openni2_frame_listener.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * 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 Willow Garage, Inc. 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 OWNER 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Author: Julius Kammerl (jkammerl@willowgarage.com)
 */
#include "OpenNI.h"

#include "openni2_camera/openni2_frame_listener.h"
#include "openni2_camera/openni2_timer_filter.h"

#include <sensor_msgs/image_encodings.h>

#include <ros/ros.h>

#define TIME_FILTER_LENGTH 15

namespace openni2_wrapper
{

OpenNI2FrameListener::OpenNI2FrameListener() :
    callback_(0),
    user_device_timer_(false),
    timer_filter_(new OpenNI2TimerFilter(TIME_FILTER_LENGTH)),
    prev_time_stamp_(0.0)
{
  ros::Time::init();
}

void OpenNI2FrameListener::setUseDeviceTimer(bool enable)
{
  user_device_timer_ = enable;

  if (user_device_timer_)
    timer_filter_->clear();
}

void OpenNI2FrameListener::onNewFrame(openni::VideoStream& stream)
{
  stream.readFrame(&m_frame);

  if (m_frame.isValid() && callback_)
  {
    sensor_msgs::ImagePtr image(new sensor_msgs::Image);

    ros::Time ros_now = ros::Time::now();

    if (!user_device_timer_)
    {
      image->header.stamp = ros_now;

      ROS_DEBUG("Time interval between frames: %.4f ms", (float)((ros_now.toSec()-prev_time_stamp_)*1000.0));

      prev_time_stamp_ = ros_now.toSec();
    } else
    {
      uint64_t device_time = m_frame.getTimestamp();

      double device_time_in_sec = static_cast<double>(device_time)/1000000.0;
      double ros_time_in_sec = ros_now.toSec();

      double time_diff = ros_time_in_sec-device_time_in_sec;

      timer_filter_->addSample(time_diff);

      double filtered_time_diff = timer_filter_->getMedian();

      double corrected_timestamp = device_time_in_sec+filtered_time_diff;

      image->header.stamp.fromSec(corrected_timestamp);

      ROS_DEBUG("Time interval between frames: %.4f ms", (float)((corrected_timestamp-prev_time_stamp_)*1000.0));

      prev_time_stamp_ = corrected_timestamp;
    }

    image->width = m_frame.getWidth();
    image->height = m_frame.getHeight();

    std::size_t data_size = m_frame.getDataSize();

    image->data.resize(data_size);
    memcpy(&image->data[0], m_frame.getData(), data_size);

    image->is_bigendian = 0;

    const openni::VideoMode& video_mode = m_frame.getVideoMode();
    switch (video_mode.getPixelFormat())
    {
      case openni::PIXEL_FORMAT_DEPTH_1_MM:
        image->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
        image->step = sizeof(unsigned char) * 2 * image->width;
        break;
      case openni::PIXEL_FORMAT_DEPTH_100_UM:
        image->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
        image->step = sizeof(unsigned char) * 2 * image->width;
        break;
      case openni::PIXEL_FORMAT_SHIFT_9_2:
        image->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
        image->step = sizeof(unsigned char) * 2 * image->width;
        break;
      case openni::PIXEL_FORMAT_SHIFT_9_3:
        image->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
        image->step = sizeof(unsigned char) * 2 * image->width;
        break;

      case openni::PIXEL_FORMAT_RGB888:
        image->encoding = sensor_msgs::image_encodings::RGB8;
        image->step = sizeof(unsigned char) * 3 * image->width;
        break;
      case openni::PIXEL_FORMAT_YUV422:
        image->encoding = sensor_msgs::image_encodings::YUV422;
        image->step = sizeof(unsigned char) * 4 * image->width;
        break;
      case openni::PIXEL_FORMAT_GRAY8:
        image->encoding = sensor_msgs::image_encodings::MONO8;
        image->step = sizeof(unsigned char) * 1 * image->width;
        break;
      case openni::PIXEL_FORMAT_GRAY16:
        image->encoding = sensor_msgs::image_encodings::MONO16;
        image->step = sizeof(unsigned char) * 2 * image->width;
        break;
      case openni::PIXEL_FORMAT_JPEG:
      default:
        ROS_ERROR("Invalid image encoding");
        break;
    }

    callback_(image);
  }

}

}