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base_realsense_node.cpp
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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 <mutex>
#include <sys/time.h>
using namespace realsense2_camera;
using namespace ddynamic_reconfigure;
SyncedImuPublisher::SyncedImuPublisher(ros::Publisher imu_publisher, std::size_t waiting_list_size):
_publisher(imu_publisher),
_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 (_pendeing_messages.size() >= _waiting_list_size)
{
throw std::runtime_error("SyncedImuPublisher inner list reached maximum size of " + std::to_string(_pendeing_messages.size()));
}
_pendeing_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: " << _pendeing_messages.size());
while (!_pendeing_messages.empty())
{
const sensor_msgs::Imu &imu_msg = _pendeing_messages.front();
_publisher.publish(imu_msg);
// ROS_INFO_STREAM("iid2:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec());
_pendeing_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) :
_dev(dev), _node_handle(nodeHandle),
_pnh(privateNodeHandle), _json_file_path(""),
_serial_no(serial_no), _base_frame_id(""),
_intialize_time_base(false),
_namespace(getNamespaceStr())
{
// Types for depth stream
_is_frame_arrived[DEPTH] = false;
_format[DEPTH] = RS2_FORMAT_Z16; // libRS type
_image_format[DEPTH] = CV_16UC1; // CVBridge type
_encoding[DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type
_unit_step_size[DEPTH] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size
_stream_name[DEPTH] = "depth";
_depth_aligned_encoding[DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
// Infrared stream - Left
_is_frame_arrived[INFRA1] = false;
_format[INFRA1] = RS2_FORMAT_Y8; // libRS type
_image_format[INFRA1] = CV_8UC1; // CVBridge type
_encoding[INFRA1] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type
_unit_step_size[INFRA1] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[INFRA1] = "infra1";
_depth_aligned_encoding[INFRA1] = sensor_msgs::image_encodings::TYPE_16UC1;
// Infrared stream - Right
_is_frame_arrived[INFRA2] = false;
_format[INFRA2] = RS2_FORMAT_Y8; // libRS type
_image_format[INFRA2] = CV_8UC1; // CVBridge type
_encoding[INFRA2] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type
_unit_step_size[INFRA2] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[INFRA2] = "infra2";
_depth_aligned_encoding[INFRA2] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for color stream
_is_frame_arrived[COLOR] = false;
_format[COLOR] = RS2_FORMAT_RGB8; // libRS type
_image_format[COLOR] = CV_8UC3; // CVBridge type
_encoding[COLOR] = sensor_msgs::image_encodings::RGB8; // ROS message type
_unit_step_size[COLOR] = 3; // sensor_msgs::ImagePtr row step size
_stream_name[COLOR] = "color";
_depth_aligned_encoding[COLOR] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for fisheye stream
_is_frame_arrived[FISHEYE] = false;
_format[FISHEYE] = RS2_FORMAT_RAW8; // libRS type
_image_format[FISHEYE] = CV_8UC1; // CVBridge type
_encoding[FISHEYE] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type
_unit_step_size[FISHEYE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[FISHEYE] = "fisheye";
_depth_aligned_encoding[FISHEYE] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for Motion-Module streams
_is_frame_arrived[GYRO] = false;
_format[GYRO] = RS2_FORMAT_MOTION_XYZ32F; // libRS type
_image_format[GYRO] = CV_8UC1; // CVBridge type
_encoding[GYRO] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type
_unit_step_size[GYRO] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[GYRO] = "gyro";
_is_frame_arrived[ACCEL] = false;
_format[ACCEL] = RS2_FORMAT_MOTION_XYZ32F; // libRS type
_image_format[ACCEL] = CV_8UC1; // CVBridge type
_encoding[ACCEL] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type
_unit_step_size[ACCEL] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[ACCEL] = "accel";
}
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::publishTopics()
{
getParameters();
setupDevice();
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);
for (auto val = op_range.min; val <= op_range.max; val += op_range.step)
{
dict[sensor.get_option_value_description(option, val)] = int(val);
}
}
return dict;
}
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);
if (!sensor.supports(option) || sensor.is_option_read_only(option))
{
continue;
}
if (is_checkbox(sensor, option))
{
ddynrec->add(new DDBool(rs2_option_to_string(option), i, sensor.get_option_description(option), bool(sensor.get_option(option))));
continue;
}
std::map<std::string, int> enum_dict = get_enum_method(sensor, option);
if (enum_dict.empty())
{
rs2::option_range op_range = sensor.get_option_range(option);
if (is_int_option(sensor, option))
{
ddynrec->add(new DDInt(rs2_option_to_string(option), i, sensor.get_option_description(option), sensor.get_option(option), op_range.min, op_range.max));
}
else
{
ddynrec->add(new DDDouble(rs2_option_to_string(option), i, sensor.get_option_description(option), sensor.get_option(option), op_range.min, op_range.max));
}
}
else
{
ROS_DEBUG_STREAM("Add enum: " << rs2_option_to_string(option) << ". value=" << int(sensor.get_option(option)));
ddynrec->add(new DDEnum(rs2_option_to_string(option), i, sensor.get_option_description(option), int(sensor.get_option(option)), enum_dict));
}
}
ddynrec->start(boost::bind(callback, _1, _2, sensor));
_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 = sensor.get_info(RS2_CAMERA_INFO_NAME);
std::replace( module_name.begin(), module_name.end(), '-', '_');
std::replace( module_name.begin(), module_name.end(), ' ', '_'); // replace all ' ' to '_'
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.");
}
void BaseRealSenseNode::callback(const ddynamic_reconfigure::DDMap& map, int level, rs2::options sensor) {
rs2_option option = static_cast<rs2_option>(level);
double value = get(map, rs2_option_to_string(option)).toDouble();
ROS_DEBUG_STREAM("option: " << rs2_option_to_string(option) << ". value: " << value);
sensor.set_option(option, value);
}
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(""));
_pnh.param("depth_width", _width[DEPTH], DEPTH_WIDTH);
_pnh.param("depth_height", _height[DEPTH], DEPTH_HEIGHT);
_pnh.param("depth_fps", _fps[DEPTH], DEPTH_FPS);
_pnh.param("enable_depth", _enable[DEPTH], ENABLE_DEPTH);
_pnh.param("infra1_width", _width[INFRA1], INFRA1_WIDTH);
_pnh.param("infra1_height", _height[INFRA1], INFRA1_HEIGHT);
_pnh.param("infra1_fps", _fps[INFRA1], INFRA1_FPS);
_pnh.param("enable_infra1", _enable[INFRA1], ENABLE_INFRA1);
_pnh.param("infra2_width", _width[INFRA2], INFRA2_WIDTH);
_pnh.param("infra2_height", _height[INFRA2], INFRA2_HEIGHT);
_pnh.param("infra2_fps", _fps[INFRA2], INFRA2_FPS);
_pnh.param("enable_infra2", _enable[INFRA2], ENABLE_INFRA2);
_pnh.param("color_width", _width[COLOR], COLOR_WIDTH);
_pnh.param("color_height", _height[COLOR], COLOR_HEIGHT);
_pnh.param("color_fps", _fps[COLOR], COLOR_FPS);
_pnh.param("enable_color", _enable[COLOR], ENABLE_COLOR);
_pnh.param("fisheye_width", _width[FISHEYE], FISHEYE_WIDTH);
_pnh.param("fisheye_height", _height[FISHEYE], FISHEYE_HEIGHT);
_pnh.param("fisheye_fps", _fps[FISHEYE], FISHEYE_FPS);
_pnh.param("enable_fisheye", _enable[FISHEYE], ENABLE_FISHEYE);
_pnh.param("gyro_fps", _fps[GYRO], GYRO_FPS);
_pnh.param("accel_fps", _fps[ACCEL], ACCEL_FPS);
_pnh.param("enable_imu", _enable[GYRO], ENABLE_IMU);
_pnh.param("enable_imu", _enable[ACCEL], ENABLE_IMU);
_pnh.param("unite_imu", _unite_imu, UNITE_IMU);
_pnh.param("base_frame_id", _base_frame_id, DEFAULT_BASE_FRAME_ID);
_pnh.param("depth_frame_id", _frame_id[DEPTH], DEFAULT_DEPTH_FRAME_ID);
_pnh.param("infra1_frame_id", _frame_id[INFRA1], DEFAULT_INFRA1_FRAME_ID);
_pnh.param("infra2_frame_id", _frame_id[INFRA2], DEFAULT_INFRA2_FRAME_ID);
_pnh.param("color_frame_id", _frame_id[COLOR], DEFAULT_COLOR_FRAME_ID);
_pnh.param("fisheye_frame_id", _frame_id[FISHEYE], DEFAULT_FISHEYE_FRAME_ID);
_pnh.param("imu_gyro_frame_id", _frame_id[GYRO], DEFAULT_IMU_FRAME_ID);
_pnh.param("imu_accel_frame_id", _frame_id[ACCEL], DEFAULT_IMU_FRAME_ID);
_pnh.param("depth_optical_frame_id", _optical_frame_id[DEPTH], DEFAULT_DEPTH_OPTICAL_FRAME_ID);
_pnh.param("infra1_optical_frame_id", _optical_frame_id[INFRA1], DEFAULT_INFRA1_OPTICAL_FRAME_ID);
_pnh.param("infra2_optical_frame_id", _optical_frame_id[INFRA2], DEFAULT_INFRA2_OPTICAL_FRAME_ID);
_pnh.param("color_optical_frame_id", _optical_frame_id[COLOR], DEFAULT_COLOR_OPTICAL_FRAME_ID);
_pnh.param("fisheye_optical_frame_id", _optical_frame_id[FISHEYE], DEFAULT_FISHEYE_OPTICAL_FRAME_ID);
if (_unite_imu)
{
_pnh.param("imu_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_IMU_OPTICAL_FRAME_ID);
}
else
{
_pnh.param("gyro_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_GYRO_OPTICAL_FRAME_ID);
}
_pnh.param("accel_optical_frame_id", _optical_frame_id[ACCEL], DEFAULT_ACCEL_OPTICAL_FRAME_ID);
_pnh.param("aligned_depth_to_color_frame_id", _depth_aligned_frame_id[COLOR], DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID);
_pnh.param("aligned_depth_to_infra1_frame_id", _depth_aligned_frame_id[INFRA1], DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID);
_pnh.param("aligned_depth_to_infra2_frame_id", _depth_aligned_frame_id[INFRA2], DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID);
_pnh.param("aligned_depth_to_fisheye_frame_id", _depth_aligned_frame_id[FISHEYE], DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID);
_pnh.param("clip_distance", _clipping_distance, static_cast<float>(-1.0));
_pnh.param("linear_accel_cov", _linear_accel_cov, static_cast<float>(0.01));
_pnh.param("hold_back_imu_for_frames", _hold_back_imu_for_frames, HOLD_BACK_IMU_FOR_FRAMES);
}
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();
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;
}
else if ("Coded-Light Depth Sensor" == module_name)
{
_sensors[DEPTH] = elem;
_sensors[INFRA1] = elem;
}
else if ("RGB Camera" == module_name)
{
_sensors[COLOR] = elem;
}
else if ("Wide FOV Camera" == module_name)
{
_sensors[FISHEYE] = elem;
}
else if ("Motion Module" == module_name)
{
_sensors[GYRO] = elem;
_sensors[ACCEL] = elem;
}
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
std::vector<std::vector<stream_index_pair>> streams(IMAGE_STREAMS);
streams.insert(streams.end(), HID_STREAMS.begin(), HID_STREAMS.end());
for (auto& elem : streams)
{
for (auto& stream_index : elem)
{
if (_enable[stream_index] && _sensors.find(stream_index) == _sensors.end()) // check if device supports the enabled stream
{
ROS_INFO_STREAM("(" << rs2_stream_to_string(stream_index.first) << ", " << stream_index.second << ") sensor isn't supported by current device! -- Skipping...");
_enable[stream_index] = 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);
std::vector<stream_index_pair> image_stream_types;
for (auto& stream_vec : IMAGE_STREAMS)
{
for (auto& stream : stream_vec)
{
image_stream_types.push_back(stream);
}
}
for (auto& stream : image_stream_types)
{
if (_enable[stream])
{
std::stringstream image_raw, camera_info;
bool rectified_image = false;
if (stream == DEPTH || stream == INFRA1 || stream == INFRA2)
rectified_image = true;
image_raw << _stream_name[stream] << "/image_" << ((rectified_image)?"rect_":"") << "raw";
camera_info << _stream_name[stream] << "/camera_info";
std::shared_ptr<FrequencyDiagnostics> frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], _stream_name[stream], _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))
{
std::stringstream aligned_image_raw, aligned_camera_info;
aligned_image_raw << "aligned_depth_to_" << _stream_name[stream] << "/image_raw";
aligned_camera_info << "aligned_depth_to_" << _stream_name[stream] << "/camera_info";
std::string aligned_stream_name = "aligned_depth_to_" + _stream_name[stream];
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);
}
}
}
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);
}
_synced_imu_publisher = std::make_shared<SyncedImuPublisher>();
if (_unite_imu && _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);
}
}
}
void BaseRealSenseNode::updateIsFrameArrived(std::map<stream_index_pair, bool>& is_frame_arrived,
rs2_stream stream_type, int stream_index)
{
try
{
is_frame_arrived.at({stream_type, stream_index}) = true;
}
catch (std::out_of_range)
{
ROS_ERROR_STREAM("Stream type is not supported! (" << stream_type << ", " << stream_index << ")");
}
}
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();
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())
{
rs2::align 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& streams : IMAGE_STREAMS)
{
for (auto& elem : 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: " <<
"Format: " << video_profile.format() <<
", Width: " << video_profile.width() <<
", Height: " << video_profile.height() <<
", FPS: " << video_profile.fps());
if (video_profile.format() == _format[elem] &&
(_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], 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 <<
", Format: " << _format[elem] <<
", 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], cv::Scalar(0, 0, 0));
}
}
}
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);
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) == "decimation")
{
ROS_INFO("Add Filter: decimation");
_filters.push_back(NamedFilter("decimation", std::make_shared<rs2::decimation_filter>()));
}
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_colorizer_filter)
{
ROS_INFO("Add Filter: colorizer");
_filters.push_back(NamedFilter("colorizer", std::make_shared<rs2::colorizer>()));
// Types for depth stream
_format[DEPTH] = _format[COLOR]; // libRS type
_image_format[DEPTH] = _image_format[COLOR]; // CVBridge type
_encoding[DEPTH] = _encoding[COLOR]; // ROS message type
_unit_step_size[DEPTH] = _unit_step_size[COLOR]; // 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], 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()));
}
void BaseRealSenseNode::clip_depth(rs2::depth_frame& depth_frame, float depth_scale, float clipping_dist)
{
uint16_t* p_depth_frame = reinterpret_cast<uint16_t*>(const_cast<void*>(depth_frame.get_data()));
int width = depth_frame.get_width();
int height = depth_frame.get_height();
#pragma omp parallel for schedule(dynamic) //Using OpenMP to try to parallelise the loop
for (int y = 0; y < height; y++)
{
auto depth_pixel_index = y * width;
for (int x = 0; x < width; x++, ++depth_pixel_index)
{
// Get the depth value of the current pixel
auto pixels_distance = depth_scale * p_depth_frame[depth_pixel_index];
// Check if the depth value is greater than the threashold
if (pixels_distance > clipping_dist)
{
p_depth_frame[depth_pixel_index] = -1; //Set to invalid (<=0) value.
}
}
}
}
void BaseRealSenseNode::setupStreams()
{
ROS_INFO("setupStreams...");
enable_devices();
try{
// Publish image stream info
for (auto& profiles : _enabled_profiles)
{
for (auto& profile : profiles.second)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
updateStreamCalibData(video_profile);
}
}
auto frame_callback = [this](rs2::frame frame)
{
_synced_imu_publisher->Pause();
try{
double frame_time = frame.get_timestamp();
// We compute a ROS timestamp which is based on an initial ROS time at point of first frame,
// and the incremental timestamp from the camera.
// In sync mode the timestamp is based on ROS time
if (false == _intialize_time_base)
{
if (RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain())
ROS_WARN("Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)");
_intialize_time_base = true;
_ros_time_base = ros::Time::now();
_camera_time_base = frame_time;
}
ros::Time t;
if (_sync_frames)
{
t = ros::Time::now();
}
else
{
t = ros::Time(_ros_time_base.toSec()+ (/*ms*/ frame_time - /*ms*/ _camera_time_base) / /*ms to seconds*/ 1000);
}
std::map<stream_index_pair, bool> is_frame_arrived(_is_frame_arrived);
if (frame.is<rs2::frameset>())
{
ROS_DEBUG("Frameset arrived.");
bool is_depth_arrived = false;
rs2::frame depth_frame;
auto frameset = frame.as<rs2::frameset>();
ROS_DEBUG("List of frameset before applying filters: size: %d", static_cast<int>(frameset.size()));
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
auto stream_unique_id = f.get_profile().unique_id();
updateIsFrameArrived(is_frame_arrived, stream_type, stream_index);
ROS_DEBUG("Frameset contain (%s, %d, %s %d) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), stream_unique_id, frame.get_frame_number(), frame_time, t.toNSec());
}
// Clip depth_frame for max range:
if (_clipping_distance > 0)
{
rs2::depth_frame depth_frame = frameset.get_depth_frame();
if (depth_frame)
this->clip_depth(depth_frame,_depth_scale_meters, _clipping_distance);
}
ROS_DEBUG("num_filters: %d", static_cast<int>(_filters.size()));
for (std::vector<NamedFilter>::const_iterator filter_it = _filters.begin(); filter_it != _filters.end(); filter_it++)
{
ROS_DEBUG("Applying filter: %s", filter_it->_name.c_str());
frameset = filter_it->_filter->process(frameset);
}
ROS_DEBUG("List of frameset after applying filters: size: %d", static_cast<int>(frameset.size()));
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
auto stream_unique_id = f.get_profile().unique_id();
ROS_DEBUG("Frameset contain (%s, %d, %s %d) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), stream_unique_id, frame.get_frame_number(), frame_time, t.toNSec());
}
ROS_DEBUG("END OF LIST");
ROS_DEBUG_STREAM("Remove streams with same type and index:");
// TODO - Fix the following issue:
// Currently publishers are set using a map of stream type and index only.
// It means that colorized depth image <DEPTH, 0, Z16> and colorized depth image <DEPTH, 0, RGB>
// use the same publisher.
// As a workaround we remove the earlier one, the original one, assuming that if colorizer filter is
// set it means that that's what the client wants.
//
bool points_in_set(false);
std::vector<rs2::frame> frames_to_publish;
std::vector<stream_index_pair> is_in_set;
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
if (f.is<rs2::points>())
{
if (!points_in_set)
{
points_in_set = true;
frames_to_publish.push_back(f);
}
continue;
}
stream_index_pair sip{stream_type,stream_index};
if (std::find(is_in_set.begin(), is_in_set.end(), sip) == is_in_set.end())
{
is_in_set.push_back(sip);
frames_to_publish.push_back(f);
}
if (_align_depth && stream_type == RS2_STREAM_DEPTH && stream_format == RS2_FORMAT_Z16)
{
depth_frame = f;
is_depth_arrived = true;
}
}
for (auto it = frames_to_publish.begin(); it != frames_to_publish.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
ROS_DEBUG("Frameset contain (%s, %d, %s) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), frame.get_frame_number(), frame_time, t.toNSec());
if (f.is<rs2::points>())
{
if (0 != _pointcloud_publisher.getNumSubscribers())
{
ROS_DEBUG("Publish pointscloud");
publishPointCloud(f.as<rs2::points>(), t, frameset);
}
continue;
}
else
{
ROS_DEBUG("Not points");
}
stream_index_pair sip{stream_type,stream_index};
publishFrame(f, t,
sip,
_image,
_info_publisher,
_image_publishers, _seq,
_camera_info, _optical_frame_id,
_encoding);
}
if (_align_depth && is_depth_arrived)
{
ROS_DEBUG("publishAlignedDepthToOthers(...)");
publishAlignedDepthToOthers(frameset, t);
}
}
else
{
auto stream_type = frame.get_profile().stream_type();
auto stream_index = frame.get_profile().stream_index();
updateIsFrameArrived(is_frame_arrived, stream_type, stream_index);
ROS_DEBUG("Single video frame arrived (%s, %d). frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, frame.get_frame_number(), frame_time, t.toNSec());
stream_index_pair sip{stream_type,stream_index};
publishFrame(frame, t,
sip,
_image,
_info_publisher,
_image_publishers, _seq,
_camera_info, _optical_frame_id,
_encoding);
}
}
catch(const std::exception& ex)
{
ROS_ERROR_STREAM("An error has occurred during frame callback: " << ex.what());
}
_synced_imu_publisher->Resume();
}; // frame_callback
// Streaming IMAGES
for (auto& streams : IMAGE_STREAMS)
{
std::vector<rs2::stream_profile> profiles;
for (auto& elem : streams)
{
if (!_enabled_profiles[elem].empty())
{
profiles.insert(profiles.begin(),
_enabled_profiles[elem].begin(),
_enabled_profiles[elem].end());
}
}