point_cloud_aggregator.cpp

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/*
Copyright (c) 2010-2019, 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
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

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

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/io/pcd_io.h>

#include <pcl_ros/transforms.h>

#include <tf/transform_listener.h>

#include <sensor_msgs/PointCloud2.h>

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

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

#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap/utilite/UConversion.h>

namespace rtabmap_ros
{

class PointCloudAggregator : public nodelet::Nodelet
{
public:
        PointCloudAggregator() :
                warningThread_(0),
                callbackCalled_(false),
                exactSync4_(0),
                approxSync4_(0),
                exactSync3_(0),
                approxSync3_(0),
                exactSync2_(0),
                approxSync2_(0)
        {}

        virtual ~PointCloudAggregator()
        {
            delete exactSync4_;
            delete approxSync4_;
            delete exactSync3_;
            delete approxSync3_;
            delete exactSync2_;
            delete approxSync2_;

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

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

                int queueSize = 5;
                int count = 2;
                bool approx=true;
                pnh.param("queue_size", queueSize, queueSize);
                pnh.param("frame_id", frameId_, frameId_);
                pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
                pnh.param("approx_sync", approx, approx);
                pnh.param("count", count, count);

                cloudSub_1_.subscribe(nh, "cloud1", 1);
                cloudSub_2_.subscribe(nh, "cloud2", 1);

                std::string subscribedTopicsMsg;
                if(count == 4)
                {
                        cloudSub_3_.subscribe(nh, "cloud3", 1);
                        cloudSub_4_.subscribe(nh, "cloud4", 1);
                        if(approx)
                        {
                                approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
                                approxSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
                        }
                        else
                        {
                                exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
                                exactSync4_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds4_callback, this, _1, _2, _3, _4));
                        }
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
                                        getName().c_str(),
                                        approx?"approx":"exact",
                                        cloudSub_1_.getTopic().c_str(),
                                        cloudSub_2_.getTopic().c_str(),
                                        cloudSub_3_.getTopic().c_str(),
                                        cloudSub_4_.getTopic().c_str());
                }
                else if(count == 3)
                {
                        cloudSub_3_.subscribe(nh, "cloud3", 1);
                        if(approx)
                        {
                                approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
                                approxSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
                        }
                        else
                        {
                                exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
                                exactSync3_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds3_callback, this, _1, _2, _3));
                        }
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
                                        getName().c_str(),
                                        approx?"approx":"exact",
                                        cloudSub_1_.getTopic().c_str(),
                                        cloudSub_2_.getTopic().c_str(),
                                        cloudSub_3_.getTopic().c_str());
                }
                else
                {
                        if(approx)
                        {
                                approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
                                approxSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
                        }
                        else
                        {
                                exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
                                exactSync2_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAggregator::clouds2_callback, this, _1, _2));
                        }
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s",
                                        getName().c_str(),
                                        approx?"approx":"exact",
                                        cloudSub_1_.getTopic().c_str(),
                                        cloudSub_2_.getTopic().c_str());
                }

                cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("combined_cloud", 1);

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

        void clouds4_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
                                                 const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
                                                 const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3,
                                                 const sensor_msgs::PointCloud2ConstPtr & cloudMsg_4)
        {
                std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
                clouds.push_back(cloudMsg_1);
                clouds.push_back(cloudMsg_2);
                clouds.push_back(cloudMsg_3);
                clouds.push_back(cloudMsg_4);

                combineClouds(clouds);
        }
        void clouds3_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
                             const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
                             const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3)
        {
                std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
                clouds.push_back(cloudMsg_1);
                clouds.push_back(cloudMsg_2);
                clouds.push_back(cloudMsg_3);

                combineClouds(clouds);
        }
        void clouds2_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
                                                 const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2)
        {
                std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
                clouds.push_back(cloudMsg_1);
                clouds.push_back(cloudMsg_2);

                combineClouds(clouds);
        }
        void combineClouds(const std::vector<sensor_msgs::PointCloud2ConstPtr> & cloudMsgs)
        {
                callbackCalled_ = true;
                ROS_ASSERT(cloudMsgs.size() > 1);
                if(cloudPub_.getNumSubscribers())
                {
                        pcl::PCLPointCloud2 output;

                        std::string frameId = frameId_;
                        if(!frameId.empty() && frameId.compare(cloudMsgs[0]->header.frame_id) != 0)
                        {
                                sensor_msgs::PointCloud2 tmp;
                                pcl_ros::transformPointCloud(frameId, *cloudMsgs[0], tmp, tfListener_);
                                pcl_conversions::toPCL(tmp, output);
                        }
                        else
                        {
                                pcl_conversions::toPCL(*cloudMsgs[0], output);
                                frameId = cloudMsgs[0]->header.frame_id;
                        }

                        for(unsigned int i=1; i<cloudMsgs.size(); ++i)
                        {
                                rtabmap::Transform cloudDisplacement;
                                bool notsync = false;
                                if(!fixedFrameId_.empty() &&
                                   cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp)
                                {
                                        // approx sync
                                        cloudDisplacement = rtabmap_ros::getTransform(
                                                        frameId, //sourceTargetFrame
                                                        fixedFrameId_, //fixedFrame
                                                        cloudMsgs[i]->header.stamp, //stampSource
                                                        cloudMsgs[0]->header.stamp, //stampTarget
                                                        tfListener_,
                                                        0.1);
                                        notsync = true;
                                }

                                pcl::PCLPointCloud2 cloud2;
                                if(frameId.compare(cloudMsgs[i]->header.frame_id) != 0)
                                {
                                        sensor_msgs::PointCloud2 tmp;
                                        pcl_ros::transformPointCloud(frameId, *cloudMsgs[i], tmp, tfListener_);
                                        if(!cloudDisplacement.isNull())
                                        {
                                                sensor_msgs::PointCloud2 tmp2;
                                                pcl_ros::transformPointCloud(cloudDisplacement.toEigen4f(), tmp, tmp2);
                                                pcl_conversions::toPCL(tmp2, cloud2);
                                        }
                                        else
                                        {
                                                pcl_conversions::toPCL(tmp, cloud2);
                                        }

                                }
                                else
                                {
                                        if(!cloudDisplacement.isNull())
                                        {
                                                sensor_msgs::PointCloud2 tmp;
                                                pcl_ros::transformPointCloud(cloudDisplacement.toEigen4f(), *cloudMsgs[i], tmp);
                                                pcl_conversions::toPCL(tmp, cloud2);
                                        }
                                        else
                                        {
                                                pcl_conversions::toPCL(*cloudMsgs[i], cloud2);
                                        }
                                }

                                pcl::PCLPointCloud2 tmp_output;
                                pcl::concatenatePointCloud(output, cloud2, tmp_output);
                                output = tmp_output;
                        }

                        sensor_msgs::PointCloud2 rosCloud;
                        pcl_conversions::moveFromPCL(output, rosCloud);
                        rosCloud.header.stamp = cloudMsgs[0]->header.stamp;
                        rosCloud.header.frame_id = frameId;
                        cloudPub_.publish(rosCloud);
                }
        }

        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());
                        }
                }
        }

        boost::thread * warningThread_;
        bool callbackCalled_;

        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync4Policy;
        typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync4Policy;
        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync3Policy;
        typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync3Policy;
        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync2Policy;
        typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync2Policy;
        message_filters::Synchronizer<ExactSync4Policy>* exactSync4_;
        message_filters::Synchronizer<ApproxSync4Policy>* approxSync4_;
        message_filters::Synchronizer<ExactSync3Policy>* exactSync3_;
        message_filters::Synchronizer<ApproxSync3Policy>* approxSync3_;
        message_filters::Synchronizer<ExactSync2Policy>* exactSync2_;
        message_filters::Synchronizer<ApproxSync2Policy>* approxSync2_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_1_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_2_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_3_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_4_;

        ros::Publisher cloudPub_;

        std::string frameId_;
        std::string fixedFrameId_;
        tf::TransformListener tfListener_;
};

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