points2_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 "points2_publisher.h"

#include <rc_genicam_api/pixel_formats.h>

#include <sensor_msgs/PointCloud2.h>

namespace rc
{

Points2Publisher::Points2Publisher(ros::NodeHandle &nh, std::string frame_id_prefix,
                                   double _f, double _t, double _scale)
        : GenICam2RosPublisher(frame_id_prefix), left_list(50)
{
  f=_f;
  t=_t;
  scale=_scale;

  pub=nh.advertise<sensor_msgs::PointCloud2>("points2", 1);
}

bool Points2Publisher::used()
{
  return pub.getNumSubscribers() > 0;
}

void Points2Publisher::publish(const rcg::Buffer *buffer, uint64_t pixelformat)
{
  if (pub.getNumSubscribers() > 0)
  {
    // buffer left and disparity images

    if (pixelformat == Mono8 || pixelformat == YCbCr411_8)
    {
      left_list.add(buffer);
    }
    else if (pixelformat == Coord3D_C16)
    {
      disp_list.add(buffer);
    }

    // get corresponding left and disparity image

    uint64_t timestamp=buffer->getTimestampNS();

    std::shared_ptr<const rcg::Image> left=left_list.find(timestamp);
    std::shared_ptr<const rcg::Image> disp=disp_list.find(timestamp);

    if (left && disp)
    {
      // determine integer factor between size of left and disparity image

      uint32_t lw=left->getWidth();
      uint32_t lh=left->getHeight();

      if (lh > lw) // there may be a stacked right image
      {
        lh>>=1;
      }

      int ds=(lw+disp->getWidth()-1)/disp->getWidth();

      if ((lw+ds-1)/ds == disp->getWidth() && (lh+ds-1)/ds == disp->getHeight())
      {
        // allocate new image message and set meta information

        sensor_msgs::PointCloud2Ptr p=boost::make_shared<sensor_msgs::PointCloud2>();

        const uint64_t freq=1000000000ul;

        p->header.seq=seq++;
        p->header.stamp.sec=timestamp/freq;
        p->header.stamp.nsec=timestamp-freq*p->header.stamp.sec;
        p->header.frame_id=frame_id;

        // set meta data of point cloud

        p->width=lw/ds; // consider only full pixels if downscaled
        p->height=lh/ds; // consider only full pixels if downscaled

        p->is_bigendian=rcg::isHostBigEndian();
        p->is_dense=false;

        p->fields.resize(4);
        p->fields[0].name="x";
        p->fields[0].offset=0;
        p->fields[0].count=1;
        p->fields[0].datatype=sensor_msgs::PointField::FLOAT32;
        p->fields[1].name="y";
        p->fields[1].offset=4;
        p->fields[1].count=1;
        p->fields[1].datatype=sensor_msgs::PointField::FLOAT32;
        p->fields[2].name="z";
        p->fields[2].offset=8;
        p->fields[2].count=1;
        p->fields[2].datatype=sensor_msgs::PointField::FLOAT32;
        p->fields[3].name="rgb";
        p->fields[3].offset=12;
        p->fields[3].count=1;
        p->fields[3].datatype=sensor_msgs::PointField::FLOAT32;

        p->point_step=16;
        p->row_step=p->point_step*p->width;

        // allocate memory

        p->data.resize(p->row_step*p->height);
        float *pd=reinterpret_cast<float *>(&p->data[0]);

        // pointer to disparity data

        const uint8_t *dps=disp->getPixels();
        size_t dstep=disp->getWidth()*sizeof(uint16_t)+disp->getXPadding();

        // convert disparity to point cloud using left image for texture

        float ff=f*disp->getWidth();

        bool bigendian=disp->isBigEndian();

        for (uint32_t k=0; k<p->height; k++)
        {
          for (uint32_t i=0; i<p->width; i++)
          {
            // get disparity

            uint32_t j=i<<1;

            float d;

            if (bigendian)
            {
              d=scale*((dps[j]<<8)|dps[j+1]);
            }
            else
            {
              d=scale*((dps[j+1]<<8)|dps[j]);
            }

            // if disparity is valid and color can be obtained

            if (d > 0)
            {
              // reconstruct 3D point

              pd[0]=(i+0.5-disp->getWidth()/2.0)*t/d;
              pd[1]=(k+0.5-disp->getHeight()/2.0)*t/d;
              pd[2]=ff*t/d;

              // store color of point

              uint8_t rgb[3];
              rcg::getColor(rgb, left, ds, i, k);

              uint8_t *bgra=reinterpret_cast<uint8_t *>(pd+3);

              bgra[0]=rgb[2];
              bgra[1]=rgb[1];
              bgra[2]=rgb[0];
              bgra[3]=0;
            }
            else
            {
              for (int i=0; i<4; i++)
              {
                pd[i]=std::numeric_limits<float>::quiet_NaN();
              }
            }

            pd+=4;
          }

          dps+=dstep;
        }

        // publish message

        pub.publish(p);
      }
      else
      {
        ROS_ERROR_STREAM("Size of left and disparity image must differ only by an integer factor: " <<
                         left->getWidth() << "x" << left->getHeight() << " != " <<
                         disp->getWidth() << "x" << disp->getHeight());
      }

      // remove all old images, including the current ones

      left_list.removeOld(timestamp);
      disp_list.removeOld(timestamp);
    }
  }
}

}