sync_nodelet.cpp

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#include <realsense_camera/sync_nodelet.h>

PLUGINLIB_EXPORT_CLASS(realsense_camera::SyncNodelet, nodelet::Nodelet)

namespace realsense_camera
{
  SyncNodelet::~SyncNodelet()
  {
    topic_thread_->join();
  }

  /*
   * Initialize the nodelet.
   */
  void SyncNodelet::onInit()
  {
    BaseNodelet::onInit();

    // start thread to publish topics
    topic_thread_ =
            boost::shared_ptr <boost::thread>(new boost::thread (boost::bind(&SyncNodelet::publishSyncTopics, this)));
  }

  void SyncNodelet::publishSyncTopics() try
  {
    while (ros::ok())
    {
      if (start_stop_srv_called_ == true)
      {
        if (start_camera_ == true)
        {
          ROS_INFO_STREAM(nodelet_name_ << " - " << startCamera());
        }
        else
        {
          ROS_INFO_STREAM(nodelet_name_ << " - " << stopCamera());
        }

        start_stop_srv_called_ = false;
      }

      if (enable_[RS_STREAM_DEPTH] != rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0))
      {
        stopCamera();
        setStreams();
        startCamera();
      }

      if (rs_is_device_streaming(rs_device_, 0) == 1)
      {
        rs_wait_for_frames(rs_device_, &rs_error_);
        checkError();
        topic_ts_ = ros::Time::now();
        duplicate_depth_color_ = false;

        for (int stream=0; stream < STREAM_COUNT; stream++)
        {
          if (enable_[stream] == true)
          {
            publishTopic(static_cast<rs_stream>(stream));
          }
        }

        if (pointcloud_publisher_.getNumSubscribers() > 0 &&
            rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true &&
            (duplicate_depth_color_ == false))  // Skip publishing PointCloud if Depth or Color frame was duplicate
        {
          if (camera_publisher_[RS_STREAM_DEPTH].getNumSubscribers() <= 0)
          {
            setImageData(RS_STREAM_DEPTH);
          }

          if (camera_publisher_[RS_STREAM_COLOR].getNumSubscribers() <= 0)
          {
            setImageData(RS_STREAM_COLOR);
          }

          publishPCTopic();
        }
      }
    }
  }
  catch(const rs::error & e)
  {
    ROS_ERROR_STREAM(nodelet_name_ << " - " << "RealSense error calling "
        << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    "
        << e.what());
    ros::shutdown();
  }
  catch(const std::exception & e)
  {
    ROS_ERROR_STREAM(nodelet_name_ << " - " << e.what());
    ros::shutdown();
  }
  catch(...)
  {
    ROS_ERROR_STREAM(nodelet_name_ << " - Caught unknown expection...shutting down!");
    ros::shutdown();
  }

  /*
   * Publish topic.
   */
  void SyncNodelet::publishTopic(rs_stream stream_index)
  {
    // Publish stream only if there is at least one subscriber.
    if (camera_publisher_[stream_index].getNumSubscribers() > 0 &&
        rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1)
    {
      double frame_ts = rs_get_frame_timestamp(rs_device_, (rs_stream) stream_index, 0);
      if (ts_[stream_index] != frame_ts)  // Publish frames only if its not duplicate
      {
        setImageData(stream_index);

        sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(),
            encoding_[stream_index],
            image_[stream_index]).toImageMsg();

        msg->header.frame_id = optical_frame_id_[stream_index];
        msg->header.stamp = topic_ts_;  // Publish timestamp to synchronize frames.
        msg->width = image_[stream_index].cols;
        msg->height = image_[stream_index].rows;
        msg->is_bigendian = false;
        msg->step = step_[stream_index];

        camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp;
        camera_publisher_[stream_index].publish(msg, camera_info_ptr_[stream_index]);
      }
      else
      {
        if ((stream_index == RS_STREAM_DEPTH) || (stream_index == RS_STREAM_COLOR))
        {
          duplicate_depth_color_ = true;  // Set this flag to true if Depth and/or Color frame is duplicate
        }
      }

      ts_[stream_index] = frame_ts;
    }
  }

  void SyncNodelet::setImageData(rs_stream stream_index)
    {
      if (stream_index == RS_STREAM_DEPTH)
      {
        // fill depth buffer
        image_depth16_ = reinterpret_cast<const uint16_t *>(rs_get_frame_data(rs_device_, stream_index, 0));
        float depth_scale_meters = rs_get_device_depth_scale(rs_device_, &rs_error_);
        if (depth_scale_meters == MILLIMETER_METERS)
        {
          image_[stream_index].data = (unsigned char *) image_depth16_;
        }
        else
        {
          cvWrapper_ = cv::Mat(image_[stream_index].size(), cv_type_[stream_index],
                               const_cast<void *>(reinterpret_cast<const void *>(image_depth16_)),
                               step_[stream_index]);
          cvWrapper_.convertTo(image_[stream_index], cv_type_[stream_index],
                static_cast<double>(depth_scale_meters) / static_cast<double>(MILLIMETER_METERS));
        }
      }
      else if (stream_index == RS_STREAM_COLOR)
      {
        image_[stream_index].data = (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_RECTIFIED_COLOR, 0));
      }
      else
      {
        image_[stream_index].data = (unsigned char *) (rs_get_frame_data(rs_device_, stream_index, 0));
      }
    }
}  // namespace realsense_camera