stereo_sync.cpp

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/*
Copyright (c) 2010-2016, 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.

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#include <ros/ros.h>
#include <pluginlib/class_list_macros.hpp>
#include <nodelet/nodelet.h>

#include <sensor_msgs/Image.h>
#include <sensor_msgs/CompressedImage.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/CameraInfo.h>

#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>

#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.h>

#include <cv_bridge/cv_bridge.h>
#include <opencv2/highgui/highgui.hpp>

#include <boost/thread.hpp>

#include "rtabmap_ros/RGBDImage.h"

#include "rtabmap/core/Compression.h"
#include "rtabmap/utilite/UConversion.h"

namespace rtabmap_ros
{

class StereoSync : public nodelet::Nodelet
{
public:
        StereoSync() :
                compressedRate_(0),
                warningThread_(0),
                callbackCalled_(false),
                approxSync_(0),
                exactSync_(0)
        {}

        virtual ~StereoSync()
        {
                if(approxSync_)
                        delete approxSync_;
                if(exactSync_)
                        delete exactSync_;

                if(warningThread_)
                {
                        callbackCalled_=true;
                        warningThread_->join();
                        delete warningThread_;
                }
        }

private:
        virtual void onInit()
        {
                ros::NodeHandle & nh = getNodeHandle();
                ros::NodeHandle & pnh = getPrivateNodeHandle();

                int queueSize = 10;
                bool approxSync = false;
                double approxSyncMaxInterval = 0.0;
                pnh.param("approx_sync", approxSync, approxSync);
                if(approxSync)
                        pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
                pnh.param("queue_size", queueSize, queueSize);
                pnh.param("compressed_rate", compressedRate_, compressedRate_);

                NODELET_INFO("%s: approx_sync = %s", getName().c_str(), approxSync?"true":"false");
                NODELET_INFO("%s: approx_sync_max_interval = %f", getName().c_str(), approxSyncMaxInterval);
                NODELET_INFO("%s: queue_size  = %d", getName().c_str(), queueSize);
                NODELET_INFO("%s: compressed_rate = %f", getName().c_str(), compressedRate_);

                rgbdImagePub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image", 1);
                rgbdImageCompressedPub_ = nh.advertise<rtabmap_ros::RGBDImage>("rgbd_image/compressed", 1);

                if(approxSync)
                {
                        approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
                        if(approxSyncMaxInterval>0.0)
                                approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
                        approxSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
                }
                else
                {
                        exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
                        exactSync_->registerCallback(boost::bind(&StereoSync::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
                }

                ros::NodeHandle left_nh(nh, "left");
                ros::NodeHandle right_nh(nh, "right");
                ros::NodeHandle left_pnh(pnh, "left");
                ros::NodeHandle right_pnh(pnh, "right");
                image_transport::ImageTransport rgb_it(left_nh);
                image_transport::ImageTransport depth_it(right_nh);
                image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), left_pnh);
                image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), right_pnh);

                imageLeftSub_.subscribe(rgb_it, left_nh.resolveName("image_rect"), 1, hintsRgb);
                imageRightSub_.subscribe(depth_it, right_nh.resolveName("image_rect"), 1, hintsDepth);
                cameraInfoLeftSub_.subscribe(left_nh, "camera_info", 1);
                cameraInfoRightSub_.subscribe(right_nh, "camera_info", 1);

                std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s",
                                                        getName().c_str(),
                                                        approxSync?"approx":"exact",
                                                        approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
                                                        imageLeftSub_.getTopic().c_str(),
                                                        imageRightSub_.getTopic().c_str(),
                                                        cameraInfoLeftSub_.getTopic().c_str(),
                                                        cameraInfoRightSub_.getTopic().c_str());

                warningThread_ = new boost::thread(boost::bind(&StereoSync::warningLoop, this, subscribedTopicsMsg, approxSync));
                NODELET_INFO("%s", subscribedTopicsMsg.c_str());
        }

        void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
        {
                ros::Duration r(5.0);
                while(!callbackCalled_)
                {
                        r.sleep();
                        if(!callbackCalled_)
                        {
                                ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
                                                "published (\"$ rostopic hz my_topic\") and the timestamps in their "
                                                "header are set. %s%s",
                                                getName().c_str(),
                                                approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
                                                        "topics should have all the exact timestamp for the callback to be called.",
                                                subscribedTopicsMsg.c_str());
                        }
                }
        }

        void callback(
                          const sensor_msgs::ImageConstPtr& imageLeft,
                          const sensor_msgs::ImageConstPtr& imageRight,
                          const sensor_msgs::CameraInfoConstPtr& cameraInfoLeft,
                          const sensor_msgs::CameraInfoConstPtr& cameraInfoRight)
        {
                callbackCalled_ = true;
                if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
                {
                        double leftStamp = imageLeft->header.stamp.toSec();
                        double rightStamp = imageRight->header.stamp.toSec();
                        double leftInfoStamp = cameraInfoLeft->header.stamp.toSec();
                        double rightInfoStamp = cameraInfoRight->header.stamp.toSec();

                        double stampDiff = fabs(leftStamp - rightStamp);
                        if(stampDiff > 0.010)
                        {
                                NODELET_WARN("The time difference between left and right frames is "
                                                "high (diff=%fs, left=%fs, right=%fs). If your left and right cameras are hardware "
                                                "synchronized, use approx_sync:=false. Otherwise, you may want "
                                                "to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations.",
                                                stampDiff,
                                                leftStamp,
                                                rightStamp);
                        }

                        rtabmap_ros::RGBDImage msg;
                        msg.header.frame_id = cameraInfoLeft->header.frame_id;
                        msg.header.stamp = imageLeft->header.stamp>imageRight->header.stamp?imageLeft->header.stamp:imageRight->header.stamp;
                        msg.rgb_camera_info = *cameraInfoLeft;
                        msg.depth_camera_info = *cameraInfoRight;

                        if(rgbdImageCompressedPub_.getNumSubscribers())
                        {
                                bool publishCompressed = true;
                                if (compressedRate_ > 0.0)
                                {
                                        if ( lastCompressedPublished_ + ros::Duration(1.0/compressedRate_) > ros::Time::now())
                                        {
                                                NODELET_DEBUG("throttle last update at %f skipping", lastCompressedPublished_.toSec());
                                                publishCompressed = false;
                                        }
                                }

                                if(publishCompressed)
                                {
                                        lastCompressedPublished_ = ros::Time::now();

                                        rtabmap_ros::RGBDImage msgCompressed = msg;

                                        cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(imageLeft);
                                        imagePtr->toCompressedImageMsg(msgCompressed.rgb_compressed, cv_bridge::JPG);

                                        cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageRight);
                                        imageDepthPtr->toCompressedImageMsg(msgCompressed.depth_compressed, cv_bridge::JPG);

                                        rgbdImageCompressedPub_.publish(msgCompressed);
                                }
                        }

                        if(rgbdImagePub_.getNumSubscribers())
                        {
                                msg.rgb = *imageLeft;
                                msg.depth = *imageRight;
                                rgbdImagePub_.publish(msg);
                        }

                        if( leftStamp != imageLeft->header.stamp.toSec() ||
                                rightStamp != imageRight->header.stamp.toSec())
                        {
                                NODELET_ERROR("Input stamps changed between the beginning and the end of the callback! Make "
                                                "sure the node publishing the topics doesn't override the same data after publishing them. A "
                                                "solution is to use this node within another nodelet manager. Stamps: "
                                                "left%f->%f right=%f->%f",
                                                leftStamp, imageLeft->header.stamp.toSec(),
                                                rightStamp, imageRight->header.stamp.toSec());
                        }
                }
        }

private:
        double compressedRate_;
        boost::thread * warningThread_;
        bool callbackCalled_;
        ros::Time lastCompressedPublished_;

        ros::Publisher rgbdImagePub_;
        ros::Publisher rgbdImageCompressedPub_;

        image_transport::SubscriberFilter imageLeftSub_;
        image_transport::SubscriberFilter imageRightSub_;
        message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeftSub_;
        message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRightSub_;

        typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
        message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;

        typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
        message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
};

PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StereoSync, nodelet::Nodelet);
}