dual_fisheye_to_panorama.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/dual_fisheye_to_panorama.h"
#include <jsk_topic_tools/log_utils.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <algorithm>
#include <math.h>
#include <boost/assign.hpp>

// #define PI 3.141592

namespace jsk_perception
{
  void DualFisheyeToPanorama::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("light_compen", enb_lc_, false);
    pnh_->param("refine_align", enb_ra_, false);
    pnh_->param("fovd", fovd_, 195.0f);
    pnh_->param("save_unwarped", save_unwarped_, false);
    pnh_->param("mls_map_path", mls_map_path_, std::string(""));
    ROS_INFO("light_compen : %s", enb_lc_?"true":"false");
    ROS_INFO("refine_align : %s", enb_ra_?"true":"false");
    ROS_INFO("fovd         : %7.3f", fovd_);
    ROS_INFO("save_unwarped: %7.3f", save_unwarped_?"true":"false");
    ROS_INFO("mls_map_path : %s", mls_map_path_.c_str());
    pub_panorama_image_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);

    sticher_initialized_ = false;
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&DualFisheyeToPanorama::configCallback, this, _1, _2);
    srv_->setCallback (f);

    onInitPostProcess();
  }

  void DualFisheyeToPanorama::configCallback(Config &new_config, uint32_t level)
  {
  }


  void DualFisheyeToPanorama::subscribe()
  {
    sub_image_ = pnh_->subscribe("input", 1, &DualFisheyeToPanorama::rectify, this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }

  void DualFisheyeToPanorama::unsubscribe()
  {
    sub_image_.shutdown();
  }


  void DualFisheyeToPanorama::rectify(const sensor_msgs::Image::ConstPtr& image_msg)
  {
    cv::Mat img;
    cv::resize(cv_bridge::toCvCopy(image_msg, image_msg->encoding)->image, img, cv::Size(3840,1920));

    if ( ! sticher_initialized_ )  {
      ROS_INFO("initialize stitcher w:%d h:%d", img.size().width, img.size().height);
      stitcher_.reset(new stitcher::FisheyeStitcher(img.size().width,
                                                    img.size().height,
                                                    fovd_,
                                                    enb_lc_,
                                                    enb_ra_,
                                                    save_unwarped_,
                                                    mls_map_path_));
      sticher_initialized_ = true;
    }
    cv::Mat img_l, img_r;
    // Left fisheye
    img_l = img(cv::Rect(0, 0,
                         static_cast<int>(img.size().width / 2), img.size().height));
    // Right fisheye
    img_r = img(cv::Rect(static_cast<int>(img.size().width / 2), 0,
                         static_cast<int>(img.size().width / 2), img.size().height));
    // Stitch video frames
    cv::Mat pano;
    pano = stitcher_->stitch(img_l, img_r);

    pub_panorama_image_.publish(cv_bridge::CvImage(image_msg->header,
                                                   image_msg->encoding,
                                                   pano).toImageMsg());
  }
}


#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_perception::DualFisheyeToPanorama, nodelet::Nodelet);