depth_sensor_pose_node.cpp

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#include <functional>

#include "depth_sensor_pose/depth_sensor_pose_node.h"

constexpr int MAX_NODE_RATE = 30;

using namespace depth_sensor_pose;

DepthSensorPoseNode::DepthSensorPoseNode(ros::NodeHandle& pnh)
  : pnh_(pnh), it_(pnh), dyn_rec_srv_(pnh)
{
  std::lock_guard<std::mutex> lock(connection_mutex_);

  // Dynamic reconfigure server callback
  dyn_rec_srv_.setCallback(
    boost::bind(&DepthSensorPoseNode::reconfigureCallback, this, _1, _2));

  // Lazy subscription implementation
  // Tilt angle and height publisher
  pub_height_ = pnh_.advertise<std_msgs::Float64>("height", 2,
    std::bind(&DepthSensorPoseNode::connectCallback, this),
    std::bind(&DepthSensorPoseNode::disconnectCallback, this));

  pub_angle_ = pnh_.advertise<std_msgs::Float64>("tilt_angle", 2,
    std::bind(&DepthSensorPoseNode::connectCallback, this),
    std::bind(&DepthSensorPoseNode::disconnectCallback, this));

  // New depth image publisher
  pub_ = it_.advertise("debug_image", 1,
    std::bind(&DepthSensorPoseNode::connectCallback, this),
    std::bind(&DepthSensorPoseNode::disconnectCallback, 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::depthCallback(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();

    pub_height_.publish(height);
    pub_angle_.publish(tilt_angle);
    ROS_DEBUG("Publish sensor height (%.2f) and tilt angle (%.2f)", height.data, tilt_angle.data);

    // Publish debug image
    if (estimator_.getPublishDepthEnable()) {
      auto dbg_image = estimator_.getDbgImage();
      if (dbg_image != nullptr) {
        pub_.publish(dbg_image);
      }
    }
  }
  catch (std::runtime_error& e) {
    ROS_ERROR_THROTTLE(1.0, "Could not to run estimation procedure: %s", e.what());
  }
}

void DepthSensorPoseNode::connectCallback() {
  std::lock_guard<std::mutex> lock(connection_mutex_);
  if (sub_ == nullptr && (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::depthCallback, this, hints);
  }
}

void DepthSensorPoseNode::disconnectCallback() {
  std::lock_guard<std::mutex> 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::reconfigureCallback(depth_sensor_pose::DepthSensorPoseConfig& config,
                                              [[maybe_unused]] uint32_t level) {
  node_rate_hz_ = static_cast<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_dbg_info);
  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);
}