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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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rtabmap_ros/rtabmap_odom/src/ICPOdometryNode.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_odom/icp_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
int main(int argc, char **argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
// process "--params" argument
std::vector<std::string> arguments;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(false, false, true);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
arguments.push_back(argv[i]);
}
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
auto node = std::make_shared<rtabmap_odom::ICPOdometry>(options);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}
rtabmap_ros/rtabmap_odom/src/OdometryROS.cpp
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rtabmap_ros/rtabmap_odom/src/RGBDOdometryNode.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_odom/rgbd_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
// process "--params" argument
std::vector<std::string> arguments;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(false);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
arguments.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
auto node = std::make_shared<rtabmap_odom::RGBDOdometry>(options);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}
rtabmap_ros/rtabmap_odom/src/StereoOdometryNode.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_odom/stereo_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
// process "--params" argument
std::vector<std::string> arguments;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
{
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(true);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("Node will now exit after showing default odometry parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
arguments.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
auto node = std::make_shared<rtabmap_odom::StereoOdometry>(options);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}
rtabmap_ros/rtabmap_odom/src/nodelets/icp_odometry.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_odom/icp_odometry.hpp>
#include <laser_geometry/laser_geometry.hpp>
#include <pcl_conversions/pcl_conversions.h>
#include "rtabmap_conversions/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
using namespace rtabmap;
namespace rtabmap_odom
{
ICPOdometry::ICPOdometry(const rclcpp::NodeOptions & options) :
OdometryROS("icp_odometry", options),
scanCloudMaxPoints_(-1),
scanCloudIs2d_(false),
scanDownsamplingStep_(1),
scanRangeMin_(0),
scanRangeMax_(0),
scanVoxelSize_(0.0),
scanNormalK_(0),
scanNormalRadius_(0.0),
scanNormalGroundUp_(0.0),
deskewing_(false),
deskewingSlerp_(false),
scanReceived_(false),
cloudReceived_(false)
{
OdometryROS::init(false, false, true);
}
ICPOdometry::~ICPOdometry()
{
}
void ICPOdometry::onOdomInit()
{
scanCloudMaxPoints_ = this->declare_parameter("scan_cloud_max_points", scanCloudMaxPoints_);
scanCloudIs2d_ = this->declare_parameter("scan_cloud_is_2d", scanCloudIs2d_);
scanDownsamplingStep_ = this->declare_parameter("scan_downsampling_step", scanDownsamplingStep_);
scanRangeMin_ = this->declare_parameter("scan_range_min", scanRangeMin_);
scanRangeMax_ = this->declare_parameter("scan_range_max", scanRangeMax_);
scanVoxelSize_ = this->declare_parameter("scan_voxel_size", scanVoxelSize_);
scanNormalK_ = this->declare_parameter("scan_normal_k", scanNormalK_);
scanNormalRadius_ = this->declare_parameter("scan_normal_radius", scanNormalRadius_);
scanNormalGroundUp_ = this->declare_parameter("scan_normal_ground_up", scanNormalGroundUp_);
deskewing_ = this->declare_parameter("deskewing", deskewing_);
deskewingSlerp_ = this->declare_parameter("deskewing_slerp", deskewingSlerp_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: qos = %d", (int)qos());
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_cloud_max_points = %d", scanCloudMaxPoints_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_cloud_is_2d = %s", scanCloudIs2d_?"true":"false");
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_downsampling_step = %d", scanDownsamplingStep_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_range_min = %f m", scanRangeMin_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_range_max = %f m", scanRangeMax_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_voxel_size = %f m", scanVoxelSize_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_k = %d", scanNormalK_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_radius = %f m", scanNormalRadius_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_ground_up = %f", scanNormalGroundUp_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: deskewing = %s", deskewing_?"true":"false");
RCLCPP_INFO(this->get_logger(), "IcpOdometry: deskewing_slerp = %s", deskewingSlerp_?"true":"false");
rclcpp::SubscriptionOptions options;
options.callback_group = dataCallbackGroup_;
scan_sub_ = create_subscription<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackScan, this, std::placeholders::_1), options);
cloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>("scan_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackCloud, this, std::placeholders::_1), options);
filtered_scan_pub_ = create_publisher<sensor_msgs::msg::PointCloud2>("odom_filtered_input_scan", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()));
initDiagnosticMsg(uFormat("\n%s subscribed to %s and %s (make sure only one of this topic is published, otherwise remap one to a dummy topic name).",
get_name(),
scan_sub_->get_topic_name(),
cloud_sub_->get_topic_name()), true);
}
void ICPOdometry::updateParameters(ParametersMap & parameters)
{
//make sure we are using Reg/Strategy=0
ParametersMap::iterator iter = parameters.find(Parameters::kRegStrategy());
if(iter != parameters.end() && iter->second.compare("1") != 0)
{
RCLCPP_WARN(this->get_logger(), "ICP odometry works only with \"Reg/Strategy\"=1. Ignoring value %s.", iter->second.c_str());
}
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "1"));
iter = parameters.find(Parameters::kIcpDownsamplingStep());
if(iter != parameters.end())
{
int value = uStr2Int(iter->second);
if(value > 1)
{
if(!this->has_parameter("scan_downsampling_step"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_downsampling_step\" for convenience. \"%s\" is set to 1.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
scanDownsamplingStep_ = value;
iter->second = "1";
}
else
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_downsampling_step\" are set.", iter->first.c_str());
}
}
}
iter = parameters.find(Parameters::kIcpRangeMin());
if(iter != parameters.end())
{
float value = uStr2Float(iter->second);
if(value != 0.0f)
{
if(!this->has_parameter("scan_range_min"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_range_min\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
scanRangeMin_ = value;
iter->second = "0";
}
else
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_range_min\" are set.", iter->first.c_str());
}
}
}
iter = parameters.find(Parameters::kIcpRangeMax());
if(iter != parameters.end())
{
float value = uStr2Float(iter->second);
if(value != 0.0f)
{
if(!this->has_parameter("scan_range_max"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_range_max\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
scanRangeMax_ = value;
iter->second = "0";
}
else
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_range_max\" are set.", iter->first.c_str());
}
}
}
iter = parameters.find(Parameters::kIcpVoxelSize());
if(iter != parameters.end())
{
float value = uStr2Float(iter->second);
if(value != 0.0f)
{
if(!this->has_parameter("scan_voxel_size"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_voxel_size\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
scanVoxelSize_ = value;
iter->second = "0";
}
else
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_voxel_size\" are set.", iter->first.c_str());
}
}
}
else if(this->has_parameter("scan_voxel_size"))
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_voxel_size is set (%f), setting %s to 0", scanVoxelSize_, Parameters::kIcpVoxelSize().c_str());
parameters.insert(ParametersPair(Parameters::kIcpVoxelSize(), "0"));
}
iter = parameters.find(Parameters::kIcpPointToPlaneK());
if(iter != parameters.end())
{
int value = uStr2Int(iter->second);
if(value != 0)
{
if(!this->has_parameter("scan_normal_k"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_normal_k\" for convenience.", iter->second.c_str(), iter->first.c_str());
scanNormalK_ = value;
}
else
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_k is set (%d), setting %s to same value.", scanNormalK_, Parameters::kIcpPointToPlaneK().c_str());
iter->second = uNumber2Str(scanNormalK_);
}
}
}
else if(this->has_parameter("scan_normal_k"))
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_k is set (%d), setting %s to same value.", scanNormalK_, Parameters::kIcpPointToPlaneK().c_str());
parameters.insert(ParametersPair(Parameters::kIcpPointToPlaneK(), uNumber2Str(scanNormalK_)));
}
iter = parameters.find(Parameters::kIcpPointToPlaneRadius());
if(iter != parameters.end())
{
float value = uStr2Float(iter->second);
if(value != 0.0f)
{
if(!this->has_parameter("scan_normal_radius"))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_normal_radius\" for convenience.", iter->second.c_str(), iter->first.c_str());
scanNormalRadius_ = value;
}
else
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_radius is set (%f), setting %s to same value.", scanNormalRadius_, Parameters::kIcpPointToPlaneRadius().c_str());
iter->second = uNumber2Str(scanNormalK_);
}
}
}
else if(this->has_parameter("scan_normal_radius"))
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_radius is set (%f), setting %s to same value.", scanNormalRadius_, Parameters::kIcpPointToPlaneRadius().c_str());
parameters.insert(ParametersPair(Parameters::kIcpPointToPlaneRadius(), uNumber2Str(scanNormalRadius_)));
}
iter = parameters.find(Parameters::kIcpPointToPlaneGroundNormalsUp());
if(iter != parameters.end())
{
float value = uStr2Float(iter->second);
if(value != 0.0f)
{
if(!this->has_parameter("scan_normal_ground_up"))
{
RCLCPP_WARN(get_logger(), "IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_normal_ground_up\" for convenience.", iter->second.c_str(), iter->first.c_str());
scanNormalGroundUp_ = value;
}
else
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_ground_up is set (%f), setting %s to same value.", scanNormalGroundUp_, Parameters::kIcpPointToPlaneGroundNormalsUp().c_str());
iter->second = uNumber2Str(scanNormalK_);
}
}
}
else if(this->has_parameter("scan_normal_ground_up"))
{
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_ground_up is set (%f), setting %s to same value.", scanNormalGroundUp_, Parameters::kIcpPointToPlaneGroundNormalsUp().c_str());
parameters.insert(ParametersPair(Parameters::kIcpPointToPlaneGroundNormalsUp(), uNumber2Str(scanNormalGroundUp_)));
}
}
void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scanMsg)
{
if(cloudReceived_)
{
RCLCPP_ERROR(this->get_logger(), "%s is already receiving clouds on \"%s\", but also "
"just received a scan on \"%s\". Both subscribers cannot be "
"used at the same time! Disabling scan subscriber.",
get_name(), cloud_sub_->get_topic_name(), scan_sub_->get_topic_name());
scan_sub_.reset();
return;
}
tick(scanMsg->header.stamp);
scanReceived_ = true;
if(this->isPaused())
{
return;
}
// make sure the frame of the laser is updated too
Transform localScanTransform = rtabmap_conversions::getTransform(this->frameId(),
scanMsg->header.frame_id,
scanMsg->header.stamp,
tfBuffer(), waitForTransform());
if(localScanTransform.isNull())
{
RCLCPP_ERROR(this->get_logger(), "TF of received laser scan topic at time %fs is not set, aborting odometry update.", rtabmap_conversions::timestampFromROS(scanMsg->header.stamp));
return;
}
//transform in frameId_ frame
sensor_msgs::msg::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
if(deskewing_ && (!guessFrameId().empty() || (frameId().compare(scanMsg->header.frame_id) != 0)))
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform(
scanMsg->header.frame_id,
guessFrameId().empty()?frameId():guessFrameId(),
scanMsg->header.stamp,
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds(scanMsg->ranges.size()*scanMsg->time_increment),
this->tfBuffer(),
this->waitForTransform());
if(tmpT.isNull())
{
return;
}
projection.transformLaserScanToPointCloud(
guessFrameId().empty()?frameId():guessFrameId(),
*scanMsg,
scanOut,
this->tfBuffer(),
-1.0f,
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Timestamp);
if(guessFrameId().empty() && previousStamp() > 0 && !velocityGuess().isNull())
{
// deskew with constant velocity model (we are in frameId)
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp(), velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
}
scanOut = scanOutDeskewed;
}
rtabmap::Transform t = rtabmap_conversions::getTransform(scanMsg->header.frame_id, scanOut.header.frame_id, scanMsg->header.stamp, tfBuffer(), waitForTransform());
if(t.isNull())
{
RCLCPP_ERROR(this->get_logger(), "Cannot transform back projected scan from \"%s\" frame to \"%s\" frame at time %fs.",
scanOut.header.frame_id.c_str(), scanMsg->header.frame_id.c_str(), rtabmap_conversions::timestampFromROS(scanMsg->header.stamp));
return;
}
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
rtabmap_conversions::transformPointCloud(t.toEigen4f(), scanOut, scanOutDeskewed);
scanOutDeskewed.header.frame_id = scanMsg->header.frame_id;
scanOut = scanOutDeskewed;
}
else
{
projection.projectLaser(*scanMsg, scanOut, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Timestamp);
if(deskewing_ && previousStamp() > 0 && !velocityGuess().isNull())
{
// deskew with constant velocity model
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp(), velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
}
scanOut = scanOutDeskewed;
}
}
bool hasIntensity = false;
for(unsigned int i=0; i<scanOut.fields.size(); ++i)
{
if(scanOut.fields[i].name.compare("intensity") == 0)
{
if(scanOut.fields[i].datatype == sensor_msgs::msg::PointField::FLOAT32)
{
hasIntensity = true;
}
else
{
static bool warningShown = false;
if(!warningShown)
{
RCLCPP_WARN(get_logger(), "The input scan cloud has an \"intensity\" field "
"but the datatype (%d) is not supported. Intensity will be ignored. "
"This message is only shown once.", scanOut.fields[i].datatype);
warningShown = true;
}
}
}
}
pcl::PointCloud<pcl::PointXYZI>::Ptr pclScanI(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
if(hasIntensity)
{
pcl::fromROSMsg(scanOut, *pclScanI);
pclScanI->is_dense = true;
}
else
{
pcl::fromROSMsg(scanOut, *pclScan);
pclScan->is_dense = true;
}
LaserScan scan;
int maxLaserScans = (int)scanMsg->ranges.size();
if(!pclScan->empty() || !pclScanI->empty())
{
if(scanDownsamplingStep_ > 1)
{
if(hasIntensity)
{
pclScanI = util3d::downsample(pclScanI, scanDownsamplingStep_);
}
else
{
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
}
maxLaserScans /= scanDownsamplingStep_;
}
if(scanVoxelSize_ > 0.0f)
{
float pointsBeforeFiltering;
float pointsAfterFiltering;
if(hasIntensity)
{
pointsBeforeFiltering = (float)pclScanI->size();
pclScanI = util3d::voxelize(pclScanI, scanVoxelSize_);
pointsAfterFiltering = (float)pclScanI->size();
}
else
{
pointsBeforeFiltering = (float)pclScan->size();
pclScan = util3d::voxelize(pclScan, scanVoxelSize_);
pointsAfterFiltering = (float)pclScan->size();
}
float ratio = pointsAfterFiltering / pointsBeforeFiltering;
maxLaserScans = int(float(maxLaserScans) * ratio);
}
if(scanNormalK_ > 0 || scanNormalRadius_>0.0f)
{
//compute normals
pcl::PointCloud<pcl::Normal>::Ptr normals;
if(scanVoxelSize_ > 0.0f)
{
if(hasIntensity)
{
normals = util3d::computeNormals2D(pclScanI, scanNormalK_, scanNormalRadius_);
}
else
{
normals = util3d::computeNormals2D(pclScan, scanNormalK_, scanNormalRadius_);
}
}
else
{
if(hasIntensity)
{
normals = util3d::computeFastOrganizedNormals2D(pclScanI, scanNormalK_, scanNormalRadius_);
}
else
{
normals = util3d::computeFastOrganizedNormals2D(pclScan, scanNormalK_, scanNormalRadius_);
}
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr pclScanINormal;
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal;
if(hasIntensity)
{
pclScanINormal.reset(new pcl::PointCloud<pcl::PointXYZINormal>);
pcl::concatenateFields(*pclScanI, *normals, *pclScanINormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanINormal);
}
else
{
pclScanNormal.reset(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
}
else
{
if(hasIntensity)
{
scan = util3d::laserScan2dFromPointCloud(*pclScanI);
}
else
{
scan = util3d::laserScan2dFromPointCloud(*pclScan);
}
}
}
if(scanRangeMin_ > 0 || scanRangeMax_ > 0)
{
scan = util3d::rangeFiltering(scan, scanRangeMin_, scanRangeMax_);
}
rtabmap::SensorData data(
LaserScan(scan,
maxLaserScans,
scanRangeMax_>0&&scanRangeMax_<scanMsg->range_max?scanRangeMax_:scanMsg->range_max,
localScanTransform),
cv::Mat(),
cv::Mat(),
CameraModel(),
0,
rtabmap_conversions::timestampFromROS(scanMsg->header.stamp));
this->processData(data, scanMsg->header);
}
void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr pointCloudMsg)
{
UASSERT_MSG(pointCloudMsg->data.size() == pointCloudMsg->row_step*pointCloudMsg->height,
uFormat("data=%d row_step=%d height=%d", pointCloudMsg->data.size(), pointCloudMsg->row_step, pointCloudMsg->height).c_str());
if(scanReceived_)
{
RCLCPP_ERROR(this->get_logger(), "%s is already receiving scans on \"%s\", but also "
"just received a cloud on \"%s\". Both subscribers cannot be "
"used at the same time! Disabling cloud subscriber.",
this->get_name(), scan_sub_->get_topic_name(), cloud_sub_->get_topic_name());
cloud_sub_.reset();
return;
}
tick(pointCloudMsg->header.stamp);
cloudReceived_ = true;
if(this->isPaused())
{
return;
}
std::shared_ptr<sensor_msgs::msg::PointCloud2> cloudMsg(new sensor_msgs::msg::PointCloud2);
*cloudMsg = *pointCloudMsg;
rtabmap::Transform localScanTransform = rtabmap_conversions::getTransform(this->frameId(), cloudMsg->header.frame_id, cloudMsg->header.stamp, this->tfBuffer(), this->waitForTransform());
if(localScanTransform.isNull())
{
RCLCPP_ERROR(this->get_logger(), "TF of received scan cloud at time %fs is not set, aborting rtabmap update.", rtabmap_conversions::timestampFromROS(cloudMsg->header.stamp));
return;
}
if(deskewing_)
{
if(!guessFrameId().empty())
{
// deskew with TF
if(!rtabmap_conversions::deskew(*pointCloudMsg, *cloudMsg, guessFrameId(), tfBuffer(), waitForTransform(), deskewingSlerp_))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
}
}
else if(previousStamp() > 0 && !velocityGuess().isNull())
{
// deskew with constant velocity model
bool alreadyInBaseFrame = frameId().compare(pointCloudMsg->header.frame_id) == 0;
std::shared_ptr<sensor_msgs::msg::PointCloud2> cloudInBaseFrame;
std::shared_ptr<sensor_msgs::msg::PointCloud2> cloudPtr = cloudMsg;
if(!alreadyInBaseFrame)
{
// transform in base frame
rtabmap::Transform t = rtabmap_conversions::getTransform(frameId(), pointCloudMsg->header.frame_id, pointCloudMsg->header.stamp, tfBuffer(), waitForTransform());
if(t.isNull())
{
RCLCPP_ERROR(this->get_logger(), "Cannot transform cloud from \"%s\" frame to \"%s\" frame at time %fs.",
pointCloudMsg->header.frame_id.c_str(), frameId().c_str(), rtabmap_conversions::timestampFromROS(pointCloudMsg->header.stamp));
return;
}
cloudInBaseFrame.reset(new sensor_msgs::msg::PointCloud2);
rtabmap_conversions::transformPointCloud(t.toEigen4f(), *pointCloudMsg, *cloudInBaseFrame);
cloudPtr = cloudInBaseFrame;
}
std::shared_ptr<sensor_msgs::msg::PointCloud2> cloudDeskewed(new sensor_msgs::msg::PointCloud2);
if(!rtabmap_conversions::deskew(*cloudPtr, *cloudDeskewed, previousStamp(), velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
}
if(!alreadyInBaseFrame)
{
// put back in scan frame
rtabmap::Transform t = rtabmap_conversions::getTransform(pointCloudMsg->header.frame_id, frameId(), pointCloudMsg->header.stamp, tfBuffer(), waitForTransform());
if(t.isNull())
{
RCLCPP_ERROR(this->get_logger(), "Cannot transform cloud from \"%s\" frame to \"%s\" frame at time %fs.",
frameId().c_str(), pointCloudMsg->header.frame_id.c_str(), rtabmap_conversions::timestampFromROS(pointCloudMsg->header.stamp));
return;
}
rtabmap_conversions::transformPointCloud(t.toEigen4f(), *cloudDeskewed, *cloudMsg);
}
else
{
cloudMsg = cloudDeskewed;
}
}
}
LaserScan scan;
bool hasNormals = false;
bool hasIntensity = false;
bool is3D = false;
for(unsigned int i=0; i<cloudMsg->fields.size(); ++i)
{
if(scanVoxelSize_ == 0.0f && cloudMsg->fields[i].name.compare("normal_x") == 0)
{
hasNormals = true;
}
if(cloudMsg->fields[i].name.compare("z") == 0 && !scanCloudIs2d_)
{
is3D = true;
}
if(cloudMsg->fields[i].name.compare("intensity") == 0)
{
if(cloudMsg->fields[i].datatype == sensor_msgs::msg::PointField::FLOAT32)
{
hasIntensity = true;
}
else
{
static bool warningShown = false;
if(!warningShown)
{
RCLCPP_WARN(this->get_logger(), "The input scan cloud has an \"intensity\" field "
"but the datatype (%d) is not supported. Intensity will be ignored. "
"This message is only shown once.", cloudMsg->fields[i].datatype);
warningShown = true;
}
}
}
}
if(cloudMsg->height > 1) // organized cloud
{
if(scanCloudMaxPoints_ == -1)
{
scanCloudMaxPoints_ = cloudMsg->height * cloudMsg->width;
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is not set but input "
"cloud is not dense, for convenience it will be set to %d (%dx%d)",
scanCloudMaxPoints_, cloudMsg->width, cloudMsg->height);
}
else if(scanCloudMaxPoints_ > 0 && scanCloudMaxPoints_ < int(cloudMsg->height * cloudMsg->width))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is set to %d but input "
"cloud is not dense and has a size of %d (%dx%d), setting to this later size.",
scanCloudMaxPoints_, cloudMsg->width *cloudMsg->height, cloudMsg->width, cloudMsg->height);
scanCloudMaxPoints_ = cloudMsg->width *cloudMsg->height;
}
}
if(scanCloudMaxPoints_ == -1)
{
scanCloudMaxPoints_ = 0;
}
int maxLaserScans = scanCloudMaxPoints_;
if(hasNormals && hasIntensity)
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZINormal>);
pcl::fromROSMsg(*cloudMsg, *pclScan);
if(pclScan->size() && scanDownsamplingStep_ > 1)
{
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
if(pclScan->height>1)
{
maxLaserScans = pclScan->height * pclScan->width;
}
else
{
maxLaserScans /= scanDownsamplingStep_;
}
}
scan = is3D?util3d::laserScanFromPointCloud(*pclScan):util3d::laserScan2dFromPointCloud(*pclScan);
}
else if(hasNormals)
{
pcl::PointCloud<pcl::PointNormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromROSMsg(*cloudMsg, *pclScan);
if(pclScan->size() && scanDownsamplingStep_ > 1)
{
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
if(pclScan->height>1)
{
maxLaserScans = pclScan->height * pclScan->width;
}
else
{
maxLaserScans /= scanDownsamplingStep_;
}
}
scan = is3D?util3d::laserScanFromPointCloud(*pclScan):util3d::laserScan2dFromPointCloud(*pclScan);
}
else if(hasIntensity)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZI>);
pcl::fromROSMsg(*cloudMsg, *pclScan);
if(pclScan->size() && scanDownsamplingStep_ > 1)
{
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
if(pclScan->height>1)
{
maxLaserScans = pclScan->height * pclScan->width;
}
else
{
maxLaserScans /= scanDownsamplingStep_;
}
}
if(!pclScan->is_dense)
{
pclScan = util3d::removeNaNFromPointCloud(pclScan);
}
if(pclScan->size())
{
if(scanVoxelSize_ > 0.0f)
{
float pointsBeforeFiltering = (float)pclScan->size();
pclScan = util3d::voxelize(pclScan, scanVoxelSize_);
float ratio = float(pclScan->size()) / pointsBeforeFiltering;
maxLaserScans = int(float(maxLaserScans) * ratio);
}
if(scanNormalK_ > 0 || scanNormalRadius_>0.0f)
{
//compute normals
pcl::PointCloud<pcl::Normal>::Ptr normals = is3D?
util3d::computeNormals(pclScan, scanNormalK_, scanNormalRadius_):
util3d::computeNormals2D(pclScan, scanNormalK_, scanNormalRadius_);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointXYZINormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = is3D?util3d::laserScanFromPointCloud(*pclScanNormal):util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
else
{
scan = is3D?util3d::laserScanFromPointCloud(*pclScan):util3d::laserScan2dFromPointCloud(*pclScan);
}
}
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*cloudMsg, *pclScan);
if(pclScan->size() && scanDownsamplingStep_ > 1)
{
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
if(pclScan->height>1)
{
maxLaserScans = pclScan->height * pclScan->width;
}
else
{
maxLaserScans /= scanDownsamplingStep_;
}
}
if(!pclScan->is_dense)
{
pclScan = util3d::removeNaNFromPointCloud(pclScan);
}
if(pclScan->size())
{
if(scanVoxelSize_ > 0.0f)
{
float pointsBeforeFiltering = (float)pclScan->size();
pclScan = util3d::voxelize(pclScan, scanVoxelSize_);
float ratio = float(pclScan->size()) / pointsBeforeFiltering;
maxLaserScans = int(float(maxLaserScans) * ratio);
}
if(scanNormalK_ > 0 || scanNormalRadius_>0.0f)
{
//compute normals
pcl::PointCloud<pcl::Normal>::Ptr normals = is3D?
util3d::computeNormals(pclScan, scanNormalK_, scanNormalRadius_):
util3d::computeNormals2D(pclScan, scanNormalK_, scanNormalRadius_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = is3D?util3d::laserScanFromPointCloud(*pclScanNormal):util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
else
{
scan = is3D?util3d::laserScanFromPointCloud(*pclScan):util3d::laserScan2dFromPointCloud(*pclScan);
}
}
}
LaserScan laserScan(scan,
maxLaserScans,
0,
localScanTransform);
if(scanRangeMin_ > 0 || scanRangeMax_ > 0)
{
laserScan = util3d::rangeFiltering(laserScan, scanRangeMin_, scanRangeMax_);
}
if(!laserScan.isEmpty() && laserScan.hasNormals() && !laserScan.is2d() && scanNormalGroundUp_)
{
laserScan = util3d::adjustNormalsToViewPoint(laserScan, Eigen::Vector3f(0,0,10), (float)scanNormalGroundUp_);
}
rtabmap::SensorData data(
laserScan,
cv::Mat(),
cv::Mat(),
CameraModel(),
0,
rtabmap_conversions::timestampFromROS(cloudMsg->header.stamp));
this->processData(data, cloudMsg->header);
}
void ICPOdometry::flushCallbacks()
{
// flush callbacks
}
void ICPOdometry::postProcessData(const SensorData & data, const std_msgs::msg::Header & header) const
{
if(filtered_scan_pub_->get_subscription_count())
{
sensor_msgs::msg::PointCloud2::UniquePtr msg(new sensor_msgs::msg::PointCloud2);
pcl_conversions::fromPCL(*rtabmap::util3d::laserScanToPointCloud2(data.laserScanRaw()), *msg);
msg->header = header;
filtered_scan_pub_->publish(std::move(msg));
}
}
}
#include "rclcpp_components/register_node_macro.hpp"
// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_odom::ICPOdometry)
rtabmap_ros/rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+918
View File
@@ -0,0 +1,918 @@
/*
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_odom/rgbd_odometry.hpp>
#ifdef PRE_ROS_IRON
#include <image_geometry/stereo_camera_model.h>
#else
#include <image_geometry/stereo_camera_model.hpp>
#endif
#include <sensor_msgs/image_encodings.hpp>
#include "rtabmap_conversions/MsgConversion.h"
#include <rtabmap_msgs/msg/rgbd_images.hpp>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
using namespace rtabmap;
namespace rtabmap_odom
{
RGBDOdometry::RGBDOdometry(const rclcpp::NodeOptions & options) :
OdometryROS("rgbd_odometry", options),
approxSync_(0),
exactSync_(0),
approxSync2_(0),
exactSync2_(0),
approxSync3_(0),
exactSync3_(0),
approxSync4_(0),
exactSync4_(0),
approxSync5_(0),
exactSync5_(0),
approxSync6_(0),
exactSync6_(0),
topicQueueSize_(10),
syncQueueSize_(5),
keepColor_(false)
{
OdometryROS::init(false, true, false);
}
RGBDOdometry::~RGBDOdometry()
{
delete approxSync_;
delete exactSync_;
delete approxSync2_;
delete exactSync2_;
delete approxSync3_;
delete exactSync3_;
delete approxSync4_;
delete exactSync4_;
delete approxSync5_;
delete exactSync5_;
delete approxSync6_;
delete exactSync6_;
}
void RGBDOdometry::onOdomInit()
{
int rgbdCameras = 1;
bool approxSync = true;
bool subscribeRGBD = false;
double approxSyncMaxInterval = 0.0;
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
topicQueueSize_ = this->declare_parameter("topic_queue_size", topicQueueSize_);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
syncQueueSize_ = queueSize;
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
"to \"sync_queue_size\" and will be removed "
"in future versions! The value (%d) is copied to "
"\"sync_queue_size\".", syncQueueSize_);
}
syncQueueSize_ = this->declare_parameter("sync_queue_size", syncQueueSize_);
int qosCamInfo = this->declare_parameter("qos_camera_info", (int)qos());
subscribeRGBD = this->declare_parameter("subscribe_rgbd", subscribeRGBD);
rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
if(rgbdCameras < 0)
{
rgbdCameras = 0;
}
keepColor_ = this->declare_parameter("keep_color", keepColor_);
std::string rgbdTransport = this->declare_parameter("rgb_transport", std::string("raw"));
std::string depthTransport = this->declare_parameter("depth_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync = %s", approxSync?"true":"false");
if(approxSync)
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: topic_queue_size = %d", topicQueueSize_);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: sync_queue_size = %d", syncQueueSize_);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: qos = %d", (int)qos());
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: qos_camera_info = %d", qosCamInfo);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgbd_cameras = %d", rgbdCameras);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: keep_color = %s", keepColor_?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgb_transport = %s", rgbdTransport.c_str());
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: depth_transport = %s", depthTransport.c_str());
rclcpp::SubscriptionOptions options;
options.callback_group = dataCallbackGroup_;
std::string subscribedTopic;
std::string subscribedTopicsMsg;
if(subscribeRGBD)
{
if(rgbdCameras >= 2)
{
rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
if(rgbdCameras >= 3)
{
rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
}
if(rgbdCameras >= 4)
{
rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
}
if(rgbdCameras >= 5)
{
rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
}
if(rgbdCameras >= 6)
{
rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
}
if(rgbdCameras == 2)
{
if(approxSync)
{
approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
MyApproxSync2Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
}
else
{
exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
MyExactSync2Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
exactSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
rgbd_image1_sub_.getSubscriber()->get_topic_name(),
rgbd_image2_sub_.getSubscriber()->get_topic_name());
}
else if(rgbdCameras == 3)
{
if(approxSync)
{
approxSync3_ = new message_filters::Synchronizer<MyApproxSync3Policy>(
MyApproxSync3Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
else
{
exactSync3_ = new message_filters::Synchronizer<MyExactSync3Policy>(
MyExactSync3Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
exactSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
rgbd_image1_sub_.getSubscriber()->get_topic_name(),
rgbd_image2_sub_.getSubscriber()->get_topic_name(),
rgbd_image3_sub_.getSubscriber()->get_topic_name());
}
else if(rgbdCameras == 4)
{
if(approxSync)
{
approxSync4_ = new message_filters::Synchronizer<MyApproxSync4Policy>(
MyApproxSync4Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactSync4_ = new message_filters::Synchronizer<MyExactSync4Policy>(
MyExactSync4Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
exactSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
rgbd_image1_sub_.getSubscriber()->get_topic_name(),
rgbd_image2_sub_.getSubscriber()->get_topic_name(),
rgbd_image3_sub_.getSubscriber()->get_topic_name(),
rgbd_image4_sub_.getSubscriber()->get_topic_name());
}
else if(rgbdCameras == 5)
{
if(approxSync)
{
approxSync5_ = new message_filters::Synchronizer<MyApproxSync5Policy>(
MyApproxSync5Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync5_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
}
else
{
exactSync5_ = new message_filters::Synchronizer<MyExactSync5Policy>(
MyExactSync5Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
exactSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s \\\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
rgbd_image1_sub_.getSubscriber()->get_topic_name(),
rgbd_image2_sub_.getSubscriber()->get_topic_name(),
rgbd_image3_sub_.getSubscriber()->get_topic_name(),
rgbd_image4_sub_.getSubscriber()->get_topic_name(),
rgbd_image5_sub_.getSubscriber()->get_topic_name());
}
else if(rgbdCameras == 6)
{
if(approxSync)
{
approxSync6_ = new message_filters::Synchronizer<MyApproxSync6Policy>(
MyApproxSync6Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_,
rgbd_image6_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync6_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
}
else
{
exactSync6_ = new message_filters::Synchronizer<MyExactSync6Policy>(
MyExactSync6Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_,
rgbd_image6_sub_);
exactSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
rgbd_image1_sub_.getTopic().c_str(),
rgbd_image2_sub_.getTopic().c_str(),
rgbd_image3_sub_.getTopic().c_str(),
rgbd_image4_sub_.getTopic().c_str(),
rgbd_image5_sub_.getTopic().c_str(),
rgbd_image6_sub_.getTopic().c_str());
}
else
{
RCLCPP_FATAL(this->get_logger(),
"%s doesn't support more than 6 cameras (rgbd_cameras=%d) with "
"internal synchronization interface, set rgbd_cameras=0 and use "
"rgbd_images input topic instead for more cameras (for which "
"rgbdx_sync node can sync up to 8 cameras).",
get_name(), rgbdCameras);
}
}
else if(rgbdCameras == 0)
{
rgbdxSub_ = create_subscription<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&RGBDOdometry::callbackRGBDX, this, std::placeholders::_1), options);
subscribedTopic = rgbdxSub_->get_topic_name();
subscribedTopicsMsg = uFormat("\n%s subscribed to:\n %s",
get_name(),
rgbdxSub_->get_topic_name());
}
else
{
rgbdSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&RGBDOdometry::callbackRGBD, this, std::placeholders::_1), options);
subscribedTopic = rgbdSub_->get_topic_name();
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
get_name(),
rgbdSub_->get_topic_name());
}
}
else
{
image_transport::TransportHints rgb_hints(this, "raw", "rgb_transport");
image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
std::string rgb_topic = get_node_base_interface()->resolve_topic_or_service_name(
"rgb/image", false, false
);
std::string depth_topic = get_node_base_interface()->resolve_topic_or_service_name(
"depth/image", false, false
);
image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
if(approxSyncMaxInterval > 0.0)
approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
subscribedTopic = image_mono_sub_.getSubscriber().getTopic();
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s, topic_queue_size=%d, sync_queue_size=%d):\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
topicQueueSize_,
syncQueueSize_,
image_mono_sub_.getSubscriber().getTopic().c_str(),
image_depth_sub_.getSubscriber().getTopic().c_str(),
info_sub_.getSubscriber()->get_topic_name());
}
initDiagnosticMsg(subscribedTopicsMsg, approxSync, subscribedTopic);
}
void RGBDOdometry::updateParameters(ParametersMap & parameters)
{
//make sure we are using Reg/Strategy=0
ParametersMap::iterator iter = parameters.find(Parameters::kRegStrategy());
if(iter != parameters.end() && iter->second.compare("0") != 0)
{
RCLCPP_WARN(this->get_logger(), "RGBD odometry works only with \"Reg/Strategy\"=0. Ignoring value %s.", iter->second.c_str());
}
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "0"));
int estimationType = Parameters::defaultVisEstimationType();
Parameters::parse(parameters, Parameters::kVisEstimationType(), estimationType);
int rgbdCameras = 1;
bool subscribeRGBD = false;
this->get_parameter("subscribe_rgbd", subscribeRGBD);
this->get_parameter("rgbd_cameras", rgbdCameras);
if(subscribeRGBD && rgbdCameras> 1 && estimationType>0)
{
RCLCPP_WARN(this->get_logger(), "Setting \"%s\" parameter to 0 (%d is not supported "
"for multi-cameras) as \"subscribe_rgbd\" is "
"true and \"rgbd_cameras\">1. Set \"%s\" to 0 to suppress this warning.",
Parameters::kVisEstimationType().c_str(),
estimationType,
Parameters::kVisEstimationType().c_str());
uInsert(parameters, ParametersPair(Parameters::kVisEstimationType(), "0"));
}
}
void RGBDOdometry::commonCallback(
const std::vector<cv_bridge::CvImageConstPtr> & rgbImages,
const std::vector<cv_bridge::CvImageConstPtr> & depthImages,
const std::vector<sensor_msgs::msg::CameraInfo>& cameraInfos)
{
UASSERT(rgbImages.size() > 0 && rgbImages.size() == depthImages.size() && rgbImages.size() == cameraInfos.size());
rclcpp::Time higherStamp;
int imageWidth = rgbImages[0]->image.cols;
int imageHeight = rgbImages[0]->image.rows;
int depthWidth = depthImages[0]->image.cols;
int depthHeight = depthImages[0]->image.rows;
UASSERT_MSG(
imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
int cameraCount = rgbImages.size();
cv::Mat rgb;
cv::Mat depth;
std::vector<rtabmap::CameraModel> cameraModels;
for(unsigned int i=0; i<rgbImages.size(); ++i)
{
if(!(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0) ||
!(depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and "
"image_depth=32FC1,16UC1,mono16. Current rgb=%s and depth=%s",
rgbImages[i]->encoding.c_str(),
depthImages[i]->encoding.c_str());
return;
}
UASSERT_MSG(rgbImages[i]->image.cols == imageWidth && rgbImages[i]->image.rows == imageHeight,
uFormat("imageWidth=%d vs %d imageHeight=%d vs %d",
imageWidth,
rgbImages[i]->image.cols,
imageHeight,
rgbImages[i]->image.rows).c_str());
UASSERT_MSG(depthImages[i]->image.cols == depthWidth && depthImages[i]->image.rows == depthHeight,
uFormat("depthWidth=%d vs %d depthHeight=%d vs %d",
depthWidth,
depthImages[i]->image.cols,
depthHeight,
depthImages[i]->image.rows).c_str());
rclcpp::Time stamp = rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp)>rtabmap_conversions::timestampFromROS(depthImages[i]->header.stamp)?rgbImages[i]->header.stamp:depthImages[i]->header.stamp;
if(i == 0)
{
higherStamp = stamp;
}
else if(stamp > higherStamp)
{
higherStamp = stamp;
}
Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), rgbImages[i]->header.frame_id, stamp, tfBuffer(), waitForTransform());
if(localTransform.isNull())
{
return;
}
if(i>0)
{
double stampDiff = fabs(rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp) - rtabmap_conversions::timestampFromROS(rgbImages[i-1]->header.stamp));
if(stampDiff > 1.0/60.0)
{
static bool warningShown = false;
if(!warningShown)
{
RCLCPP_WARN(this->get_logger(), "The time difference between cameras %d and %d is "
"high (diff=%fs, cam%d=%fs, cam%d=%fs). You may want "
"to set approx_sync_max_interval to reject bad synchronizations or use "
"approx_sync=false if streams have all the exact same timestamp. This "
"message is only printed once.",
i-1, i,
stampDiff,
i-1, rtabmap_conversions::timestampFromROS(rgbImages[i-1]->header.stamp),
i, rtabmap_conversions::timestampFromROS(rgbImages[i]->header.stamp));
warningShown = true;
}
}
}
cv_bridge::CvImageConstPtr ptrImage = rgbImages[i];
if(rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) !=0 &&
rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO8) != 0)
{
if(keepColor_ && rgbImages[i]->encoding.compare(sensor_msgs::image_encodings::MONO16) != 0)
{
ptrImage = cv_bridge::cvtColor(rgbImages[i], "bgr8");
}
else
{
ptrImage = cv_bridge::cvtColor(rgbImages[i], "mono8");
}
}
cv_bridge::CvImageConstPtr ptrDepth = depthImages[i];
// initialize
if(rgb.empty())
{
rgb = cv::Mat(imageHeight, imageWidth*cameraCount, ptrImage->image.type());
}
if(depth.empty())
{
depth = cv::Mat(depthHeight, depthWidth*cameraCount, ptrDepth->image.type());
}
if(ptrImage->image.type() == rgb.type())
{
ptrImage->image.copyTo(cv::Mat(rgb, cv::Rect(i*imageWidth, 0, imageWidth, imageHeight)));
}
else
{
RCLCPP_ERROR(this->get_logger(), "Some RGB images are not the same type! %d vs %d", ptrImage->image.type(), rgb.type());
return;
}
if(ptrDepth->image.type() == depth.type())
{
ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight)));
}
else
{
RCLCPP_ERROR(this->get_logger(), "Some Depth images are not the same type! %d vs %d", ptrDepth->image.type(), depth.type());
return;
}
cameraModels.push_back(rtabmap_conversions::cameraModelFromROS(cameraInfos[i], localTransform));
}
rtabmap::SensorData data(
rgb,
depth,
cameraModels,
0,
rtabmap_conversions::timestampFromROS(higherStamp));
std_msgs::msg::Header header;
header.stamp = higherStamp;
header.frame_id = rgbImages.size()==1?rgbImages[0]->header.frame_id:"";
this->processData(data, header);
}
void RGBDOdometry::callback(
const sensor_msgs::msg::Image::ConstSharedPtr image,
const sensor_msgs::msg::Image::ConstSharedPtr depth,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
imageMsgs[0] = cv_bridge::toCvShare(image);
depthMsgs[0] = cv_bridge::toCvShare(depth);
infoMsgs.push_back(*cameraInfo);
double stampDiff = fabs(rtabmap_conversions::timestampFromROS(image->header.stamp) - rtabmap_conversions::timestampFromROS(depth->header.stamp));
if(stampDiff > 0.020)
{
RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is "
"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
"to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use "
"approx_sync=false if streams have all the exact same timestamp.",
stampDiff,
rtabmap_conversions::timestampFromROS(image->header.stamp),
rtabmap_conversions::timestampFromROS(depth->header.stamp));
}
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBDX(
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr images)
{
tick(images->header.stamp);
if(!this->isPaused())
{
if(images->rgbd_images.empty())
{
RCLCPP_ERROR(this->get_logger(), "Input topic \"%s\" doesn't contain any image(s)!", rgbdxSub_->get_topic_name());
return;
}
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(images->rgbd_images.size());
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(images->rgbd_images.size());
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
for(size_t i=0; i<images->rgbd_images.size(); ++i)
{
rtabmap_conversions::toCvShare(images->rgbd_images[i], images, imageMsgs[i], depthMsgs[i]);
infoMsgs.push_back(images->rgbd_images[i].rgb_camera_info);
}
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(1);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
infoMsgs.push_back(image->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD2(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD3(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD4(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
infoMsgs.push_back(image4->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD5(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
rtabmap_conversions::toCvShare(image5, imageMsgs[4], depthMsgs[4]);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
infoMsgs.push_back(image4->rgb_camera_info);
infoMsgs.push_back(image5->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::callbackRGBD6(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6);
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6);
std::vector<sensor_msgs::msg::CameraInfo> infoMsgs;
rtabmap_conversions::toCvShare(image, imageMsgs[0], depthMsgs[0]);
rtabmap_conversions::toCvShare(image2, imageMsgs[1], depthMsgs[1]);
rtabmap_conversions::toCvShare(image3, imageMsgs[2], depthMsgs[2]);
rtabmap_conversions::toCvShare(image4, imageMsgs[3], depthMsgs[3]);
rtabmap_conversions::toCvShare(image5, imageMsgs[4], depthMsgs[4]);
rtabmap_conversions::toCvShare(image6, imageMsgs[5], depthMsgs[5]);
infoMsgs.push_back(image->rgb_camera_info);
infoMsgs.push_back(image2->rgb_camera_info);
infoMsgs.push_back(image3->rgb_camera_info);
infoMsgs.push_back(image4->rgb_camera_info);
infoMsgs.push_back(image5->rgb_camera_info);
infoMsgs.push_back(image6->rgb_camera_info);
this->commonCallback(imageMsgs, depthMsgs, infoMsgs);
}
}
void RGBDOdometry::flushCallbacks()
{
// flush callbacks
if(approxSync_)
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(std::bind(&RGBDOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
if(approxSync2_)
{
delete approxSync2_;
approxSync2_ = new message_filters::Synchronizer<MyApproxSync2Policy>(
MyApproxSync2Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
approxSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
}
if(exactSync2_)
{
delete exactSync2_;
exactSync2_ = new message_filters::Synchronizer<MyExactSync2Policy>(
MyExactSync2Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_);
exactSync2_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD2, this, std::placeholders::_1, std::placeholders::_2));
}
if(approxSync3_)
{
delete approxSync3_;
approxSync3_ = new message_filters::Synchronizer<MyApproxSync3Policy>(
MyApproxSync3Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
approxSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
if(exactSync3_)
{
delete exactSync3_;
exactSync3_ = new message_filters::Synchronizer<MyExactSync3Policy>(
MyExactSync3Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_);
exactSync3_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD3, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
if(approxSync4_)
{
delete approxSync4_;
approxSync4_ = new message_filters::Synchronizer<MyApproxSync4Policy>(
MyApproxSync4Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
approxSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(exactSync4_)
{
delete exactSync4_;
exactSync4_ = new message_filters::Synchronizer<MyExactSync4Policy>(
MyExactSync4Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_);
exactSync4_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD4, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(approxSync5_)
{
delete approxSync5_;
approxSync5_ = new message_filters::Synchronizer<MyApproxSync5Policy>(
MyApproxSync5Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
approxSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
}
if(exactSync5_)
{
delete exactSync5_;
exactSync5_ = new message_filters::Synchronizer<MyExactSync5Policy>(
MyExactSync5Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_);
exactSync5_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD5, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
}
if(approxSync6_)
{
delete approxSync6_;
approxSync6_ = new message_filters::Synchronizer<MyApproxSync6Policy>(
MyApproxSync6Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_,
rgbd_image6_sub_);
approxSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
}
if(exactSync6_)
{
delete exactSync6_;
exactSync6_ = new message_filters::Synchronizer<MyExactSync6Policy>(
MyExactSync6Policy(syncQueueSize_),
rgbd_image1_sub_,
rgbd_image2_sub_,
rgbd_image3_sub_,
rgbd_image4_sub_,
rgbd_image5_sub_,
rgbd_image6_sub_);
exactSync6_->registerCallback(std::bind(&RGBDOdometry::callbackRGBD6, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6));
}
}
}
#include "rclcpp_components/register_node_macro.hpp"
// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_odom::RGBDOdometry)
rtabmap_ros/rtabmap_odom/src/nodelets/stereo_odometry.cpp
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