depth_sensor_pose_node.cpp

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 * Copyright (c) 2016, Michal Drwiega (drwiega.michal@gmail.com)
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#include "depth_sensor_pose/depth_sensor_pose_node.h"

#define MAX_NODE_RATE 30

using namespace depth_sensor_pose;

//=================================================================================================
DepthSensorPoseNode::DepthSensorPoseNode(ros::NodeHandle& n, ros::NodeHandle& pnh):
  node_rate_hz_(1), pnh_(pnh), it_(n), srv_(pnh)
{
  boost::mutex::scoped_lock lock(connection_mutex_);
  
  // Dynamic reconfigure server callback
  srv_.setCallback(boost::bind(&DepthSensorPoseNode::reconfigureCb, this, _1, _2));
  
  // Lazy subscription implementation
  // Tilt angle and height publisher
  pub_height_ = n.advertise<std_msgs::Float64>("depth_sensor_pose/height", 2,
        boost::bind(&DepthSensorPoseNode::connectCb, this),
        boost::bind(&DepthSensorPoseNode::disconnectCb, this));

  pub_angle_ = n.advertise<std_msgs::Float64>("depth_sensor_pose/tilt_angle", 2,
        boost::bind(&DepthSensorPoseNode::connectCb, this),
        boost::bind(&DepthSensorPoseNode::disconnectCb, this));

  // New depth image publisher
  pub_ = it_.advertise("depth_sensor_pose/depth", 1,
                       boost::bind(&DepthSensorPoseNode::connectCb, this),
                       boost::bind(&DepthSensorPoseNode::disconnectCb, this));
}

//=================================================================================================
DepthSensorPoseNode::~DepthSensorPoseNode()
{
  sub_.shutdown();
}

//=================================================================================================
void DepthSensorPoseNode::setNodeRate(const float rate)
{
  if (rate <= MAX_NODE_RATE)
    node_rate_hz_ = rate;
  else
    node_rate_hz_ = MAX_NODE_RATE;
}

//=================================================================================================
float DepthSensorPoseNode::getNodeRate()
{
  return node_rate_hz_;
}

//=================================================================================================
void DepthSensorPoseNode::depthCb( const sensor_msgs::ImageConstPtr& depth_msg,
                                   const sensor_msgs::CameraInfoConstPtr& info_msg)
{
  try
  {
    // Estimation of parameters -- sensor pose
    estimator_.estimateParams(depth_msg, info_msg);

    std_msgs::Float64 height, tilt_angle;
    height.data = estimator_.getSensorMountHeight();
    tilt_angle.data = estimator_.getSensorTiltAngle();

    ROS_ERROR("height = %.4f angle = %.4f", estimator_.getSensorMountHeight(),
              estimator_.getSensorTiltAngle());

    pub_height_.publish(height);
    pub_angle_.publish(tilt_angle);

    // Publishes new depth image with added downstairs
    if (estimator_.getPublishDepthEnable())
      pub_.publish(estimator_.new_depth_msg_);
  }
  catch (std::runtime_error& e)
  {
    ROS_ERROR_THROTTLE(1.0, "Could not to run estimatation procedure: %s", e.what());
  }
}

//=================================================================================================
void DepthSensorPoseNode::connectCb()
{
  boost::mutex::scoped_lock lock(connection_mutex_);
  if (!sub_ && (pub_height_.getNumSubscribers() > 0 || pub_angle_.getNumSubscribers() > 0
                || pub_.getNumSubscribers() > 0))
  {
    ROS_DEBUG("Connecting to depth topic.");
    image_transport::TransportHints hints("raw", ros::TransportHints(), pnh_);
    sub_ = it_.subscribeCamera("image", 1, &DepthSensorPoseNode::depthCb, this, hints);
  }
}

//=================================================================================================
void DepthSensorPoseNode::disconnectCb()
{
  boost::mutex::scoped_lock lock(connection_mutex_);
  if (pub_height_.getNumSubscribers() == 0 && pub_angle_.getNumSubscribers() == 0
      && pub_.getNumSubscribers() == 0)
  {
    ROS_DEBUG("Unsubscribing from depth topic.");
    sub_.shutdown();
  }
}

//=================================================================================================
void DepthSensorPoseNode::reconfigureCb( depth_sensor_pose::DepthSensorPoseConfig& config,
                                         uint32_t level )
{
  node_rate_hz_ = (float) config.rate;

  estimator_.setRangeLimits(config.range_min, config.range_max);
  estimator_.setSensorMountHeightMin(config.mount_height_min);
  estimator_.setSensorMountHeightMax(config.mount_height_max);
  estimator_.setSensorTiltAngleMin(config.tilt_angle_min);
  estimator_.setSensorTiltAngleMax(config.tilt_angle_max);

  estimator_.setPublishDepthEnable(config.publish_depth);
  estimator_.setCamModelUpdate(config.cam_model_update);
  estimator_.setUsedDepthHeight((unsigned int)config.used_depth_height);
  estimator_.setDepthImgStepRow(config.depth_img_step_row);
  estimator_.setDepthImgStepCol(config.depth_img_step_col);

  estimator_.setRansacDistanceThresh(config.ransac_dist_thresh);
  estimator_.setRansacMaxIter(config.ransac_max_iter);
  estimator_.setGroundMaxPoints(config.ground_max_points);

  estimator_.setReconfParamsUpdated(true);
}