disparity_color_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
 * 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.
 */

#include "disparity_color_publisher.h"

#include <rc_genicam_api/pixel_formats.h>

#include <sensor_msgs/image_encodings.h>

namespace rc
{

DisparityColorPublisher::DisparityColorPublisher(image_transport::ImageTransport &it,
                                                 std::string frame_id_prefix,
                                                 double _scale)
        : GenICam2RosPublisher(frame_id_prefix)
{
  scale=_scale;
  disprange=0;

  pub=it.advertise("disparity_color", 1);
}

void DisparityColorPublisher::setDisprange(int _disprange)
{
  disprange=_disprange;
}

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

void DisparityColorPublisher::publish(const rcg::Buffer *buffer, uint64_t pixelformat)
{
  if (pub.getNumSubscribers() > 0 && pixelformat == Coord3D_C16)
  {
    // create image and initialize header

    sensor_msgs::ImagePtr im=boost::make_shared<sensor_msgs::Image>();

    const uint64_t freq=1000000000ul;
    uint64_t time=buffer->getTimestampNS();

    im->header.seq=seq++;
    im->header.stamp.sec=time/freq;
    im->header.stamp.nsec=time-freq*im->header.stamp.sec;
    im->header.frame_id=frame_id;

    // set image size

    im->width=static_cast<uint32_t>(buffer->getWidth());
    im->height=static_cast<uint32_t>(buffer->getHeight());
    im->is_bigendian=rcg::isHostBigEndian();

    // get pointer to image data in buffer

    size_t px=buffer->getXPadding();
    const uint8_t *ps=static_cast<const uint8_t *>(buffer->getBase())+buffer->getImageOffset();

    // convert image data

    im->encoding=sensor_msgs::image_encodings::RGB8;
    im->step=3*im->width*sizeof(uint8_t);

    im->data.resize(im->step*im->height);
    uint8_t *pt=reinterpret_cast<uint8_t *>(&im->data[0]);

    bool bigendian=buffer->isBigEndian();

    for (uint32_t k=0; k<im->height; k++)
    {
      for (uint32_t i=0; i<im->width; i++)
      {
        uint16_t d;

        if (bigendian)
        {
          d=(ps[0]<<8)|ps[1];
        }
        else
        {
          d=(ps[1]<<8)|ps[0];
        }

        ps+=2;

        if (d != 0)
        {
          double v=scale*d/disprange;
          v=v/1.15+0.1;

          double r=std::max(0.0, std::min(1.0, (1.5 - 4*fabs(v-0.75))));
          double g=std::max(0.0, std::min(1.0, (1.5 - 4*fabs(v-0.5))));
          double b=std::max(0.0, std::min(1.0, (1.5 - 4*fabs(v-0.25))));

          *pt++=255*r+0.5;
          *pt++=255*g+0.5;
          *pt++=255*b+0.5;
        }
        else
        {
          *pt++=0;
          *pt++=0;
          *pt++=0;
        }
      }

      ps+=px;
    }

    // publish message

    pub.publish(im);
  }
}

}