depth_cloud_display.cpp
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29 #include <QObject>
30 #include <QRegularExpression>
31 
32 #include "depth_cloud_display.h"
35 #include <rviz/validate_floats.h>
36 
41 #include <rviz/frame_manager.h>
42 
43 #include <tf2_ros/buffer.h>
44 
45 #include <boost/bind/bind.hpp>
46 #include <boost/algorithm/string/erase.hpp>
47 #include <boost/foreach.hpp>
48 #include <boost/shared_ptr.hpp>
49 
50 #include <OgreSceneNode.h>
51 #include <OgreSceneManager.h>
52 
56 
58 
59 #include "depth_cloud_mld.h"
60 
61 #include <sstream>
62 #include <string>
63 #include <math.h>
64 
66 
67 namespace rviz
68 {
70  : rviz::Display()
71  , messages_received_(0)
72  , depthmap_sub_()
73  , rgb_sub_()
74  , cam_info_sub_()
75  , queue_size_(5)
76  , ml_depth_data_(new MultiLayerDepth())
77  , angular_thres_(0.5f)
78  , trans_thres_(0.01f)
79 
80 {
81  // Depth map properties
82  QRegularExpression depth_filter("depth", QRegularExpression::CaseInsensitiveOption);
83 
85  new Property("Topic Filter", true,
86  "List only topics with names that relate to depth and color images", this,
88 
90  "Depth Map Topic", "", QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
91  "sensor_msgs::Image topic to subscribe to.", depth_filter, this, &DepthCloudDisplay::updateTopic);
92 
94  new EnumProperty("Depth Map Transport Hint", "raw", "Preferred method of sending images.", this,
96 
99 
101 
102  // color image properties
103  QRegularExpression color_filter("color|rgb|bgr|gray|mono", QRegularExpression::CaseInsensitiveOption);
104 
106  "Color Image Topic", "",
107  QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
108  "sensor_msgs::Image topic to subscribe to.", color_filter, this, &DepthCloudDisplay::updateTopic);
109 
111  new EnumProperty("Color Transport Hint", "raw", "Preferred method of sending images.", this,
113 
114 
117 
119 
120  // Queue size property
122  new IntProperty("Queue Size", queue_size_,
123  "Advanced: set the size of the incoming message queue. Increasing this "
124  "is useful if your incoming TF data is delayed significantly from your"
125  " image data, but it can greatly increase memory usage if the messages are big.",
128 
130  "Auto Size", true,
131  "Automatically scale each point based on its depth value and the camera parameters.", this,
133 
135  new FloatProperty("Auto Size Factor", 1, "Scaling factor to be applied to the auto size.",
138 
140  new BoolProperty("Occlusion Compensation", false,
141  "Keep points alive after they have been occluded by a closer point. Points are "
142  "removed after a timeout or when the camera frame moves.",
144 
146  new FloatProperty("Occlusion Time-Out", 30.0f,
147  "Amount of seconds before removing occluded points from the depth cloud",
149  this);
150 }
151 
153 {
156 
157  // Instantiate PointCloudCommon class for displaying point clouds
159 
162 
163  // Scan for available transport plugins
165 
168 }
169 
171 {
172  if (initialized())
173  {
174  unsubscribe();
175  delete pointcloud_common_;
176  }
177 
178  if (ml_depth_data_)
179  {
180  delete ml_depth_data_;
181  }
182 }
183 
184 void DepthCloudDisplay::setTopic(const QString& topic, const QString& datatype)
185 {
186  // Copied from ImageDisplayBase::setTopic()
187  if (datatype == ros::message_traits::datatype<sensor_msgs::Image>())
188  {
191  }
192  else
193  {
194  int index = topic.lastIndexOf("/");
195  if (index == -1)
196  {
197  ROS_WARN("DepthCloudDisplay::setTopic() Invalid topic name: %s", topic.toStdString().c_str());
198  return;
199  }
200  QString transport = topic.mid(index + 1);
201  QString base_topic = topic.mid(0, index);
202 
204  depth_topic_property_->setString(base_topic);
205  }
206 }
207 
209 {
211 }
212 
214 {
215  bool use_auto_size = use_auto_size_property_->getBool();
217  pointcloud_common_->setAutoSize(use_auto_size);
218  auto_size_factor_property_->setHidden(!use_auto_size);
219  if (use_auto_size)
221 }
222 
224 {
225 }
226 
228 {
229  bool enabled = topic_filter_property_->getValue().toBool();
232 }
233 
235 {
236  bool use_occlusion_compensation = use_occlusion_compensation_property_->getBool();
237  occlusion_shadow_timeout_property_->setHidden(!use_occlusion_compensation);
238 
239  if (use_occlusion_compensation)
240  {
244  }
245  else
246  {
248  }
249 }
250 
252 {
253  float occlusion_timeout = occlusion_shadow_timeout_property_->getFloat();
254  ml_depth_data_->setShadowTimeOut(occlusion_timeout);
255 }
256 
258 {
259  subscribe();
260 }
261 
263 {
264  unsubscribe();
265 
267 
268  clear();
269 }
270 
272 {
273  if (!isEnabled())
274  {
275  return;
276  }
277 
278  try
279  {
280  // reset all message filters
282  depthmap_tf_filter_.reset();
286 
287  std::string depthmap_topic = depth_topic_property_->getTopicStd();
288  std::string color_topic = color_topic_property_->getTopicStd();
289 
290  std::string depthmap_transport = depth_transport_property_->getStdString();
291  std::string color_transport = color_transport_property_->getStdString();
292 
293  if (!depthmap_topic.empty() && !depthmap_transport.empty())
294  {
295  // subscribe to depth map topic
296  depthmap_sub_->subscribe(*depthmap_it_, depthmap_topic, queue_size_,
297  image_transport::TransportHints(depthmap_transport));
298 
301  threaded_nh_));
302 
303  // subscribe to CameraInfo topic
304  std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic);
305  cam_info_sub_->subscribe(threaded_nh_, info_topic, queue_size_);
306  cam_info_sub_->registerCallback(
307  boost::bind(&DepthCloudDisplay::caminfoCallback, this, boost::placeholders::_1));
308 
309  if (!color_topic.empty() && !color_transport.empty())
310  {
311  // subscribe to color image topic
312  rgb_sub_->subscribe(*rgb_it_, color_topic, queue_size_,
313  image_transport::TransportHints(color_transport));
314 
315  // connect message filters to synchronizer
317  sync_depth_color_->setInterMessageLowerBound(0, ros::Duration(0.5));
318  sync_depth_color_->setInterMessageLowerBound(1, ros::Duration(0.5));
319  sync_depth_color_->registerCallback(boost::bind(
320  &DepthCloudDisplay::processMessage, this, boost::placeholders::_1, boost::placeholders::_2));
321 
323  }
324  else
325  {
326  depthmap_tf_filter_->registerCallback(
327  boost::bind(&DepthCloudDisplay::processMessage, this, boost::placeholders::_1));
328  }
329  }
330  }
331  catch (ros::Exception& e)
332  {
333  setStatus(StatusProperty::Error, "Message", QString("Error subscribing: ") + e.what());
334  }
336  {
337  setStatus(StatusProperty::Error, "Message", QString("Error subscribing: ") + e.what());
338  }
339 }
340 
341 void DepthCloudDisplay::caminfoCallback(sensor_msgs::CameraInfo::ConstPtr msg)
342 {
343  boost::mutex::scoped_lock lock(cam_info_mutex_);
344  cam_info_ = std::move(msg);
345 }
346 
348 {
349  clear();
350 
351  try
352  {
353  // reset all filters
355  depthmap_tf_filter_.reset();
356  depthmap_sub_.reset();
357  rgb_sub_.reset();
358  cam_info_sub_.reset();
359  }
360  catch (ros::Exception& e)
361  {
362  setStatus(StatusProperty::Error, "Message", QString("Error unsubscribing: ") + e.what());
363  }
364 }
365 
366 
368 {
370 }
371 
372 
373 void DepthCloudDisplay::update(float wall_dt, float ros_dt)
374 {
375  pointcloud_common_->update(wall_dt, ros_dt);
376 }
377 
378 
380 {
381  clear();
382  messages_received_ = 0;
383  setStatus(StatusProperty::Ok, "Depth Map", "0 depth maps received");
384  setStatus(StatusProperty::Ok, "Message", "Ok");
385 }
386 
387 void DepthCloudDisplay::processMessage(const sensor_msgs::ImageConstPtr& depth_msg)
388 {
389  processMessage(depth_msg, sensor_msgs::ImageConstPtr());
390 }
391 
392 void DepthCloudDisplay::processMessage(const sensor_msgs::ImageConstPtr& depth_msg,
393  const sensor_msgs::ImageConstPtr& rgb_msg)
394 {
396  {
397  return;
398  }
399 
400  std::ostringstream s;
401 
403  setStatus(StatusProperty::Ok, "Depth Map",
404  QString::number(messages_received_) + " depth maps received");
405  setStatus(StatusProperty::Ok, "Message", "Ok");
406 
407  sensor_msgs::CameraInfo::ConstPtr cam_info;
408  {
409  boost::mutex::scoped_lock lock(cam_info_mutex_);
410  cam_info = cam_info_;
411  }
412 
413  if (!cam_info || !depth_msg)
414  {
415  return;
416  }
417 
418  s.str("");
419  s << depth_msg->width << " x " << depth_msg->height;
420  setStatusStd(StatusProperty::Ok, "Depth Image Size", s.str());
421 
422  if (rgb_msg)
423  {
424  s.str("");
425  s << rgb_msg->width << " x " << rgb_msg->height;
426  setStatusStd(StatusProperty::Ok, "Image Size", s.str());
427 
428  if (depth_msg->header.frame_id != rgb_msg->header.frame_id)
429  {
430  std::stringstream errorMsg;
431  errorMsg << "Depth image frame id [" << depth_msg->header.frame_id.c_str()
432  << "] doesn't match color image frame id [" << rgb_msg->header.frame_id.c_str() << "]";
433  setStatusStd(StatusProperty::Warn, "Message", errorMsg.str());
434  }
435  }
436 
438  {
439  float f = cam_info->K[0];
440  float bx = cam_info->binning_x > 0 ? cam_info->binning_x : 1.0;
443  }
444 
445  bool use_occlusion_compensation = use_occlusion_compensation_property_->getBool();
446 
447  if (use_occlusion_compensation)
448  {
449  // reset depth cloud display if camera moves
450  Ogre::Quaternion orientation;
451  Ogre::Vector3 position;
452 
453  if (!context_->getFrameManager()->getTransform(depth_msg->header, position, orientation))
454  {
455  setStatus(StatusProperty::Error, "Message",
456  QString("Failed to transform from frame [") + depth_msg->header.frame_id.c_str() +
457  QString("] to frame [") + context_->getFrameManager()->getFixedFrame().c_str() +
458  QString("]"));
459  return;
460  }
461  else
462  {
463  Ogre::Radian angle;
464  Ogre::Vector3 axis;
465 
466  (current_orientation_.Inverse() * orientation).ToAngleAxis(angle, axis);
467 
468  float angle_deg = angle.valueDegrees();
469  if (angle_deg >= 180.0f)
470  angle_deg -= 180.0f;
471  if (angle_deg < -180.0f)
472  angle_deg += 180.0f;
473 
474  if (trans_thres_ == 0.0 || angular_thres_ == 0.0 ||
475  (position - current_position_).length() > trans_thres_ || angle_deg > angular_thres_)
476  {
477  // camera orientation/position changed
478  current_position_ = position;
479  current_orientation_ = orientation;
480 
481  // reset multi-layered depth image
483  }
484  }
485  }
486 
487  try
488  {
489  sensor_msgs::PointCloud2Ptr cloud_msg =
490  ml_depth_data_->generatePointCloudFromDepth(depth_msg, rgb_msg, cam_info);
491 
492  if (!cloud_msg.get())
493  {
494  throw MultiLayerDepthException("generatePointCloudFromDepth() returned zero.");
495  }
496  cloud_msg->header = depth_msg->header;
497 
498  // add point cloud message to pointcloud_common to be visualized
499  pointcloud_common_->addMessage(cloud_msg);
500  }
501  catch (MultiLayerDepthException& e)
502  {
503  setStatus(StatusProperty::Error, "Message", QString("Error updating depth cloud: ") + e.what());
504  }
505 }
506 
507 
509 {
511  "image_transport", "image_transport::SubscriberPlugin");
512 
513  BOOST_FOREACH (const std::string& lookup_name, sub_loader.getDeclaredClasses())
514  {
515  // lookup_name is formatted as "pkg/transport_sub", for instance
516  // "image_transport/compressed_sub" for the "compressed"
517  // transport. This code removes the "_sub" from the tail and
518  // everything up to and including the "/" from the head, leaving
519  // "compressed" (for example) in transport_name.
520  std::string transport_name = boost::erase_last_copy(lookup_name, "_sub");
521  transport_name = transport_name.substr(lookup_name.find('/') + 1);
522 
523  // If the plugin loads without throwing an exception, add its
524  // transport name to the list of valid plugins, otherwise ignore
525  // it.
526  try
527  {
529  transport_plugin_types_.insert(transport_name);
530  }
531  catch (const pluginlib::LibraryLoadException& e)
532  {
533  }
534  catch (const pluginlib::CreateClassException& e)
535  {
536  }
537  }
538 }
539 
541 {
542  unsubscribe();
543  reset();
544  subscribe();
546 }
547 
549 {
550  property->clearOptions();
551 
552  std::vector<std::string> choices;
553 
554  choices.push_back("raw");
555 
556  // Loop over all current ROS topic names
558  ros::master::getTopics(topics);
559  ros::master::V_TopicInfo::iterator it = topics.begin();
560  ros::master::V_TopicInfo::iterator end = topics.end();
561  for (; it != end; ++it)
562  {
563  // If the beginning of this topic name is the same as topic_,
564  // and the whole string is not the same,
565  // and the next character is /
566  // and there are no further slashes from there to the end,
567  // then consider this a possible transport topic.
568  const ros::master::TopicInfo& ti = *it;
569  const std::string& topic_name = ti.name;
570  const std::string& topic = depth_topic_property_->getStdString();
571 
572  if (topic_name.find(topic) == 0 && topic_name != topic && topic_name[topic.size()] == '/' &&
573  topic_name.find('/', topic.size() + 1) == std::string::npos)
574  {
575  std::string transport_type = topic_name.substr(topic.size() + 1);
576 
577  // If the transport type string found above is in the set of
578  // supported transport type plugins, add it to the list.
579  if (transport_plugin_types_.find(transport_type) != transport_plugin_types_.end())
580  {
581  choices.push_back(transport_type);
582  }
583  }
584  }
585 
586  for (size_t i = 0; i < choices.size(); i++)
587  {
588  property->addOptionStd(choices[i]);
589  }
590 }
591 
593 {
594  Display::reset();
595 }
596 
597 } // namespace rviz
598 
600 #include <utility>
601 
602 
rviz::DepthCloudDisplay::rgb_sub_
boost::shared_ptr< image_transport::SubscriberFilter > rgb_sub_
Definition: depth_cloud_display.h:216
rviz::BoolProperty::getBool
virtual bool getBool() const
Definition: bool_property.cpp:48
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sensor_msgs::image_encodings
rviz::DepthCloudDisplay::pointcloud_common_
PointCloudCommon * pointcloud_common_
Definition: depth_cloud_display.h:247
rviz::Display::isEnabled
bool isEnabled() const
Return true if this Display is enabled, false if not.
Definition: display.cpp:271
rviz::IntProperty::setMin
void setMin(int min)
Definition: int_property.cpp:52
image_transport::getCameraInfoTopic
IMAGE_TRANSPORT_DECL std::string getCameraInfoTopic(const std::string &base_topic)
rviz::PointCloudCommon::setAutoSize
void setAutoSize(bool auto_size)
Definition: point_cloud_common.cpp:425
rviz::MultiLayerDepth::generatePointCloudFromDepth
sensor_msgs::PointCloud2Ptr generatePointCloudFromDepth(const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &color_msg, sensor_msgs::CameraInfoConstPtr camera_info_msg)
Definition: depth_cloud_mld.cpp:454
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void fixedFrameChanged() override
Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
Definition: depth_cloud_display.cpp:592
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Hide or show this property in any PropertyTreeWidget viewing its parent.
Definition: property.cpp:566
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virtual void queueRender()=0
Queues a render. Multiple calls before a render happens will only cause a single render.
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EnumProperty * xyz_transformer_property_
Definition: point_cloud_common.h:141
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rviz::PointCloudCommon::initialize
void initialize(DisplayContext *context, Ogre::SceneNode *scene_node)
Definition: point_cloud_common.cpp:366
angle
TFSIMD_FORCE_INLINE tfScalar angle(const Quaternion &q1, const Quaternion &q2)
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bool initialized() const
Returns true if the display has been initialized.
Definition: display.h:275
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@ Error
Definition: status_property.h:46
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virtual void setString(const QString &str)
Set the value of this property to the given string. Does not force the value to be one of the list of...
Definition: enum_property.cpp:82
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void onEnable() override
Derived classes override this to do the actual work of enabling themselves.
Definition: depth_cloud_display.cpp:257
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virtual void updateUseOcclusionCompensation()
Definition: depth_cloud_display.cpp:234
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void update(float wall_dt, float ros_dt)
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Definition: depth_cloud_display.h:221
s
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Property * topic_filter_property_
Definition: depth_cloud_display.h:227
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Definition: editable_enum_property.cpp:74
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Definition: depth_cloud_display.h:212
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Definition: depth_cloud_display.h:228
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void requestOptions(EnumProperty *property_in_need_of_options)
requestOptions() is emitted each time createEditor() is called.
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Definition: point_cloud_common.cpp:939
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boost::shared_ptr< SynchronizerDepthColor > sync_depth_color_
Definition: depth_cloud_display.h:224
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QString fixed_frame_
A convenience variable equal to context_->getFixedFrame().
Definition: display.h:312
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Definition: depth_cloud_display.h:215
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const char * what() const override
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Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant...
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Definition: depth_cloud_display.h:154
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Definition: depth_cloud_display.cpp:184
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Show status level and text. This is thread-safe.
Definition: display.cpp:176
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Definition: depth_cloud_mld.h:79
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Fill list of available and working transport options.
Definition: depth_cloud_display.cpp:548
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DepthCloudDisplay()
Definition: depth_cloud_display.cpp:69
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Definition: depth_cloud_display.cpp:271
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Return the current fixed frame name.
Definition: frame_manager.h:204
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Definition: depth_cloud_display.cpp:347
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Override this function to do subclass-specific initialization.
Definition: depth_cloud_display.cpp:152
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Definition: depth_cloud_mld.h:89
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Definition: depth_cloud_display.cpp:251
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virtual void updateTopic()
Definition: depth_cloud_display.cpp:540
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Definition: depth_cloud_display.cpp:208
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Definition: float_property.h:79
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Expand (show the children of) this Property.
Definition: property.cpp:578
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rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust, William Woodall
autogenerated on Fri Aug 2 2024 08:43:09