/
MsgConversion.cpp
2957 lines (2750 loc) · 97 KB
/
MsgConversion.cpp
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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap_conversions/MsgConversion.h"
#include <opencv2/highgui/highgui.hpp>
#include <zlib.h>
#include <ros/ros.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <pcl_conversions/pcl_conversions.h>
#include <eigen_conversions/eigen_msg.h>
#include <tf_conversions/tf_eigen.h>
#include <image_geometry/pinhole_camera_model.h>
#include <image_geometry/stereo_camera_model.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <laser_geometry/laser_geometry.h>
#include <rtabmap/core/util3d_surface.h>
namespace rtabmap_conversions {
void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform)
{
if(!transform.isNull())
{
tf::transformEigenToTF(transform.toEigen3d(), tfTransform);
}
else
{
tfTransform = tf::Transform();
}
}
rtabmap::Transform transformFromTF(const tf::Transform & transform)
{
Eigen::Affine3d eigenTf;
tf::transformTFToEigen(transform, eigenTf);
return rtabmap::Transform::fromEigen3d(eigenTf);
}
void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg)
{
if(!transform.isNull())
{
tf::transformEigenToMsg(transform.toEigen3d(), msg);
// make sure the quaternion is normalized
long double recipNorm = 1.0 / sqrt(msg.rotation.x * msg.rotation.x + msg.rotation.y * msg.rotation.y + msg.rotation.z * msg.rotation.z + msg.rotation.w * msg.rotation.w);
msg.rotation.x *= recipNorm;
msg.rotation.y *= recipNorm;
msg.rotation.z *= recipNorm;
msg.rotation.w *= recipNorm;
}
else
{
msg = geometry_msgs::Transform();
}
}
rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg)
{
if(msg.rotation.w == 0 &&
msg.rotation.x == 0 &&
msg.rotation.y == 0 &&
msg.rotation.z ==0)
{
return rtabmap::Transform();
}
Eigen::Affine3d tfTransform;
tf::transformMsgToEigen(msg, tfTransform);
return rtabmap::Transform::fromEigen3d(tfTransform);
}
void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg)
{
if(!transform.isNull())
{
tf::poseEigenToMsg(transform.toEigen3d(), msg);
}
else
{
msg = geometry_msgs::Pose();
}
}
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ignoreRotationIfNotSet)
{
if(msg.orientation.w == 0 &&
msg.orientation.x == 0 &&
msg.orientation.y == 0 &&
msg.orientation.z == 0)
{
if(ignoreRotationIfNotSet)
{
return rtabmap::Transform(msg.position.x, msg.position.y, msg.position.z, 0, 0, 0);
}
return rtabmap::Transform();
}
Eigen::Affine3d tfPose;
tf::poseMsgToEigen(msg, tfPose);
return rtabmap::Transform::fromEigen3d(tfPose);
}
void toCvCopy(const rtabmap_msgs::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth)
{
if(!image.rgb.data.empty())
{
rgb = cv_bridge::toCvCopy(image.rgb);
}
else if(!image.rgb_compressed.data.empty())
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif
}
if(!image.depth.data.empty())
{
depth = cv_bridge::toCvCopy(image.depth);
}
else if(!image.depth_compressed.data.empty())
{
cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>();
ptr->header = image.depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image.depth_compressed.data);
ROS_ASSERT(ptr->image.empty() || ptr->image.type() == CV_32FC1 || ptr->image.type() == CV_16UC1);
ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr;
}
}
void toCvShare(const rtabmap_msgs::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
toCvShare(*image, image, rgb, depth);
}
void toCvShare(const rtabmap_msgs::RGBDImage & image, const boost::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth)
{
if(!image.rgb.data.empty())
{
rgb = cv_bridge::toCvShare(image.rgb, trackedObject);
}
else if(!image.rgb_compressed.data.empty())
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
rgb = cv_bridge::toCvCopy(image.rgb_compressed);
#endif
}
if(!image.depth.data.empty())
{
depth = cv_bridge::toCvShare(image.depth, trackedObject);
}
else if(!image.depth_compressed.data.empty())
{
if(image.depth_compressed.format.compare("jpg")==0)
{
#ifdef CV_BRIDGE_HYDRO
ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
#else
depth = cv_bridge::toCvCopy(image.depth_compressed);
#endif
}
else
{
cv_bridge::CvImagePtr ptr = boost::make_shared<cv_bridge::CvImage>();
ptr->header = image.depth_compressed.header;
ptr->image = rtabmap::uncompressImage(image.depth_compressed.data);
ROS_ASSERT(ptr->image.empty() || ptr->image.type() == CV_32FC1 || ptr->image.type() == CV_16UC1);
ptr->encoding = ptr->image.empty()?"":ptr->image.type() == CV_32FC1?sensor_msgs::image_encodings::TYPE_32FC1:sensor_msgs::image_encodings::TYPE_16UC1;
depth = ptr;
}
}
}
void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_msgs::RGBDImage & msg, const std::string & sensorFrameId)
{
std_msgs::Header header;
header.frame_id = sensorFrameId;
header.stamp = ros::Time(data.stamp());
rtabmap::Transform localTransform;
if(data.cameraModels().size()>1)
{
UERROR("Cannot convert multi-camera data to rgbd image");
return;
}
if(data.cameraModels().size() == 1)
{
//rgb+depth
rtabmap_conversions::cameraModelToROS(data.cameraModels().front(), msg.rgb_camera_info);
msg.rgb_camera_info.header = header;
localTransform = data.cameraModels().front().localTransform();
}
else if(data.stereoCameraModels().size() == 1)
{
//stereo
rtabmap_conversions::cameraModelToROS(data.stereoCameraModels()[0].left(), msg.rgb_camera_info);
rtabmap_conversions::cameraModelToROS(data.stereoCameraModels()[0].right(), msg.depth_camera_info);
msg.rgb_camera_info.header = header;
msg.depth_camera_info.header = header;
localTransform = data.stereoCameraModels()[0].localTransform();
}
if(!data.imageRaw().empty())
{
cv_bridge::CvImage cvImg;
cvImg.header = header;
cvImg.image = data.imageRaw();
UASSERT(data.imageRaw().type()==CV_8UC1 || data.imageRaw().type()==CV_8UC3);
cvImg.encoding = data.imageRaw().type()==CV_8UC1?sensor_msgs::image_encodings::MONO8:sensor_msgs::image_encodings::BGR8;
cvImg.toImageMsg(msg.rgb);
}
else if(!data.imageCompressed().empty())
{
ROS_ERROR("Conversion of compressed SensorData to RGBDImage is not implemented...");
}
if(!data.depthOrRightRaw().empty())
{
cv_bridge::CvImage cvDepth;
cvDepth.header = header;
cvDepth.image = data.depthOrRightRaw();
UASSERT(data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type()==CV_16UC1 || data.depthOrRightRaw().type()==CV_32FC1);
cvDepth.encoding = data.depthOrRightRaw().type()==CV_8UC1?sensor_msgs::image_encodings::MONO8:data.depthOrRightRaw().type()==CV_16UC1?sensor_msgs::image_encodings::TYPE_16UC1:sensor_msgs::image_encodings::TYPE_32FC1;
cvDepth.toImageMsg(msg.depth);
}
else if(!data.depthOrRightCompressed().empty())
{
ROS_ERROR("Conversion of compressed SensorData to RGBDImage is not implemented...");
}
//convert features
if(!data.keypoints().empty())
{
rtabmap_conversions::keypointsToROS(data.keypoints(), msg.key_points);
}
if(!data.keypoints3D().empty())
{
rtabmap_conversions::points3fToROS(data.keypoints3D(), msg.points, localTransform.inverse());
}
if(!data.descriptors().empty())
{
msg.descriptors = rtabmap::compressData(data.descriptors());
}
if(!data.globalDescriptors().empty())
{
rtabmap_conversions::globalDescriptorToROS(data.globalDescriptors().front(), msg.global_descriptor);
msg.global_descriptor.header = header;
}
}
rtabmap::SensorData rgbdImageFromROS(const rtabmap_msgs::RGBDImageConstPtr & image)
{
rtabmap::SensorData data;
cv_bridge::CvImageConstPtr imageMsg;
cv_bridge::CvImageConstPtr depthMsg;
toCvShare(image, imageMsg, depthMsg);
rtabmap::StereoCameraModel stereoModel = stereoCameraModelFromROS(image->rgb_camera_info, image->depth_camera_info, rtabmap::Transform::getIdentity());
if(stereoModel.isValidForProjection())
{
cv_bridge::CvImageConstPtr imageRectLeft = imageMsg;
cv_bridge::CvImageConstPtr imageRectRight = depthMsg;
if(!(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
!(imageRectRight->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are %s (left) and %s (right)",
imageRectLeft->encoding.c_str(), imageRectRight->encoding.c_str());
return data;
}
if(!imageRectLeft->image.empty() && !imageRectRight->image.empty())
{
if(stereoModel.baseline() > 10.0)
{
static bool shown = false;
if(!shown)
{
ROS_WARN("Detected baseline (%f m) is quite large! Is your "
"right camera_info P(0,3) correctly set? Note that "
"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
stereoModel.baseline());
shown = true;
}
}
cv::Mat left, right;
if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0)
{
left = imageRectLeft->image;
}
else if(imageRectLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
left = cv_bridge::cvtColor(imageRectLeft, "mono8")->image;
}
else
{
left = cv_bridge::cvtColor(imageRectLeft, "bgr8")->image;
}
if(imageRectRight->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
imageRectRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0)
{
right = imageRectRight->image;
}
else
{
right = cv_bridge::cvtColor(imageRectRight, "mono8")->image;
}
//
data = rtabmap::SensorData(
left,
right,
stereoModel,
0,
rtabmap_conversions::timestampFromROS(image->header.stamp));
}
else
{
ROS_WARN("Odom: input images empty?!?");
}
}
else //depth
{
ros::Time higherStamp;
int imageWidth = imageMsg->image.cols;
int imageHeight = imageMsg->image.rows;
int depthWidth = depthMsg->image.cols;
int depthHeight = depthMsg->image.rows;
UASSERT_MSG(
imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
cv::Mat rgb;
cv::Mat depth;
rtabmap::CameraModel cameraModels;
if(!(imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0) ||
!(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
imageMsg->encoding.c_str(),
depthMsg->encoding.c_str());
return data;
}
cv_bridge::CvImageConstPtr ptrImage = imageMsg;
if(imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0)
{
// do nothing
}
else if(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::cvtColor(imageMsg, "mono8");
}
else
{
ptrImage = cv_bridge::cvtColor(imageMsg, "bgr8");
}
cv_bridge::CvImageConstPtr ptrDepth = depthMsg;
data = rtabmap::SensorData(
ptrImage->image,
ptrDepth->image,
rtabmap_conversions::cameraModelFromROS(image->rgb_camera_info),
0,
rtabmap_conversions::timestampFromROS(image->header.stamp));
}
return data;
}
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes)
{
UASSERT(compressed.empty() || compressed.type() == CV_8UC1);
bytes.clear();
if(!compressed.empty())
{
bytes.resize(compressed.cols * compressed.rows);
memcpy(bytes.data(), compressed.data, bytes.size());
}
}
cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy)
{
cv::Mat out;
if(bytes.size())
{
out = cv::Mat(1, bytes.size(), CV_8UC1, (void*)bytes.data());
if(copy)
{
out = out.clone();
}
}
return out;
}
void infoFromROS(const rtabmap_msgs::Info & info, rtabmap::Statistics & stat)
{
stat.setExtended(true); // Extended
// rtabmap_msgs::Info
stat.setRefImageId(info.refId);
stat.setLoopClosureId(info.loopClosureId);
stat.setProximityDetectionId(info.proximityDetectionId);
stat.setStamp(info.header.stamp.toSec());
stat.setLoopClosureTransform(rtabmap_conversions::transformFromGeometryMsg(info.loopClosureTransform));
//wmState
stat.setWmState(info.wmState);
//Posterior, likelihood, childCount
std::map<int, float> mapIntFloat;
for(unsigned int i=0; i<info.posteriorKeys.size() && i<info.posteriorValues.size(); ++i)
{
mapIntFloat.insert(std::pair<int, float>(info.posteriorKeys.at(i), info.posteriorValues.at(i)));
}
stat.setPosterior(mapIntFloat);
mapIntFloat.clear();
for(unsigned int i=0; i<info.likelihoodKeys.size() && i<info.likelihoodValues.size(); ++i)
{
mapIntFloat.insert(std::pair<int, float>(info.likelihoodKeys.at(i), info.likelihoodValues.at(i)));
}
stat.setLikelihood(mapIntFloat);
mapIntFloat.clear();
for(unsigned int i=0; i<info.rawLikelihoodKeys.size() && i<info.rawLikelihoodValues.size(); ++i)
{
mapIntFloat.insert(std::pair<int, float>(info.rawLikelihoodKeys.at(i), info.rawLikelihoodValues.at(i)));
}
stat.setRawLikelihood(mapIntFloat);
std::map<int, int> mapIntInt;
for(unsigned int i=0; i<info.weightsKeys.size() && i<info.weightsValues.size(); ++i)
{
mapIntInt.insert(std::pair<int, int>(info.weightsKeys.at(i), info.weightsValues.at(i)));
}
stat.setWeights(mapIntInt);
std::map<int, std::string> mapIntStr;
for(unsigned int i=0; i<info.labelsKeys.size() && i<info.labelsValues.size(); ++i)
{
mapIntStr.insert(std::pair<int, std::string>(info.labelsKeys.at(i), info.labelsValues.at(i)));
}
stat.setLabels(mapIntStr);
stat.setLocalPath(info.localPath);
stat.setCurrentGoalId(info.currentGoalId);
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> constraints;
rtabmap::Transform t;
mapGraphFromROS(info.odom_cache, poses, constraints, t);
stat.setOdomCachePoses(poses);
stat.setOdomCacheConstraints(constraints);
// Statistics data
for(unsigned int i=0; i<info.statsKeys.size() && i<info.statsValues.size(); i++)
{
stat.addStatistic(info.statsKeys.at(i), info.statsValues.at(i));
}
}
void infoToROS(const rtabmap::Statistics & stats, rtabmap_msgs::Info & info)
{
info.refId = stats.refImageId();
info.loopClosureId = stats.loopClosureId();
info.proximityDetectionId = stats.proximityDetectionId();
info.landmarkId = static_cast<int>(uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f));
rtabmap_conversions::transformToGeometryMsg(stats.loopClosureTransform(), info.loopClosureTransform);
// Detailed info
if(stats.extended())
{
//wmState
info.wmState = stats.wmState();
//Posterior, likelihood, childCount
info.posteriorKeys = uKeys(stats.posterior());
info.posteriorValues = uValues(stats.posterior());
info.likelihoodKeys = uKeys(stats.likelihood());
info.likelihoodValues = uValues(stats.likelihood());
info.rawLikelihoodKeys = uKeys(stats.rawLikelihood());
info.rawLikelihoodValues = uValues(stats.rawLikelihood());
info.weightsKeys = uKeys(stats.weights());
info.weightsValues = uValues(stats.weights());
info.labelsKeys = uKeys(stats.labels());
info.labelsValues = uValues(stats.labels());
info.localPath = stats.localPath();
info.currentGoalId = stats.currentGoalId();
mapGraphToROS(stats.odomCachePoses(), stats.odomCacheConstraints(), stats.mapCorrection(), info.odom_cache);
// Statistics data
info.statsKeys = uKeys(stats.data());
info.statsValues = uValues(stats.data());
}
}
rtabmap::Link linkFromROS(const rtabmap_msgs::Link & msg)
{
cv::Mat information = cv::Mat(6,6,CV_64FC1, (void*)msg.information.data()).clone();
return rtabmap::Link(msg.fromId, msg.toId, (rtabmap::Link::Type)msg.type, transformFromGeometryMsg(msg.transform), information);
}
void linkToROS(const rtabmap::Link & link, rtabmap_msgs::Link & msg)
{
msg.fromId = link.from();
msg.toId = link.to();
msg.type = link.type();
if(link.infMatrix().type() == CV_64FC1 && link.infMatrix().cols == 6 && link.infMatrix().rows == 6)
{
memcpy(msg.information.data(), link.infMatrix().data, 36*sizeof(double));
}
transformToGeometryMsg(link.transform(), msg.transform);
}
cv::KeyPoint keypointFromROS(const rtabmap_msgs::KeyPoint & msg)
{
return cv::KeyPoint(msg.pt.x, msg.pt.y, msg.size, msg.angle, msg.response, msg.octave, msg.class_id);
}
void keypointToROS(const cv::KeyPoint & kpt, rtabmap_msgs::KeyPoint & msg)
{
msg.angle = kpt.angle;
msg.class_id = kpt.class_id;
msg.octave = kpt.octave;
msg.pt.x = kpt.pt.x;
msg.pt.y = kpt.pt.y;
msg.response = kpt.response;
msg.size = kpt.size;
}
std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_msgs::KeyPoint> & msg)
{
std::vector<cv::KeyPoint> v(msg.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
v[i] = keypointFromROS(msg[i]);
}
return v;
}
void keypointsFromROS(const std::vector<rtabmap_msgs::KeyPoint> & msg, std::vector<cv::KeyPoint> & kpts, int xShift)
{
size_t outCurrentIndex = kpts.size();
kpts.resize(kpts.size()+msg.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
kpts[outCurrentIndex+i] = keypointFromROS(msg[i]);
kpts[outCurrentIndex+i].pt.x += xShift;
}
}
void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_msgs::KeyPoint> & msg)
{
msg.resize(kpts.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
keypointToROS(kpts[i], msg[i]);
}
}
rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_msgs::GlobalDescriptor & msg)
{
return rtabmap::GlobalDescriptor(msg.type, rtabmap::uncompressData(msg.data), rtabmap::uncompressData(msg.info));
}
void globalDescriptorToROS(const rtabmap::GlobalDescriptor & desc, rtabmap_msgs::GlobalDescriptor & msg)
{
msg.type = desc.type();
msg.info = rtabmap::compressData(desc.info());
msg.data = rtabmap::compressData(desc.data());
}
std::vector<rtabmap::GlobalDescriptor> globalDescriptorsFromROS(const std::vector<rtabmap_msgs::GlobalDescriptor> & msg)
{
if(!msg.empty())
{
std::vector<rtabmap::GlobalDescriptor> v(msg.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
v[i] = globalDescriptorFromROS(msg[i]);
}
return v;
}
return std::vector<rtabmap::GlobalDescriptor>();
}
void globalDescriptorsToROS(const std::vector<rtabmap::GlobalDescriptor> & desc, std::vector<rtabmap_msgs::GlobalDescriptor> & msg)
{
msg.clear();
if(!desc.empty())
{
msg.resize(desc.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
globalDescriptorToROS(desc[i], msg[i]);
}
}
}
rtabmap::EnvSensor envSensorFromROS(const rtabmap_msgs::EnvSensor & msg)
{
return rtabmap::EnvSensor((rtabmap::EnvSensor::Type)msg.type, msg.value, timestampFromROS(msg.header.stamp));
}
void envSensorToROS(const rtabmap::EnvSensor & sensor, rtabmap_msgs::EnvSensor & msg)
{
msg.type = sensor.type();
msg.value = sensor.value();
msg.header.stamp = ros::Time(sensor.stamp());
}
rtabmap::EnvSensors envSensorsFromROS(const std::vector<rtabmap_msgs::EnvSensor> & msg)
{
rtabmap::EnvSensors v;
if(!msg.empty())
{
for(unsigned int i=0; i<msg.size(); ++i)
{
rtabmap::EnvSensor s = envSensorFromROS(msg[i]);
v.insert(std::make_pair(s.type(), envSensorFromROS(msg[i])));
}
}
return v;
}
void envSensorsToROS(const rtabmap::EnvSensors & sensors, std::vector<rtabmap_msgs::EnvSensor> & msg)
{
msg.clear();
if(!sensors.empty())
{
msg.resize(sensors.size());
int i=0;
for(rtabmap::EnvSensors::const_iterator iter=sensors.begin(); iter!=sensors.end(); ++iter)
{
envSensorToROS(iter->second, msg[i++]);
}
}
}
cv::Point2f point2fFromROS(const rtabmap_msgs::Point2f & msg)
{
return cv::Point2f(msg.x, msg.y);
}
void point2fToROS(const cv::Point2f & kpt, rtabmap_msgs::Point2f & msg)
{
msg.x = kpt.x;
msg.y = kpt.y;
}
std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_msgs::Point2f> & msg)
{
std::vector<cv::Point2f> v(msg.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
v[i] = point2fFromROS(msg[i]);
}
return v;
}
void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_msgs::Point2f> & msg)
{
msg.resize(kpts.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
point2fToROS(kpts[i], msg[i]);
}
}
cv::Point3f point3fFromROS(const rtabmap_msgs::Point3f & msg)
{
return cv::Point3f(msg.x, msg.y, msg.z);
}
void point3fToROS(const cv::Point3f & pt, rtabmap_msgs::Point3f & msg)
{
msg.x = pt.x;
msg.y = pt.y;
msg.z = pt.z;
}
std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_msgs::Point3f> & msg, const rtabmap::Transform & transform)
{
bool transformPoints = !transform.isNull() && !transform.isIdentity();
std::vector<cv::Point3f> v(msg.size());
for(unsigned int i=0; i<msg.size(); ++i)
{
v[i] = point3fFromROS(msg[i]);
if(transformPoints)
{
v[i] = rtabmap::util3d::transformPoint(v[i], transform);
}
}
return v;
}
void points3fFromROS(const std::vector<rtabmap_msgs::Point3f> & msg, std::vector<cv::Point3f> & points3, const rtabmap::Transform & transform)
{
size_t currentIndex = points3.size();
points3.resize(points3.size()+msg.size());
bool transformPoint = !transform.isNull() && !transform.isIdentity();
for(unsigned int i=0; i<msg.size(); ++i)
{
points3[currentIndex+i] = point3fFromROS(msg[i]);
if(transformPoint)
{
points3[currentIndex+i] = rtabmap::util3d::transformPoint(points3[currentIndex+i], transform);
}
}
}
void points3fToROS(const std::vector<cv::Point3f> & pts, std::vector<rtabmap_msgs::Point3f> & msg, const rtabmap::Transform & transform)
{
msg.resize(pts.size());
bool transformPoints = !transform.isNull() && !transform.isIdentity();
for(unsigned int i=0; i<msg.size(); ++i)
{
if(transformPoints)
{
cv::Point3f pt = rtabmap::util3d::transformPoint(pts[i], transform);
point3fToROS(pt, msg[i]);
}
else
{
point3fToROS(pts[i], msg[i]);
}
}
}
rtabmap::CameraModel cameraModelFromROS(
const sensor_msgs::CameraInfo & camInfo,
const rtabmap::Transform & localTransform)
{
cv:: Mat K;
UASSERT(camInfo.K.empty() || camInfo.K.size() == 9);
if(!camInfo.K.empty())
{
K = cv::Mat(3, 3, CV_64FC1);
memcpy(K.data, camInfo.K.elems, 9*sizeof(double));
}
cv::Mat D;
if(camInfo.D.size())
{
if(camInfo.D.size()>=4 &&
(uStrContains(camInfo.distortion_model, "fisheye") ||
uStrContains(camInfo.distortion_model, "equidistant") ||
uStrContains(camInfo.distortion_model, "Kannala Brandt4")))
{
D = cv::Mat::zeros(1, 6, CV_64FC1);
D.at<double>(0,0) = camInfo.D[0];
D.at<double>(0,1) = camInfo.D[1];
D.at<double>(0,4) = camInfo.D[2];
D.at<double>(0,5) = camInfo.D[3];
}
else if(camInfo.D.size()>8)
{
bool zerosAfter8 = true;
for(size_t i=8; i<camInfo.D.size() && zerosAfter8; ++i)
{
if(camInfo.D[i] != 0.0)
{
zerosAfter8 = false;
}
}
static bool warned = false;
if(!zerosAfter8 && !warned)
{
ROS_WARN("Camera info conversion: Distortion model is larger than 8, coefficients after 8 are ignored. This message is only shown once.");
warned = true;
}
D = cv::Mat(1, 8, CV_64FC1);
memcpy(D.data, camInfo.D.data(), D.cols*sizeof(double));
}
else
{
D = cv::Mat(1, camInfo.D.size(), CV_64FC1);
memcpy(D.data, camInfo.D.data(), D.cols*sizeof(double));
}
}
cv:: Mat R;
UASSERT(camInfo.R.empty() || camInfo.R.size() == 9);
if(!camInfo.R.empty())
{
R = cv::Mat(3, 3, CV_64FC1);
memcpy(R.data, camInfo.R.elems, 9*sizeof(double));
}
cv:: Mat P;
UASSERT(camInfo.P.empty() || camInfo.P.size() == 12);
if(!camInfo.P.empty())
{
P = cv::Mat(3, 4, CV_64FC1);
memcpy(P.data, camInfo.P.elems, 12*sizeof(double));
}
return rtabmap::CameraModel(
"ros",
cv::Size(camInfo.width, camInfo.height),
K, D, R, P,
localTransform);
}
void cameraModelToROS(
const rtabmap::CameraModel & model,
sensor_msgs::CameraInfo & camInfo)
{
UASSERT(model.K_raw().empty() || model.K_raw().total() == 9);
if(model.K_raw().empty())
{
memset(camInfo.K.elems, 0.0, 9*sizeof(double));
}
else
{
memcpy(camInfo.K.elems, model.K_raw().data, 9*sizeof(double));
}
if(model.D_raw().total() == 6)
{
camInfo.D = std::vector<double>(4);
camInfo.D[0] = model.D_raw().at<double>(0,0);
camInfo.D[1] = model.D_raw().at<double>(0,1);
camInfo.D[2] = model.D_raw().at<double>(0,4);
camInfo.D[3] = model.D_raw().at<double>(0,5);
camInfo.distortion_model = "equidistant"; // fisheye
}
else
{
camInfo.D = std::vector<double>(model.D_raw().cols);
memcpy(camInfo.D.data(), model.D_raw().data, model.D_raw().cols*sizeof(double));
if(camInfo.D.size() > 5)
{
camInfo.distortion_model = "rational_polynomial";
}
else
{
camInfo.distortion_model = "plumb_bob";
}
}
UASSERT(model.R().empty() || model.R().total() == 9);
if(model.R().empty())
{
memset(camInfo.R.elems, 0.0, 9*sizeof(double));
}
else
{
memcpy(camInfo.R.elems, model.R().data, 9*sizeof(double));
}
UASSERT(model.P().empty() || model.P().total() == 12);
if(model.P().empty())
{
memset(camInfo.P.elems, 0.0, 12*sizeof(double));
}
else
{
memcpy(camInfo.P.elems, model.P().data, 12*sizeof(double));
}
camInfo.binning_x = 1;
camInfo.binning_y = 1;
camInfo.roi.width = model.imageWidth();
camInfo.roi.height = model.imageHeight();
camInfo.width = model.imageWidth();
camInfo.height = model.imageHeight();
}
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const rtabmap::Transform & localTransform,
const rtabmap::Transform & stereoTransform)
{
return rtabmap::StereoCameraModel(
"ros",
cameraModelFromROS(leftCamInfo, localTransform),
cameraModelFromROS(rightCamInfo, localTransform),
stereoTransform);
}
rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const std::string & frameId,
tf::TransformListener & listener,
double waitForTransform)
{
rtabmap::Transform localTransform = getTransform(
frameId,
leftCamInfo.header.frame_id,
leftCamInfo.header.stamp,
listener,
waitForTransform);
if(localTransform.isNull())
{
return rtabmap::StereoCameraModel();
}
rtabmap::Transform stereoTransform = getTransform(
leftCamInfo.header.frame_id,
rightCamInfo.header.frame_id,
leftCamInfo.header.stamp,
listener,
waitForTransform);
if(stereoTransform.isNull())
{
return rtabmap::StereoCameraModel();
}
return stereoCameraModelFromROS(leftCamInfo, rightCamInfo, localTransform, stereoTransform);
}
void mapDataFromROS(
const rtabmap_msgs::MapData & msg,
std::map<int, rtabmap::Transform> & poses,
std::multimap<int, rtabmap::Link> & links,
std::map<int, rtabmap::Signature> & signatures,
rtabmap::Transform & mapToOdom)
{
//optimized graph
mapGraphFromROS(msg.graph, poses, links, mapToOdom);
//Data
for(unsigned int i=0; i<msg.nodes.size(); ++i)
{
signatures.insert(std::make_pair(msg.nodes[i].id, nodeDataFromROS(msg.nodes[i])));
}
}
void mapDataToROS(
const std::map<int, rtabmap::Transform> & poses,
const std::multimap<int, rtabmap::Link> & links,
const std::map<int, rtabmap::Signature> & signatures,
const rtabmap::Transform & mapToOdom,
rtabmap_msgs::MapData & msg)
{
//Optimized graph