camera_info_publisher.cc

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "camera_info_publisher.h"

#include <rc_genicam_api/pixel_formats.h>

namespace rc
{

CameraInfoPublisher::CameraInfoPublisher(ros::NodeHandle &nh, std::string frame_id_prefix,
                                         double _f, double t, bool left)
        : GenICam2RosPublisher(frame_id_prefix)
{
  f=_f;

  // prepare camera info message

  info.header.frame_id=frame_id;

  info.width=0;
  info.height=0;
  info.distortion_model="plumb_bob"; // we have to choose a model
  info.D.resize(5); // all 0, since images are rectified

  info.K[0]=1; info.K[1]=0; info.K[2]=0;
  info.K[3]=0; info.K[4]=1; info.K[5]=0;
  info.K[6]=0; info.K[7]=0; info.K[8]=1;

  info.R[0]=1; info.R[1]=0; info.R[2]=0;
  info.R[3]=0; info.R[4]=1; info.R[5]=0;
  info.R[6]=0; info.R[7]=0; info.R[8]=1;

  info.P[0]=1; info.P[1]=0; info.P[2]=0; info.P[3]=0;
  info.P[4]=0; info.P[5]=1; info.P[6]=0; info.P[7]=0;
  info.P[8]=0; info.P[9]=0; info.P[10]=1; info.P[11]=0;

  info.binning_x=1;
  info.binning_y=1;

  // advertise topic

  if (left)
  {
    pub=nh.advertise<sensor_msgs::CameraInfo>("left/camera_info", 1);
  }
  else
  {
    pub=nh.advertise<sensor_msgs::CameraInfo>("right/camera_info", 1);
    info.P[3]=t;
  }
}

bool CameraInfoPublisher::used()
{
  return pub.getNumSubscribers() > 0;
}

void CameraInfoPublisher::publish(const rcg::Buffer *buffer, uint64_t pixelformat)
{
  if (pub.getNumSubscribers() > 0 && (pixelformat == Mono8 || pixelformat == YCbCr411_8))
  {
    const uint64_t freq=1000000000ul;
    uint64_t time=buffer->getTimestampNS();

    info.header.seq++;
    info.header.stamp.sec=time/freq;
    info.header.stamp.nsec=time-freq*info.header.stamp.sec;

    info.width=static_cast<uint32_t>(buffer->getWidth());
    info.height=static_cast<uint32_t>(buffer->getHeight());

    if (info.height > info.width)
    {
      info.height>>=1; // left and right images are stacked together
    }

    info.K[0]=info.K[4]=f*info.width;
    info.P[0]=info.P[5]=f*info.width;

    info.P[2]=info.K[2]=info.width/2.0;
    info.P[6]=info.K[5]=info.height/2.0;

    pub.publish(info);
  }
}

}