ros2/CameraROS.cpp

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#include "CameraROS.h"
#include "find_object/Settings.h"

#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.hpp>

using namespace find_object;

CameraROS::CameraROS(bool subscribeDepth, rclcpp::Node * node) :
        node_(node),
        subscribeDepth_(subscribeDepth),
        approxSync_(0),
        exactSync_(0)
{
        qRegisterMetaType<rclcpp::Time>("ros::Time");
        qRegisterMetaType<cv::Mat>("cv::Mat");

        if(!subscribeDepth_)
        {
                image_transport::TransportHints hints(node);
                imageSub_ = image_transport::create_subscription(node, "image", std::bind(&CameraROS::imgReceivedCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
        }
        else
        {
                int queueSize = 10;
                bool approxSync = true;
                queueSize = node->declare_parameter("queue_size", queueSize);
                approxSync = node->declare_parameter("approx_sync", approxSync);
                RCLCPP_INFO(node->get_logger(), "find_object_ros: queue_size = %d", queueSize);
                RCLCPP_INFO(node->get_logger(), "find_object_ros: approx_sync = %s", approxSync?"true":"false");


                image_transport::TransportHints hints(node);
                rgbSub_.subscribe(node, "rgb/image_rect_color", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
                depthSub_.subscribe(node, "depth_registered/image_raw", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
                cameraInfoSub_.subscribe(node, "depth_registered/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());

                if(approxSync)
                {
                        approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
                        approxSync_->registerCallback(std::bind(&CameraROS::imgDepthReceivedCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
                }
                else
                {
                        exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
                        exactSync_->registerCallback(std::bind(&CameraROS::imgDepthReceivedCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
                }
        }
}
CameraROS::~CameraROS()
{
        delete approxSync_;
        delete exactSync_;
}

void CameraROS::setupExecutor(std::shared_ptr<rclcpp::Node> node)
{
        executor_.add_node(node);
}

QStringList CameraROS::subscribedTopics() const
{
        QStringList topics;
        if(subscribeDepth_)
        {
                topics.append(rgbSub_.getTopic().c_str());
                topics.append(depthSub_.getTopic().c_str());
                topics.append(cameraInfoSub_.getSubscriber()->get_topic_name());
        }
        else
        {
                topics.append(imageSub_.getTopic().c_str());
        }
        return topics;
}

bool CameraROS::start()
{
        this->startTimer();
        return true;
}

void CameraROS::stop()
{
        this->stopTimer();
}

void CameraROS::takeImage()
{
        executor_.spin_some();
}

void CameraROS::imgReceivedCallback(const sensor_msgs::msg::Image::ConstSharedPtr msg)
{
        if(msg->data.size())
        {
                cv::Mat image;
                cv_bridge::CvImageConstPtr imgPtr = cv_bridge::toCvShare(msg);
                try
                {
                        if(msg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
                           msg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
                        {
                                image = cv_bridge::cvtColor(imgPtr, "mono8")->image;
                        }
                        else
                        {
                                image = cv_bridge::cvtColor(imgPtr, "bgr8")->image;
                        }

                        Q_EMIT imageReceived(image, Header(msg->header.frame_id.c_str(), msg->header.stamp.sec, msg->header.stamp.nanosec), cv::Mat(), 0.0f);
                }
                catch(const cv_bridge::Exception & e)
                {
                        RCLCPP_ERROR(node_->get_logger(), "find_object_ros: Could not convert input image to mono8 or bgr8 format, encoding detected is %s... cv_bridge exception: %s", msg->encoding.c_str(), e.what());
                }
        }
}

void CameraROS::imgDepthReceivedCallback(
                const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg,
                const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
                const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg)
{
        if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 &&
           depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0)
        {
                        RCLCPP_ERROR(node_->get_logger(), "find_object_ros: Depth image type must be 32FC1 or 16UC1");
                        return;
        }

        if(rgbMsg->data.size())
        {
                cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvShare(rgbMsg);
                cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
                float depthConstant = 1.0f/cameraInfoMsg->k[4];

                cv::Mat image;
                cv_bridge::CvImageConstPtr imgPtr = cv_bridge::toCvShare(rgbMsg);
                try
                {
                        if(rgbMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
                           rgbMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
                        {
                                image = cv_bridge::cvtColor(imgPtr, "mono8")->image;
                        }
                        else
                        {
                                image = cv_bridge::cvtColor(imgPtr, "bgr8")->image;
                        }

                        Q_EMIT imageReceived(image, Header(rgbMsg->header.frame_id.c_str(), rgbMsg->header.stamp.sec, rgbMsg->header.stamp.nanosec), ptrDepth->image, depthConstant);
                }
                catch(const cv_bridge::Exception & e)
                {
                        RCLCPP_ERROR(node_->get_logger(), "find_object_ros: Could not convert input image to mono8 or bgr8 format, encoding detected is %s... cv_bridge exception: %s", rgbMsg->encoding.c_str(), e.what());
                }
        }


}