node.cpp

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#include <sick_visionary_t_driver/driver.h>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
#include <cv_bridge/cv_bridge.h>
#include <boost/thread.hpp>
#include <sensor_msgs/CameraInfo.h>
#include <std_msgs/ByteMultiArray.h>

const bool SUPPRESS_INVALID_POINTS = true;

const uint16_t NARE_DISTANCE_VALUE = 0xffffU;
image_transport::Publisher g_pub_depth, g_pub_confidence, g_pub_intensity;
ros::Publisher g_pub_camera_info, g_pub_points, g_pub_ios;
Driver_3DCS::Control *g_control = NULL;
std::string g_frame_id;
bool g_publish_all = false;

boost::mutex g_mtx_data;
boost::shared_ptr<Driver_3DCS::Data> g_data;

void publish_frame(const Driver_3DCS::Data &data);

void thr_publish_frame() {
        g_mtx_data.lock();
        publish_frame(*g_data);
        g_mtx_data.unlock();
}

void on_frame(const boost::shared_ptr<Driver_3DCS::Data> &data) {
        //update data in queue and
        //detach publishing data from network thread
        
        if(g_publish_all || g_mtx_data.try_lock()) {
                if(g_publish_all)
                        g_mtx_data.lock();
                g_data = data;
                g_mtx_data.unlock();
                
                boost::thread thr(thr_publish_frame);
        }
        else
                ROS_WARN("skipping frame");
}

void publish_frame(const Driver_3DCS::Data &data) {
        bool published_anything = false;
        
        sensor_msgs::ImagePtr msg;
        std_msgs::Header header;
        header.stamp = ros::Time::now();
        header.frame_id = g_frame_id;
        
        if(g_pub_camera_info.getNumSubscribers()>0) {
                published_anything = true;
                
                sensor_msgs::CameraInfo ci;
                ci.header = header;
                
                ci.height = data.getCameraParameters().height;
                ci.width  = data.getCameraParameters().width;
                
                ci.D.clear();
                ci.D.resize(5,0);
                ci.D[0] = data.getCameraParameters().k1;
                ci.D[1] = data.getCameraParameters().k2;
                
                for(int i=0; i<9; i++) ci.K[i]=0;
                ci.K[0] = data.getCameraParameters().fx;
                ci.K[4] = data.getCameraParameters().fy;
                ci.K[2] = data.getCameraParameters().cx;
                ci.K[5] = data.getCameraParameters().cy;
                
                for(int i=0; i<12; i++)
                        ci.P[i] = 0;//data.getCameraParameters().cam2worldMatrix[i];
                //TODO:....
                ci.P[0] = data.getCameraParameters().fx;
                ci.P[5] = data.getCameraParameters().fy;
                ci.P[10] = 1;
                ci.P[2] = data.getCameraParameters().cx;
                ci.P[6] = data.getCameraParameters().cy;
                        
                g_pub_camera_info.publish(ci);
        }
        
        if(g_pub_depth.getNumSubscribers()>0) {
                published_anything = true;
                
                msg = cv_bridge::CvImage(std_msgs::Header(), sensor_msgs::image_encodings::TYPE_16UC1, data.get_distance()).toImageMsg();
                msg->header = header;
                g_pub_depth.publish(msg);
        }
        if(g_pub_confidence.getNumSubscribers()>0) {
                published_anything = true;
                
                msg = cv_bridge::CvImage(std_msgs::Header(), sensor_msgs::image_encodings::TYPE_16UC1, data.get_confidence()).toImageMsg();
                msg->header = header;
                g_pub_confidence.publish(msg);
        }
        if(g_pub_intensity.getNumSubscribers()>0) {
                published_anything = true;
                
                msg = cv_bridge::CvImage(std_msgs::Header(), sensor_msgs::image_encodings::TYPE_16UC1, data.get_intensity()).toImageMsg();
                msg->header = header;
                g_pub_intensity.publish(msg);
        }
        if(g_pub_points.getNumSubscribers()>0) {
                published_anything = true;
                
                typedef sensor_msgs::PointCloud2 PointCloud;
                
                // Allocate new point cloud message
                PointCloud::Ptr cloud_msg (new PointCloud);
                cloud_msg->header = header; // Use depth image time stamp
                cloud_msg->height = data.get_distance().rows;
                cloud_msg->width  = data.get_distance().cols;
                cloud_msg->is_dense = false;
                cloud_msg->is_bigendian = false;

                cloud_msg->fields.resize (5);
                cloud_msg->fields[0].name = "x"; cloud_msg->fields[1].name = "y"; cloud_msg->fields[2].name = "z";
                cloud_msg->fields[3].name = "confidence"; cloud_msg->fields[4].name = "intensity";
                int offset = 0;
                // All offsets are *4, as all field data types are float32
                for (size_t d = 0; d < cloud_msg->fields.size (); ++d, offset += 4)
                {
                        cloud_msg->fields[d].offset = offset;
                        cloud_msg->fields[d].datatype = (d<3) ? int(sensor_msgs::PointField::FLOAT32) : int(sensor_msgs::PointField::UINT16);
                        cloud_msg->fields[d].count  = 1;
                }
                cloud_msg->point_step = offset;
                cloud_msg->row_step   = cloud_msg->point_step * cloud_msg->width;
                cloud_msg->data.resize (cloud_msg->height * cloud_msg->width * cloud_msg->point_step);

        const float f2rc = data.getCameraParameters().f2rc / 1000.f; // since f2rc is given in [mm], but the pcl message wants [m]
                
                uint16_t *pDepth, *pConf, *pInt;
                int cp=0;
                for(int i = 0; i < data.get_distance().rows; ++i)
                {
                        pDepth = (uint16_t*)(data.get_distance()  .data + (data.get_distance()  .step*i) );
                        pConf  = (uint16_t*)(data.get_confidence().data + (data.get_confidence().step*i) );
                        pInt   = (uint16_t*)(data.get_intensity() .data + (data.get_intensity() .step*i) );
                        
                        for (int j = 0; j < data.get_distance().cols; ++j, ++cp)
                        {
                                if(pDepth[j]==0 || pDepth[j]==NARE_DISTANCE_VALUE) {
                                        const float bad_point = std::numeric_limits<float>::quiet_NaN();
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[0].offset], &bad_point, sizeof (float));
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[1].offset], &bad_point, sizeof (float));
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[2].offset], &bad_point, sizeof (float));
                                }
                                else {
                                        float xp = (data.getCameraParameters().cx - j) / data.getCameraParameters().fx;
                                        float yp = (data.getCameraParameters().cy - i) / data.getCameraParameters().fy;

                                        // Correction of the lens distortion
                                        float r2 = (xp * xp + yp * yp);
                                        float r4 = r2 * r2;
                                        float k = 1 + data.getCameraParameters().k1 * r2 + data.getCameraParameters().k2 * r4;
                                        xp = xp * k;
                                        yp = yp * k;

                                        // Calculation of the distances
                                        float s0 = std::sqrt(xp*xp + yp*yp + 1.f) * 1000.f;

                                        // Calculation of the Cartesian coordinates
                                        const float ox = xp * pDepth[j] / s0;
                                        const float oy = yp * pDepth[j] / s0;
                    const float oz = pDepth[j] / s0 - f2rc;
                                        
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[0].offset], &ox, sizeof (float));
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[1].offset], &oy, sizeof (float));
                                        memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[2].offset], &oz, sizeof (float));
                                }
                                
                                memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[3].offset], &pConf[j], sizeof (uint16_t));
                                memcpy (&cloud_msg->data[cp * cloud_msg->point_step + cloud_msg->fields[4].offset], &pInt [j], sizeof (uint16_t));
                        }
                }
                
                g_pub_points.publish(cloud_msg);
        }
        
        if(!published_anything) {
                if(g_control) g_control->stopStream();
        }
}

void _on_new_subscriber() {        
        ROS_DEBUG("Got new subscriber");

        if(!g_control) return;

        bool r=g_control->startStream(); // tell the device to start streaming data
        ROS_ASSERT(r);
}

void on_new_subscriber_ros(const ros::SingleSubscriberPublisher& pub) {        
        _on_new_subscriber();
}

void on_new_subscriber_it(const image_transport::SingleSubscriberPublisher& pub) {        
        _on_new_subscriber();
}

int main(int argc, char **argv) {
        ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug);
        ros::init(argc, argv, "driver_3DCS");
        ros::NodeHandle nh("~");
        
        bool r;
        boost::asio::io_service io_service;
        
        //default parameters
        std::string remote_device_ip="192.168.1.10";
        g_frame_id = "camera";
        
        ros::param::get("~remote_device_ip", remote_device_ip);
        ros::param::get("~frame_id", g_frame_id);
        ros::param::get("~prevent_frame_skipping", g_publish_all);
        
        Driver_3DCS::Control control(io_service, remote_device_ip);
        r=control.open();
        ROS_ASSERT(r);
        r=control.initStream();
        ROS_ASSERT(r);
        
        boost::thread thr(boost::bind(&boost::asio::io_service::run, &io_service));
        
        Driver_3DCS::Streaming device(io_service, remote_device_ip);
        device.getSignal().connect( boost::bind(&on_frame, _1) );
        r=device.openStream();
        ROS_ASSERT(r);
        
        g_control = &control;
        
        //make me public (after init.)
        
        image_transport::ImageTransport it(nh);
        g_pub_depth = it.advertise("depth", 1, (image_transport::SubscriberStatusCallback)on_new_subscriber_it, image_transport::SubscriberStatusCallback());
        g_pub_points = nh.advertise<sensor_msgs::PointCloud2>("points", 2, (ros::SubscriberStatusCallback)on_new_subscriber_ros, ros::SubscriberStatusCallback());
        g_pub_confidence = it.advertise("confidence", 1, (image_transport::SubscriberStatusCallback)on_new_subscriber_it, image_transport::SubscriberStatusCallback());
        g_pub_intensity = it.advertise("intensity", 1, (image_transport::SubscriberStatusCallback)on_new_subscriber_it, image_transport::SubscriberStatusCallback());
        g_pub_camera_info = nh.advertise<sensor_msgs::CameraInfo>("camera_info", 1, (ros::SubscriberStatusCallback)on_new_subscriber_ros, ros::SubscriberStatusCallback());
        g_pub_ios = nh.advertise<std_msgs::ByteMultiArray>("ios", 1, (ros::SubscriberStatusCallback)on_new_subscriber_ros, ros::SubscriberStatusCallback());
        
        //wait til end of exec.
        ros::spin();

        io_service.stop();
        device.closeStream();
        control.close();
        
        g_pub_depth.shutdown();
        g_pub_confidence.shutdown();
        g_pub_intensity.shutdown();
        g_pub_camera_info.shutdown();
        g_pub_points.shutdown();
        g_pub_ios.shutdown();

        return 0;
}