc);
}
return topics;
}
void OpenNIListener::processBagfile(std::string filename,
const std::string& visua_tpc,
const std::string& depth_tpc,
const std::string& points_tpc,
const std::string& cinfo_tpc,
const std::string& odom_tpc,
const std::string& tf_tpc)
{
ROS_INFO_NAMED("OpenNIListener", "Loading Bagfile %s", filename.c_str());
Q_EMIT iamBusy(4, "Loading Bagfile", 0);
{ //bag will be destructed after this block (hopefully frees memory for the optimizer)
rosbag::Bag input_bag;
try{
input_bag.open(filename, rosbag::bagmode::Read);
} catch(rosbag::BagIOException ex) {
ROS_FATAL("Opening Bagfile %s failed: %s Quitting!", filename.c_str(), ex.what());
ros::shutdown();
return;
}
ROS_INFO_NAMED("OpenNIListener", "Opened Bagfile %s", filename.c_str());
std::vector<std::string> topics;
topics = createTopicsVector(visua_tpc, depth_tpc, points_tpc, cinfo_tpc, odom_tpc, tf_tpc);
rosbag::View view(input_bag, rosbag::TopicQuery(topics));
Q_EMIT iamBusy(4, "Processing Bagfile", view.size());
// Simulate sending of the messages in the bagfile
std::deque<sensor_msgs::Image::ConstPtr> vis_images;
std::deque<sensor_msgs::Image::ConstPtr> dep_images;
std::deque<sensor_msgs::CameraInfo::ConstPtr> cam_infos;
std::deque<sensor_msgs::PointCloud2::ConstPtr> pointclouds;
std::deque<nav_msgs::OdometryConstPtr> odometries;
//ros::Time last_tf=ros::Time(0);
ros::Time last_tf=ros::TIME_MIN;
bool tf_available = false;
int counter = 0;
BOOST_FOREACH(rosbag::MessageInstance const m, view)
{
Q_EMIT progress(4, "Processing Bagfile", counter++);
do{
usleep(10);
if(!ros::ok()) return;
} while(pause_);
ROS_INFO_NAMED("OpenNIListener", "Processing %s of type %s with timestamp %f", m.getTopic().c_str(), m.getDataType().c_str(), m.getTime().toSec());
if (m.getTopic() == odom_tpc || ("/" + m.getTopic() == odom_tpc)) {
ROS_INFO_NAMED("OpenNIListener", "Processing %s of type %s with timestamp %f", m.getTopic().c_str(), m.getDataType().c_str(), m.getTime().toSec());
nav_msgs::OdometryConstPtr odommsg = m.instantiate<nav_msgs::Odometry>();
if (odommsg) odometries.push_back(odommsg);
}
else if (m.getTopic() == visua_tpc || ("/" + m.getTopic() == visua_tpc))
{
sensor_msgs::Image::ConstPtr rgb_img = m.instantiate<sensor_msgs::Image>();
if (rgb_img) vis_images.push_back(rgb_img);
ROS_DEBUG("Found Message of %s", visua_tpc.c_str());
}
else if (m.getTopic() == depth_tpc || ("/" + m.getTopic() == depth_tpc))
{
sensor_msgs::Image::ConstPtr depth_img = m.instantiate<sensor_msgs::Image>();
//if (depth_img) depth_img_sub_->newMessage(depth_img);
if (depth_img) dep_images.push_back(depth_img);
ROS_DEBUG("Found Message of %s", depth_tpc.c_str());
}
else if (m.getTopic() == points_tpc || ("/" + m.getTopic() == points_tpc))
{
sensor_msgs::PointCloud2::ConstPtr pointcloud = m.instantiate<sensor_msgs::PointCloud2>();
//if (cam_info) cam_info_sub_->newMessage(cam_info);
if (pointcloud) pointclouds.push_back(pointcloud);
ROS_DEBUG("Found Message of %s", points_tpc.c_str());
}
else if (m.getTopic() == cinfo_tpc || ("/" + m.getTopic() == cinfo_tpc))
{
sensor_msgs::CameraInfo::ConstPtr cam_info = m.instantiate<sensor_msgs::CameraInfo>();
//if (cam_info) cam_info_sub_->newMessage(cam_info);
if (cam_info) cam_infos.push_back(cam_info);
ROS_DEBUG("Found Message of %s", cinfo_tpc.c_str());
}
else if (m.getTopic() == tf_tpc|| ("/" + m.getTopic() == tf_tpc)){
tf::tfMessage::ConstPtr tf_msg = m.instantiate<tf::tfMessage>();
if (tf_msg) {
tf_available = true;
addTFMessageDirectlyToTransformer(tf_msg, tflistener_);
last_tf = tf_msg->transforms[0].header.stamp;
last_tf -= ros::Duration(0.1);
}
}
if (last_tf == ros::TIME_MIN){//If not a valid time yet, set to something before first message's stamp
last_tf = m.getTime();
last_tf -= ros::Duration(0.1);
}
//last_tf = m.getTime();//FIXME: No TF -> no processing
while(!odometries.empty() && odometries.front()->header.stamp < last_tf){
ROS_INFO_NAMED("OpenNIListener", "Sending Odometry message");
odomCallback(odometries.front());
odometries.pop_front();
}
while(!vis_images.empty() && vis_images.front()->header.stamp < last_tf){
ROS_INFO_NAMED("OpenNIListener", "Forwarding buffered visual message from time %12f", vis_images.front()->header.stamp.toSec());
rgb_img_sub_->newMessage(vis_images.front());
vis_images.pop_front();
}
while(!dep_images.empty() && dep_images.front()->header.stamp < last_tf){
ROS_INFO_NAMED("OpenNIListener", "Forwarding buffered depth message from time %12f", dep_images.front()->header.stamp.toSec());
depth_img_sub_->newMessage(dep_images.front());
dep_images.pop_front();
}
while(!cam_infos.empty() && cam_infos.front()->header.stamp < last_tf){
ROS_INFO_NAMED("OpenNIListener", "Forwarding buffered cam info message from time %12f", cam_infos.front()->header.stamp.toSec());
cam_info_sub_->newMessage(cam_infos.front());
cam_infos.pop_front();
}
while(!pointclouds.empty() && pointclouds.front()->header.stamp < last_tf){
pc_sub_->newMessage(pointclouds.front());
pointclouds.pop_front();
}
}
ROS_WARN_NAMED("eval", "Finished processing of Bagfile");
input_bag.close();
}
}
void OpenNIListener::loadBagFakeSubscriberSetup(const std::string& visua_tpc,
const std::string& depth_tpc,
const std::string& points_tpc,
const std::string& cinfo_tpc,
const std::string& odom_tpc,
const std::string& tf_tpc)
{
int q = ParameterServer::instance()->get<int>("subscriber_queue_size");
ros::NodeHandle nh;
tf_pub_ = nh.advertise<tf::tfMessage>(tf_tpc, 10);
//All information from Kinect
if(!visua_tpc.empty() && !depth_tpc.empty() && !cinfo_tpc.empty() && points_tpc.empty())
{
// Set up fake subscribers to capture images
depth_img_sub_ = new BagSubscriber<sensor_msgs::Image>();
rgb_img_sub_ = new BagSubscriber<sensor_msgs::Image>();
cam_info_sub_ = new BagSubscriber<sensor_msgs::CameraInfo>();
no_cloud_sync_ = new message_filters::Synchronizer<NoCloudSyncPolicy>(NoCloudSyncPolicy(q), *rgb_img_sub_, *depth_img_sub_, *cam_info_sub_);
no_cloud_sync_->registerCallback(boost::bind(&OpenNIListener::noCloudCallback, this, _1, _2, _3));
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to " << visua_tpc << ", " << depth_tpc << " and " << cinfo_tpc);
}
else if(!visua_tpc.empty() && !depth_tpc.empty() && !points_tpc.empty())
{
// Set up fake subscribers to capture images
depth_img_sub_ = new BagSubscriber<sensor_msgs::Image>();
rgb_img_sub_ = new BagSubscriber<sensor_msgs::Image>();
pc_sub_ = new BagSubscriber<sensor_msgs::PointCloud2>();
kinect_sync_ = new message_filters::Synchronizer<KinectSyncPolicy>(KinectSyncPolicy(q), *rgb_img_sub_, *depth_img_sub_, *pc_sub_);
kinect_sync_->registerCallback(boost::bind(&OpenNIListener::kinectCallback, this, _1, _2, _3));
ROS_INFO_STREAM_NAMED("OpenNIListener", "Listening to " << visua_tpc << ", " << depth_tpc << " and " << points_tpc);
}
else {
ROS_ERROR("Missing required information: Topic names.");
ROS_ERROR_STREAM("Visual: " << visua_tpc);
ROS_ERROR_STREAM("Camera Info (Optional if Points given): " << cinfo_tpc);
ROS_ERROR_STREAM("Depth: " << depth_tpc);
ROS_ERROR_STREAM("Points (Optional if Cam Info given): " << points_tpc);
}
}
//! Load data from bag file
/**This function reads the sensor input from a bagfile specified in the parameter bagfile_name.
* It is meant for offline processing of each frame */
void OpenNIListener::loadBag(std::string filename)
{
ScopedTimer s(__FUNCTION__);
ParameterServer* ps = ParameterServer::instance();
bool eval_landmarks = ps->get<bool>("optimize_landmarks");
ps->set<bool>("optimize_landmarks", false);
std::string visua_tpc = ps->get<std::string>("topic_image_mono");
std::string depth_tpc = ps->get<std::string>("topic_image_depth");
std::string points_tpc = ps->get<std::string>("topic_points");
std::string cinfo_tpc = ps->get<std::string>("camera_info_topic");
std::string odom_tpc = ps->get<std::string>("odometry_tpc");
std::string tf_tpc = std::string("/tf");
loadBagFakeSubscriberSetup(visua_tpc, depth_tpc, points_tpc, cinfo_tpc, odom_tpc, tf_tpc);
processBagfile(filename, visua_tpc, depth_tpc, points_tpc, cinfo_tpc, odom_tpc, tf_tpc);
waitAndEvaluate(filename);
}
void OpenNIListener::waitAndEvaluate(const std::string& filename)
{
Q_EMIT progress(4, "Processing Bagfile", 1e6);
do{
if(!future_.isFinished()){
future_.waitForFinished(); //Wait if GraphManager ist still computing.
}
usleep(1000000); //give it a chance to receive further messages
if(!ros::ok()) return;
ROS_WARN("Waiting for processing to finish.");
} while(graph_mgr_->isBusy());
ParameterServer* ps = ParameterServer::instance();
if(ps->get<bool>("batch_processing")){
evaluation(filename);
}
if(!ps->get<bool>("use_gui")){
Q_EMIT bagFinished();
usleep(10);//10usec to allow all threads to finish (don't know how much is required)
}
}
void OpenNIListener::evaluation(std::string filename)
{
graph_mgr_->optimizeGraph(-1, true);//Non threaded call to make last "online" optimization (using "inaffected" strategy)
graph_mgr_->setOptimizerVerbose(true);
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(0));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 0);
//INITIAL POSE GRAPH OPTIMIZATION
ParameterServer::instance()->set<std::string>("pose_relative_to", std::string("first"));
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(1));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 1);
if(graph_mgr_->pruneEdgesWithErrorAbove(5) > 0){//Mahalanobis Distance
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
} else {//if nothing has changed through pruning, only do one optimization iteration to get the same log output
graph_mgr_->optimizeGraph(1, true);//Non threaded call
}
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(2));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 2);
if(graph_mgr_->pruneEdgesWithErrorAbove(1) > 0){//Mahalanobis Distance
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
} else {//if nothing has changed through pruning, only do one optimization iteration to get the same log output
graph_mgr_->optimizeGraph(1, true);//Non threaded call
}
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(3));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 3);
if(graph_mgr_->pruneEdgesWithErrorAbove(0.25) > 0){//Mahalanobis Distance
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
} else {//if nothing has changed through pruning, only do one optimization iteration to get the same log output
graph_mgr_->optimizeGraph(1, true);//Non threaded call
}
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(4));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 4);
if(ParameterServer::instance()->get<bool>("optimize_landmarks")){ //LANDMARK OPTIMIZATION
ParameterServer::instance()->set<bool>("optimize_landmarks", true);
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(3));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 3);
}
/* EmpiricalCovariances evaluation
graph_mgr_->setEmpiricalCovariances();
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_empiricalCov");
graph_mgr_->saveG2OGraph(QString(filename.c_str()) + "empiricalCov.g2o");
ROS_WARN_NAMED("eval", "Finished with optimization iteration empiricalCov.");
graph_mgr_->setEmpiricalCovariances();
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_empiricalCov2");
graph_mgr_->saveG2OGraph(QString(filename.c_str()) + "empiricalCov2.g2o");
ROS_WARN_NAMED("eval", "Finished with optimization iteration empiricalCov2.");
*/
/* OCTOMAP
if(ParameterServer::instance()->get<bool>("octomap_online_creation")){
graph_mgr_->writeOctomap(QString(filename.c_str()) + "-online.ot");
//Now recreate (to have all clouds optimally positioned
ParameterServer::instance()->set<bool>("octomap_online_creation", false);
graph_mgr_->saveOctomap(QString(filename.c_str()) + "-offline.ot", false);
}
*/
/*
if(graph_mgr_->pruneEdgesWithErrorAbove(1) > 0){//Mahalanobis Distance
graph_mgr_->optimizeGraph(-100, true);//Non threaded call
} else {//if nothing has changed through pruning, only do one optimization iteration to get the same log output
graph_mgr_->optimizeGraph(1, true);//Non threaded call
}
graph_mgr_->saveTrajectory(QString(filename.c_str()) + "iteration_" + QString::number(4));
ROS_WARN_NAMED("eval", "Finished with optimization iteration %i.", 4);
*/
/*
if(ParameterServer::instance()->get<bool>("store_pointclouds")){
graph_mgr_->saveIndividualClouds(QString(filename.c_str()), false);//not threaded
}
*/
if(!ParameterServer::instance()->get<bool>("use_gui")){
Q_EMIT bagFinished();
usleep(10);//10sec to allow all threads to finish (don't know how much is required)
}
std::cerr << "Evaluation Done\n";
}
static void calculateDepthMask(cv::Mat_<uchar>& depth_img, const pointcloud_type::Ptr point_cloud)
{
//calculate depthMask
float value;
for(unsigned int y = 0; y < depth_img.rows; y++){
for(unsigned int x = 0; x < depth_img.cols; x++){
value = point_cloud->at(x,y).z;
if(value != value){//isnan
depth_img.at<uchar>(y,x) = 0;
}else{
depth_img.at<uchar>(y,x) = static_cast<uchar>(value*50.0); //Full white at ~5 meter
}
}
}
}
void OpenNIListener::pcdCallback(const sensor_msgs::ImageConstPtr visual_img_msg,
//sensor_msgs::PointCloud2::Ptr point_cloud)
pointcloud_type::Ptr pcl_cloud)
{
ScopedTimer s(__FUNCTION__);
ROS_INFO_NAMED("OpenNIListener", "Received data from pcd file reader");
ROS_WARN_ONCE_NAMED("eval", "First RGBD-Data Received");
//pointcloud_type::Ptr pcl_cloud(new pointcloud_type());//will belong to node
//pcl::fromROSMsg(*point_cloud,*pcl_cloud);
//Get images into OpenCV format
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
cv::Mat_<uchar> depth_img(visual_img_msg->height, visual_img_msg->width);
calculateDepthMask(depth_img, pcl_cloud);
depth_mono8_img_ = depth_img;
if(ParameterServer::instance()->get<bool>("use_gui")){
Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
Q_EMIT newDepthImage (cvMat2QImage(depth_img,1));//overwrites last cvMat2QImage
}
cameraCallback(visual_img, pcl_cloud, depth_img);
}
void OpenNIListener::stereoCallback(const sensor_msgs::ImageConstPtr& visual_img_msg,
const sensor_msgs::PointCloud2ConstPtr& point_cloud)
{
ScopedTimer s(__FUNCTION__);
ROS_INFO_NAMED("OpenNIListener", "Received data from stereo cam");
ROS_WARN_ONCE_NAMED("eval", "First RGBD-Data Received");
ParameterServer* ps = ParameterServer::instance();
if(++data_id_ < ps->get<int>("skip_first_n_frames")
|| data_id_ % ps->get<int>("data_skip_step") != 0){
ROS_INFO_THROTTLE_NAMED(1, "OpenNIListener", "Skipping Frame %i because of data_skip_step setting (this msg is only shown once a sec)", data_id_);
if(ps->get<bool>("use_gui")){//Show the image, even if not using it
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
}
return;
}
//calculate depthMask
pointcloud_type::Ptr pc_col(new pointcloud_type());//will belong to node
pcl::fromROSMsg(*point_cloud,*pc_col);
cv::Mat_<uchar> depth_img(visual_img_msg->height, visual_img_msg->width);
calculateDepthMask(depth_img, pc_col);
//Get images into OpenCV format
//sensor_msgs::CvBridge bridge;
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg, "mono8")->image;
if(visual_img.rows != depth_img.rows ||
visual_img.cols != depth_img.cols ||
point_cloud->width != (uint32_t) visual_img.cols ||
point_cloud->height != (uint32_t) visual_img.rows){
ROS_ERROR("PointCloud, depth and visual image differ in size! Ignoring Data");
return;
}
cameraCallback(visual_img, pc_col, depth_img);
}
OpenNIListener::~OpenNIListener(){
delete tflistener_;
}
void OpenNIListener::noCloudCallback (const sensor_msgs::ImageConstPtr& visual_img_msg,
const sensor_msgs::ImageConstPtr& depth_img_msg,
const sensor_msgs::CameraInfoConstPtr& cam_info_msg)
{
ScopedTimer s(__FUNCTION__);
ROS_WARN_ONCE_NAMED("eval", "First RGBD-Data Received");
ROS_DEBUG("Received data from kinect");
ParameterServer* ps = ParameterServer::instance();
if(++data_id_ < ps->get<int>("skip_first_n_frames")
|| data_id_ % ps->get<int>("data_skip_step") != 0)
{
// If only a subset of frames are used, skip computations but visualize if gui is running
ROS_INFO_THROTTLE_NAMED(1, "OpenNIListener", "Skipping Frame %i because of data_skip_step setting (this msg is only shown once a sec)", data_id_);
if(ps->get<bool>("use_gui")){//Show the image, even if not using it
//cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
//if(visual_img.rows != depth_float_img.rows ||
// visual_img.cols != depth_float_img.cols){
// ROS_ERROR("depth and visual image differ in size! Ignoring Data");
// return;
//}
//depthToCV8UC1(depth_float_img, depth_mono8_img_); //float can't be visualized or used as mask in float format TODO: reprogram keypoint detector to use float values with nan to mask
//image_encoding_ = visual_img_msg->encoding;
//Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
//Q_EMIT newDepthImage (cvMat2QImage(depth_mono8_img_,1));//overwrites last cvMat2QImage
}
return;
}
//Convert images to OpenCV format
//sensor_msgs::CvBridge bridge;
//cv::Mat depth_float_img = bridge.imgMsgToCv(depth_img_msg);
//cv::Mat visual_img = bridge.imgMsgToCv(visual_img_msg);
cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;
//const cv::Mat& depth_float_img_big = cv_bridge::toCvShare(depth_img_msg)->image;
cv::Mat visual_img;
if(image_encoding_ == "bayer_grbg8"){
cv_bridge::toCvShare(visual_img_msg);
ROS_INFO_NAMED("OpenNIListener", "Converting from Bayer to RGB");
cv::cvtColor(cv_bridge::toCvCopy(visual_img_msg)->image, visual_img, CV_BayerGR2RGB, 3);
} else{
ROS_INFO_STREAM("Encoding: " << visual_img_msg->encoding);
visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
}
//const cv::Mat& visual_img_big = cv_bridge::toCvShare(visual_img_msg)->image;
//cv::Size newsize(320, 240);
//cv::Mat visual_img(newsize, visual_img_big.type()), depth_float_img(newsize, depth_float_img_big.type());
//cv::resize(visual_img_big, visual_img, newsize);
//cv::resize(depth_float_img_big, depth_float_img, newsize);
if(visual_img.rows != depth_float_img.rows ||
visual_img.cols != depth_float_img.cols){
ROS_WARN("depth and visual image differ in size! Rescaling Depth Data");
cv::resize(depth_float_img, depth_float_img, visual_img.size(), 0,0,cv::INTER_NEAREST);
//return;
}
image_encoding_ = visual_img_msg->encoding;
depthToCV8UC1(depth_float_img, depth_mono8_img_); //float can't be visualized or used as mask in float format TODO: reprogram keypoint detector to use float values with nan to mask
if(asyncFrameDrop(depth_img_msg->header.stamp, visual_img_msg->header.stamp))
return;
if(pause_ && !getOneFrame_){
if(ps->get<bool>("use_gui")){
Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
Q_EMIT newDepthImage (cvMat2QImage(depth_mono8_img_,1));//overwrites last cvMat2QImage
}
return;
}
noCloudCameraCallback(visual_img, depth_float_img, depth_mono8_img_, visual_img_msg->header, cam_info_msg);
}
void OpenNIListener::kinectCallback (const sensor_msgs::ImageConstPtr& visual_img_msg,
const sensor_msgs::ImageConstPtr& depth_img_msg,
const sensor_msgs::PointCloud2ConstPtr& point_cloud)
{
/// \callgraph
ScopedTimer s(__FUNCTION__);
ROS_DEBUG("Received data from kinect");
ROS_WARN_ONCE_NAMED("eval", "First RGBD-Data Received");
ParameterServer* ps = ParameterServer::instance();
if(++data_id_ < ps->get<int>("skip_first_n_frames")
|| data_id_ % ps->get<int>("data_skip_step") != 0)
{
// If only a subset of frames are used, skip computations but visualize if gui is running
ROS_INFO_THROTTLE_NAMED(1, "OpenNIListener", "Skipping Frame %i because of data_skip_step setting (this msg is only shown once a sec)", data_id_);
if(ps->get<bool>("use_gui")){//Show the image, even if not using it
//cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
//if(visual_img.rows != depth_float_img.rows ||
// visual_img.cols != depth_float_img.cols){
// ROS_ERROR("depth and visual image differ in size! Ignoring Data");
// return;
//}
//depthToCV8UC1(depth_float_img, depth_mono8_img_); //float can't be visualized or used as mask in float format TODO: reprogram keypoint detector to use float values with nan to mask
//image_encoding_ = visual_img_msg->encoding;
//Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
//Q_EMIT newDepthImage (cvMat2QImage(depth_mono8_img_,1));//overwrites last cvMat2QImage
}
return;
}
//Get images into OpenCV format
//sensor_msgs::CvBridge bridge;
//cv::Mat depth_float_img = bridge.imgMsgToCv(depth_img_msg);
//cv::Mat visual_img = bridge.imgMsgToCv(visual_img_msg);
cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;
cv::Mat visual_img = cv_bridge::toCvCopy(visual_img_msg)->image;
if(visual_img.rows != depth_float_img.rows ||
visual_img.cols != depth_float_img.cols ||
point_cloud->width != (uint32_t) visual_img.cols ||
point_cloud->height != (uint32_t) visual_img.rows){
ROS_ERROR("PointCloud, depth and visual image differ in size! Ignoring Data");
return;
}
image_encoding_ = visual_img_msg->encoding;
depthToCV8UC1(depth_float_img, depth_mono8_img_); //float can't be visualized or used as mask in float format TODO: reprogram keypoint detector to use float values with nan to mask
if(asyncFrameDrop(depth_img_msg->header.stamp, visual_img_msg->header.stamp))
return;
if(pause_ && !getOneFrame_){
if(ps->get<bool>("use_gui")){
Q_EMIT newVisualImage(cvMat2QImage(visual_img, 0)); //visual_idx=0
Q_EMIT newDepthImage (cvMat2QImage(depth_mono8_img_,1));//overwrites last cvMat2QImage
}
return;
}
pointcloud_type::Ptr pc_col(new pointcloud_type());//will belong to node
pcl::fromROSMsg(*point_cloud,*pc_col);
cameraCallback(visual_img, pc_col, depth_mono8_img_);
}
void OpenNIListener::cameraCallback(cv::Mat visual_img,
pointcloud_type::Ptr point_cloud,
cv::Mat depth_mono8_img)
{
ScopedTimer s(__FUNCTION__);
ROS_WARN_COND(point_cloud ==NULL, "Nullpointer for pointcloud");
if(getOneFrame_) { getOneFrame_ = false; }//if getOneFrame_ is set, unset it and skip check for pause
else if(pause_) { return; }//Visualization and nothing else
//######### Main Work: create new node ##############################################################
//Q_EMIT setGUIStatus("Computing Keypoints and Features");
Node* node_ptr = new Node(visual_img, detector_, extractor_, point_cloud, depth_mono8_img);
retrieveTransformations(pcl_conversions::fromPCL(point_cloud->header), node_ptr);
callProcessing(visual_img, node_ptr);
}
void OpenNIListener::noCloudCameraCallback(cv::Mat visual_img,
cv::Mat depth,
cv::Mat depth_mono8_img,
std_msgs::Header depth_header,
const sensor_msgs::CameraInfoConstPtr& cam_info)
{
if(getOneFrame_) { //if getOneFrame_ is set, unset it and skip check for pause
getOneFrame_ = false;
} else if(pause_) { //Visualization and nothing else
return;
}
ScopedTimer s(__FUNCTION__);
//######### Main Work: create new node ##############################################################
//Q_EMIT setGUIStatus("Computing Keypoints and Features");
Node* node_ptr = new Node(visual_img, depth, depth_mono8_img, cam_info, depth_header, detector_, extractor_);
retrieveTransformations(depth_header, node_ptr);//Retrieve the transform between the lens and the base-link at capturing time;
callProcessing(visual_img, node_ptr);
}
//Call function either regularly or as background thread
void OpenNIListener::callProcessing(cv::Mat visual_img, Node* node_ptr)
{
if(!future_.isFinished()){
ScopedTimer s("New Node is ready, waiting for graph manager.");
future_.waitForFinished(); //Wait if GraphManager ist still computing.
}
//update for visualization of the feature flow
visualization_img_ = visual_img; //No copy
visualization_depth_mono8_img_ = depth_mono8_img_;//No copy
//With this define, processNode runs in the background and after finishing visualizes the results
//Thus another Callback can be started in the meantime, to create a new node in parallel
if(ParameterServer::instance()->get<bool>("concurrent_node_construction")) {
ROS_DEBUG("Processing Node in parallel to the construction of the next node");
if(ParameterServer::instance()->get<bool>("use_gui")){
//visual_img points to the data received in the callback - which might be deallocated after the callback returns.
//This will happen before visualization if processNode is running in background, therefore the data needs to be cloned
visualization_img_ = visual_img.clone();
visualization_depth_mono8_img_ = depth_mono8_img_.clone();
visualize_images(visualization_img_, depth_mono8_img_);
}
future_ = QtConcurrent::run(this, &OpenNIListener::processNode, node_ptr);
}
else { //Non-concurrent
processNode(node_ptr);//regular function call
}
}
void OpenNIListener::processNode(Node* new_node)
{
ScopedTimer s(__FUNCTION__);
ParameterServer* ps = ParameterServer::instance();
Q_EMIT setGUIStatus("Adding Node to Graph");
bool has_been_added = graph_mgr_->addNode(new_node);
++num_processed_;
Q_EMIT setGUIInfo2(QString("Frames processed: ")+QString::number(num_processed_));
///ODOMETRY
if(has_been_added && !ps->get<std::string>("odom_frame_name").empty()){
ROS_INFO_NAMED("OpenNIListener", "Verifying Odometry Information");
ros::Time latest_odom_time;
std::string odom_frame = ps->get<std::string>("odom_frame_name");
std::string base_frame = ps->get<std::string>("base_frame_name");
std::string error_msg;
int ev = tflistener_->getLatestCommonTime(odom_frame, base_frame, latest_odom_time, &error_msg);
if(ev == tf::NO_ERROR){
graph_mgr_->addOdometry(latest_odom_time, tflistener_);
} else {
ROS_WARN_STREAM("Couldn't get time of latest tf transform between " << odom_frame << " and " << base_frame << ": " << error_msg);
}
}
//######### Visualization code #############################################
if(ParameterServer::instance()->get<bool>("use_gui")){
if(has_been_added){
cv::Mat kp_img = visualization_img_.clone();
graph_mgr_->drawFeatureFlow(visualization_img_, cv::Scalar(0,0,255), cv::Scalar(0,128,0) );
//graph_mgr_->drawFeatureFlow(depth_mono8_img_, cv::Scalar(0,0,255), cv::Scalar(0,128,0) );
Q_EMIT newFeatureFlowImage(cvMat2QImage(visualization_img_, 5)); //show registration
//Q_EMIT newDepthImage(cvMat2QImage(depth_mono8_img_, 6)); //show registration
cv::drawKeypoints(visualization_img_, new_node->feature_locations_2d_, kp_img, cv::Scalar(0,255,0), 5);
Q_EMIT newFeatureImage(cvMat2QImage(kp_img, 4)); //show registration
} else {
cv::drawKeypoints(visualization_img_, new_node->feature_locations_2d_, visualization_img_, cv::Scalar(0, 100,0), 5);
Q_EMIT newFeatureFlowImage(cvMat2QImage(visualization_img_, 2)); //show registration
}
}
if(!has_been_added) {
delete new_node;
new_node = NULL;
}
}
void OpenNIListener::togglePause(){
pause_ = !pause_;
ROS_INFO_NAMED("OpenNIListener", "Pause toggled to: %s", pause_? "true":"false");
if(pause_) Q_EMIT setGUIStatus("Processing Thread Paused");
else Q_EMIT setGUIStatus("Processing Thread Running");
}
void OpenNIListener::getOneFrame(){
getOneFrame_=true;
}
/// Create a QImage from image. The QImage stores its data in the rgba_buffers_ indexed by idx (reused/overwritten each call)
QImage OpenNIListener::cvMat2QImage(const cv::Mat& channel1, const cv::Mat& channel2, const cv::Mat& channel3, unsigned int idx)
{
if(rgba_buffers_.size() <= idx){
rgba_buffers_.resize(idx+1);
}
if(channel2.rows != channel1.rows || channel2.cols != channel1.cols ||
channel3.rows != channel1.rows || channel3.cols != channel1.cols){
ROS_ERROR("Image channels to be combined differ in size");
}
if(channel1.rows != rgba_buffers_[idx].rows || channel1.cols != rgba_buffers_[idx].cols){
ROS_DEBUG("Created new rgba_buffer with index %i", idx);
rgba_buffers_[idx] = cv::Mat( channel1.rows, channel1.cols, CV_8UC4);
//printMatrixInfo(rgba_buffers_[idx]);
}
cv::Mat mono_channel1 = channel1;
if(channel1.type() != CV_8UC1) {
mono_channel1 = cv::Mat( channel1.rows, channel1.cols, CV_8UC1);
cv::cvtColor(channel1, mono_channel1, CV_RGB2GRAY);
}
std::vector<cv::Mat> input;
cv::Mat alpha( channel1.rows, channel1.cols, CV_8UC1, cv::Scalar(255)); //TODO this could be buffered for performance
input.push_back(mono_channel1);
input.push_back(channel2);
input.push_back(channel3);
input.push_back(alpha);
cv::merge(input, rgba_buffers_[idx]);
//printMatrixInfo(rgba_buffers_[idx]);
return QImage((unsigned char *)(rgba_buffers_[idx].data),
rgba_buffers_[idx].cols, rgba_buffers_[idx].rows,
rgba_buffers_[idx].step, QImage::Format_RGB32 );
}
/// Create a QImage from image. The QImage stores its data in the rgba_buffers_ indexed by idx (reused/overwritten each call)
QImage OpenNIListener::cvMat2QImage(const cv::Mat& image, unsigned int idx)
{
ROS_DEBUG_STREAM("Converting Matrix of type " << openCVCode2String(image.type()) << " to RGBA");
if(rgba_buffers_.size() <= idx){
rgba_buffers_.resize(idx+1);
}
ROS_DEBUG_STREAM("Target Matrix is of type " << openCVCode2String(rgba_buffers_[idx].type()));
if(image.rows != rgba_buffers_[idx].rows || image.cols != rgba_buffers_[idx].cols){
ROS_DEBUG("Created new rgba_buffer with index %i", idx);
rgba_buffers_[idx] = cv::Mat( image.rows, image.cols, CV_8UC4);
//printMatrixInfo(rgba_buffers_[idx], "for QImage Buffering");
}
char red_idx = 0, green_idx = 1, blue_idx = 2;
if(image_encoding_.compare("rgb8") == 0) { red_idx = 2; blue_idx = 0; }
cv::Mat alpha( image.rows, image.cols, CV_8UC1, cv::Scalar(255)); //TODO this could be buffered for performance
cv::Mat in[] = { image, alpha };
// rgba[0] -> bgr[2], rgba[1] -> bgr[1],
// rgba[2] -> bgr[0], rgba[3] -> alpha[0]
if(image.type() == CV_8UC1){
int from_to[] = { 0,0, 0,1, 0,2, 1,3 };
mixChannels( in , 2, &rgba_buffers_[idx], 1, from_to, 4 );
} else {
int from_to[] = { red_idx,0, green_idx,1, blue_idx,2, 3,3 }; //BGR+A -> RGBA
mixChannels( in , 2, &rgba_buffers_[idx], 1, from_to, 4 );
}
//printMatrixInfo(rgba_buffers_[idx], "for QImage Buffering");
return QImage((unsigned char *)(rgba_buffers_[idx].data),
rgba_buffers_[idx].cols, rgba_buffers_[idx].rows,
rgba_buffers_[idx].step, QImage::Format_RGB32 );
}
//Retrieve the transform between the lens and the base-link at capturing time
void OpenNIListener::retrieveTransformations(std_msgs::Header depth_header, Node* node_ptr)
{
ScopedTimer s(__FUNCTION__);
ParameterServer* ps = ParameterServer::instance();
std::string base_frame = ps->get<std::string>("base_frame_name");
std::string odom_frame = ps->get<std::string>("odom_frame_name");
std::string gt_frame = ps->get<std::string>("ground_truth_frame_name");
std::string depth_frame_id = depth_header.frame_id;
ros::Time depth_time = depth_header.stamp;
tf::StampedTransform base2points;
try{
tflistener_->waitForTransform(base_frame, depth_frame_id, depth_time, ros::Duration(0.005));
tflistener_->lookupTransform(base_frame, depth_frame_id, depth_time, base2points);
base2points.stamp_ = depth_time;
}
catch (tf::TransformException ex){
ROS_WARN("%s",ex.what());
ROS_WARN("Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)");
//emulate the transformation from kinect openni_camera frame to openni_rgb_optical_frame
base2points.setRotation(tf::createQuaternionFromRPY(-1.57,0,-1.57));
base2points.setOrigin(tf::Point(0,-0.04,0));
base2points.stamp_ = depth_time;
base2points.frame_id_ = base_frame;
base2points.child_frame_id_ = depth_frame_id;
}
node_ptr->setBase2PointsTransform(base2points);
if(!gt_frame.empty()){
//Retrieve the ground truth data. For the first frame it will be
//set as origin. the rest will be used to compare
tf::StampedTransform ground_truth_transform;
try{
tflistener_->waitForTransform(gt_frame, "/openni_camera", depth_time, ros::Duration(0.005));
tflistener_->lookupTransform(gt_frame, "/openni_camera", depth_time, ground_truth_transform);
ground_truth_transform.stamp_ = depth_time;
tf::StampedTransform b2p;
//HACK to comply with Jürgen Sturm's Ground truth, though I can't manage here to get the full transform from tf
b2p.setRotation(tf::createQuaternionFromRPY(-1.57,0,-1.57));
b2p.setOrigin(tf::Point(0,-0.04,0));
ground_truth_transform *= b2p;
}
catch (tf::TransformException ex){
ROS_WARN_THROTTLE(5, "%s - Using Identity for Ground Truth (This message is throttled to 1 per 5 seconds)",ex.what());
ground_truth_transform = tf::StampedTransform(tf::Transform::getIdentity(), depth_time, "missing_ground_truth", "/openni_camera");
}
printTransform("Ground Truth", ground_truth_transform);
node_ptr->setGroundTruthTransform(ground_truth_transform);
}
if(!odom_frame.empty()){
//Retrieve the ground truth data. For the first frame it will be
//set as origin. the rest will be used to compare
tf::StampedTransform current_odom_transform;