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base_realsense_node.cpp
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// Copyright 2023 Intel Corporation. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "../include/base_realsense_node.h"
#include "assert.h"
#include <algorithm>
#include <mutex>
#include <rclcpp/clock.hpp>
#include <fstream>
#include <image_publisher.h>
// Header files for disabling intra-process comms for static broadcaster.
#include <rclcpp/publisher_options.hpp>
#include <tf2_ros/qos.hpp>
#include "pointcloud_filter.h"
#include "align_depth_filter.h"
using namespace realsense2_camera;
SyncedImuPublisher::SyncedImuPublisher(rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher,
std::size_t waiting_list_size):
_publisher(imu_publisher), _pause_mode(false),
_waiting_list_size(waiting_list_size), _is_enabled(false)
{}
SyncedImuPublisher::~SyncedImuPublisher()
{
try
{
PublishPendingMessages();
}
catch(...){} // Not allowed to throw from Dtor
}
void SyncedImuPublisher::Publish(sensor_msgs::msg::Imu imu_msg)
{
std::lock_guard<std::mutex> lock_guard(_mutex);
if (_pause_mode)
{
if (_pending_messages.size() >= _waiting_list_size)
{
throw std::runtime_error("SyncedImuPublisher inner list reached maximum size of " + std::to_string(_pending_messages.size()));
}
_pending_messages.push(imu_msg);
}
else
{
_publisher->publish(imu_msg);
}
return;
}
void SyncedImuPublisher::Pause()
{
if (!_is_enabled) return;
std::lock_guard<std::mutex> lock_guard(_mutex);
_pause_mode = true;
}
void SyncedImuPublisher::Resume()
{
std::lock_guard<std::mutex> lock_guard(_mutex);
PublishPendingMessages();
_pause_mode = false;
}
void SyncedImuPublisher::PublishPendingMessages()
{
while (!_pending_messages.empty())
{
const sensor_msgs::msg::Imu &imu_msg = _pending_messages.front();
_publisher->publish(imu_msg);
_pending_messages.pop();
}
}
size_t SyncedImuPublisher::getNumSubscribers()
{
if (!_publisher) return 0;
return _publisher->get_subscription_count();
}
BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
rs2::device dev,
std::shared_ptr<Parameters> parameters,
bool use_intra_process) :
_is_running(true),
_node(node),
_logger(node.get_logger()),
_parameters(parameters),
_dev(dev),
_json_file_path(""),
_depth_scale_meters(0),
_clipping_distance(0),
_linear_accel_cov(0),
_angular_velocity_cov(0),
_hold_back_imu_for_frames(false),
_publish_tf(false),
_tf_publish_rate(TF_PUBLISH_RATE),
_diagnostics_period(0),
_use_intra_process(use_intra_process),
_is_initialized_time_base(false),
_camera_time_base(0),
_sync_frames(SYNC_FRAMES),
_enable_rgbd(ENABLE_RGBD),
_is_color_enabled(false),
_is_depth_enabled(false),
_is_accel_enabled(false),
_is_gyro_enabled(false),
_pointcloud(false),
_imu_sync_method(imu_sync_method::NONE),
_is_profile_changed(false),
_is_align_depth_changed(false)
#if defined (ACCELERATE_GPU_WITH_GLSL)
,_app(1280, 720, "RS_GLFW_Window"),
_accelerate_gpu_with_glsl(false),
_is_accelerate_gpu_with_glsl_changed(false)
#endif
{
if ( use_intra_process )
{
ROS_INFO("Intra-Process communication enabled");
}
initializeFormatsMaps();
_monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE};
}
BaseRealSenseNode::~BaseRealSenseNode()
{
// Kill dynamic transform thread
_is_running = false;
_cv_tf.notify_one();
if (_tf_t && _tf_t->joinable())
_tf_t->join();
_cv_temp.notify_one();
_cv_mpc.notify_one();
if (_monitoring_t && _monitoring_t->joinable())
{
_monitoring_t->join();
}
if (_monitoring_pc && _monitoring_pc->joinable())
{
_monitoring_pc->join();
}
clearParameters();
try
{
for(auto&& sensor : _available_ros_sensors)
{
sensor->stop();
}
}
catch(...){} // Not allowed to throw from Dtor
}
void BaseRealSenseNode::hardwareResetRequest()
{
ROS_ERROR_STREAM("Performing Hardware Reset.");
_dev.hardware_reset();
}
void BaseRealSenseNode::publishTopics()
{
getParameters();
setup();
ROS_INFO_STREAM("RealSense Node Is Up!");
}
void BaseRealSenseNode::initializeFormatsMaps()
{
// from rs2_format to OpenCV format
// https://docs.opencv.org/3.4/d1/d1b/group__core__hal__interface.html
// https://docs.opencv.org/2.4/modules/core/doc/basic_structures.html
// CV_<bit-depth>{U|S|F}C(<number_of_channels>)
// where U is unsigned integer type, S is signed integer type, and F is float type.
// For example, CV_8UC1 means a 8-bit single-channel array,
// CV_32FC2 means a 2-channel (complex) floating-point array, and so on.
_rs_format_to_cv_format[RS2_FORMAT_Y8] = CV_8UC1;
_rs_format_to_cv_format[RS2_FORMAT_Y16] = CV_16UC1;
_rs_format_to_cv_format[RS2_FORMAT_Z16] = CV_16UC1;
_rs_format_to_cv_format[RS2_FORMAT_RGB8] = CV_8UC3;
_rs_format_to_cv_format[RS2_FORMAT_BGR8] = CV_8UC3;
_rs_format_to_cv_format[RS2_FORMAT_RGBA8] = CV_8UC4;
_rs_format_to_cv_format[RS2_FORMAT_BGRA8] = CV_8UC4;
_rs_format_to_cv_format[RS2_FORMAT_YUYV] = CV_8UC2;
_rs_format_to_cv_format[RS2_FORMAT_UYVY] = CV_8UC2;
// _rs_format_to_cv_format[RS2_FORMAT_M420] = not supported yet in ROS2
_rs_format_to_cv_format[RS2_FORMAT_RAW8] = CV_8UC1;
_rs_format_to_cv_format[RS2_FORMAT_RAW10] = CV_16UC1;
_rs_format_to_cv_format[RS2_FORMAT_RAW16] = CV_16UC1;
// from rs2_format to ROS2 image msg encoding (format)
// http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html
// http://docs.ros.org/en/jade/api/sensor_msgs/html/image__encodings_8h_source.html
_rs_format_to_ros_format[RS2_FORMAT_Y8] = sensor_msgs::image_encodings::MONO8;
_rs_format_to_ros_format[RS2_FORMAT_Y16] = sensor_msgs::image_encodings::MONO16;
_rs_format_to_ros_format[RS2_FORMAT_Z16] = sensor_msgs::image_encodings::TYPE_16UC1;
_rs_format_to_ros_format[RS2_FORMAT_RGB8] = sensor_msgs::image_encodings::RGB8;
_rs_format_to_ros_format[RS2_FORMAT_BGR8] = sensor_msgs::image_encodings::BGR8;
_rs_format_to_ros_format[RS2_FORMAT_RGBA8] = sensor_msgs::image_encodings::RGBA8;
_rs_format_to_ros_format[RS2_FORMAT_BGRA8] = sensor_msgs::image_encodings::BGRA8;
_rs_format_to_ros_format[RS2_FORMAT_YUYV] = sensor_msgs::image_encodings::YUV422_YUY2;
_rs_format_to_ros_format[RS2_FORMAT_UYVY] = sensor_msgs::image_encodings::YUV422;
// _rs_format_to_ros_format[RS2_FORMAT_M420] = not supported yet in ROS2
_rs_format_to_ros_format[RS2_FORMAT_RAW8] = sensor_msgs::image_encodings::TYPE_8UC1;
_rs_format_to_ros_format[RS2_FORMAT_RAW10] = sensor_msgs::image_encodings::TYPE_16UC1;
_rs_format_to_ros_format[RS2_FORMAT_RAW16] = sensor_msgs::image_encodings::TYPE_16UC1;
}
void BaseRealSenseNode::setupFilters()
{
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::decimation_filter>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::hdr_merge>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::sequence_id_filter>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::disparity_transform>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::spatial_filter>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::temporal_filter>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::hole_filling_filter>(), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::disparity_transform>(false), _parameters, _logger));
_filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(std::vector< rs2_stream >{ RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED }), _parameters, _logger));
/*
update_align_depth_func is being used in the align depth filter for triggiring the thread that monitors profile
changes (_monitoring_pc) on every disable/enable of the align depth filter. This filter enablement/disablement affects
several topics creation/destruction, therefore, refreshing the topics is required similarly to what is done when turning on/off a sensor.
See BaseRealSenseNode::monitoringProfileChanges() as reference.
*/
std::function<void(const rclcpp::Parameter&)> update_align_depth_func = [this](const rclcpp::Parameter&){
{
std::lock_guard<std::mutex> lock_guard(_profile_changes_mutex);
_is_align_depth_changed = true;
}
_cv_mpc.notify_one();
};
#if defined (ACCELERATE_GPU_WITH_GLSL)
_colorizer_filter = std::make_shared<NamedFilter>(std::make_shared<rs2::gl::colorizer>(), _parameters, _logger);
_pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::gl::pointcloud>(), _node, _parameters, _logger);
#else
_colorizer_filter = std::make_shared<NamedFilter>(std::make_shared<rs2::colorizer>(), _parameters, _logger);
_pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::pointcloud>(), _node, _parameters, _logger);
#endif
// Apply PointCloud filter before applying Align-depth as it requires original depth image not aligned-depth image.
_filters.push_back(_pc_filter);
_align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
_filters.push_back(_align_depth_filter);
// Apply Colorizer filter after applying Align-Depth to get colorized aligned depth image.
_filters.push_back(_colorizer_filter);
}
cv::Mat& BaseRealSenseNode::fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image)
{
static const float meter_to_mm = 0.001f;
if (fabs(_depth_scale_meters - meter_to_mm) < 1e-6)
{
to_image = from_image;
return to_image;
}
if (to_image.size() != from_image.size())
{
to_image.create(from_image.rows, from_image.cols, from_image.type());
}
CV_Assert(CV_MAKETYPE(from_image.depth(),from_image.channels()) == _rs_format_to_cv_format[RS2_FORMAT_Z16]);
int nRows = from_image.rows;
int nCols = from_image.cols;
if (from_image.isContinuous())
{
nCols *= nRows;
nRows = 1;
}
int i,j;
const uint16_t* p_from;
uint16_t* p_to;
for( i = 0; i < nRows; ++i)
{
p_from = from_image.ptr<uint16_t>(i);
p_to = to_image.ptr<uint16_t>(i);
for ( j = 0; j < nCols; ++j)
{
p_to[j] = p_from[j] * _depth_scale_meters / meter_to_mm;
}
}
return to_image;
}
void BaseRealSenseNode::clip_depth(rs2::depth_frame depth_frame, float clipping_dist)
{
uint16_t* p_depth_frame = reinterpret_cast<uint16_t*>(const_cast<void*>(depth_frame.get_data()));
uint16_t clipping_value = static_cast<uint16_t>(clipping_dist / _depth_scale_meters);
int width = depth_frame.get_width();
int height = depth_frame.get_height();
#ifdef _OPENMP
#pragma omp parallel for schedule(dynamic) //Using OpenMP to try to parallelise the loop
#endif
for (int y = 0; y < height; y++)
{
auto depth_pixel_index = y * width;
for (int x = 0; x < width; x++, ++depth_pixel_index)
{
// Check if the depth value is greater than the threashold
if (p_depth_frame[depth_pixel_index] > clipping_value)
{
p_depth_frame[depth_pixel_index] = 0; //Set to invalid (<=0) value.
}
}
}
}
sensor_msgs::msg::Imu BaseRealSenseNode::CreateUnitedMessage(const CimuData accel_data, const CimuData gyro_data)
{
sensor_msgs::msg::Imu imu_msg;
rclcpp::Time t(gyro_data.m_time_ns); //rclcpp::Time(uint64_t nanoseconds)
imu_msg.header.stamp = t;
imu_msg.angular_velocity.x = gyro_data.m_data.x();
imu_msg.angular_velocity.y = gyro_data.m_data.y();
imu_msg.angular_velocity.z = gyro_data.m_data.z();
imu_msg.linear_acceleration.x = accel_data.m_data.x();
imu_msg.linear_acceleration.y = accel_data.m_data.y();
imu_msg.linear_acceleration.z = accel_data.m_data.z();
return imu_msg;
}
template <typename T> T lerp(const T &a, const T &b, const double t) {
return a * (1.0 - t) + b * t;
}
void BaseRealSenseNode::FillImuData_LinearInterpolation(const CimuData imu_data, std::deque<sensor_msgs::msg::Imu>& imu_msgs)
{
static std::deque<CimuData> _imu_history;
_imu_history.push_back(imu_data);
stream_index_pair type(imu_data.m_type);
imu_msgs.clear();
if ((type != ACCEL) || _imu_history.size() < 3)
return;
std::deque<CimuData> gyros_data;
CimuData accel0, accel1, crnt_imu;
while (_imu_history.size())
{
crnt_imu = _imu_history.front();
_imu_history.pop_front();
if (!accel0.is_set() && crnt_imu.m_type == ACCEL)
{
accel0 = crnt_imu;
}
else if (accel0.is_set() && crnt_imu.m_type == ACCEL)
{
accel1 = crnt_imu;
const double dt = accel1.m_time_ns - accel0.m_time_ns;
while (gyros_data.size())
{
CimuData crnt_gyro = gyros_data.front();
gyros_data.pop_front();
const double alpha = (crnt_gyro.m_time_ns - accel0.m_time_ns) / dt;
CimuData crnt_accel(ACCEL, lerp(accel0.m_data, accel1.m_data, alpha), crnt_gyro.m_time_ns);
imu_msgs.push_back(CreateUnitedMessage(crnt_accel, crnt_gyro));
}
accel0 = accel1;
}
else if (accel0.is_set() && crnt_imu.m_time_ns >= accel0.m_time_ns && crnt_imu.m_type == GYRO)
{
gyros_data.push_back(crnt_imu);
}
}
_imu_history.push_back(crnt_imu);
return;
}
void BaseRealSenseNode::FillImuData_Copy(const CimuData imu_data, std::deque<sensor_msgs::msg::Imu>& imu_msgs)
{
stream_index_pair type(imu_data.m_type);
static CimuData _accel_data(ACCEL, {0,0,0}, -1.0);
if (ACCEL == type)
{
_accel_data = imu_data;
return;
}
if (!_accel_data.is_set())
return;
imu_msgs.push_back(CreateUnitedMessage(_accel_data, imu_data));
}
void BaseRealSenseNode::ImuMessage_AddDefaultValues(sensor_msgs::msg::Imu& imu_msg)
{
imu_msg.header.frame_id = IMU_OPTICAL_FRAME_ID;
imu_msg.orientation.x = 0.0;
imu_msg.orientation.y = 0.0;
imu_msg.orientation.z = 0.0;
imu_msg.orientation.w = 0.0;
imu_msg.orientation_covariance = { -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
imu_msg.linear_acceleration_covariance = { _linear_accel_cov, 0.0, 0.0, 0.0, _linear_accel_cov, 0.0, 0.0, 0.0, _linear_accel_cov};
imu_msg.angular_velocity_covariance = { _angular_velocity_cov, 0.0, 0.0, 0.0, _angular_velocity_cov, 0.0, 0.0, 0.0, _angular_velocity_cov};
}
void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync_method)
{
static std::mutex m_mutex;
m_mutex.lock();
auto stream = frame.get_profile().stream_type();
auto stream_index = (stream == GYRO.first)?GYRO:ACCEL;
double frame_time = frame.get_timestamp();
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}
if (_synced_imu_publisher && (0 != _synced_imu_publisher->getNumSubscribers()))
{
auto crnt_reading = *(reinterpret_cast<const float3*>(frame.get_data()));
Eigen::Vector3d v(crnt_reading.x, crnt_reading.y, crnt_reading.z);
CimuData imu_data(stream_index, v, frameSystemTimeSec(frame).nanoseconds());
std::deque<sensor_msgs::msg::Imu> imu_msgs;
switch (sync_method)
{
case imu_sync_method::COPY:
FillImuData_Copy(imu_data, imu_msgs);
break;
case imu_sync_method::LINEAR_INTERPOLATION:
FillImuData_LinearInterpolation(imu_data, imu_msgs);
break;
case imu_sync_method::NONE: //Cannot really be NONE. Just to avoid compilation warning.
throw std::runtime_error("sync_method in this section can be either COPY or LINEAR_INTERPOLATION");
break;
}
while (imu_msgs.size())
{
sensor_msgs::msg::Imu imu_msg = imu_msgs.front();
ImuMessage_AddDefaultValues(imu_msg);
_synced_imu_publisher->Publish(imu_msg);
ROS_DEBUG("Publish united %s stream", rs2_stream_to_string(frame.get_profile().stream_type()));
imu_msgs.pop_front();
}
}
m_mutex.unlock();
}
void BaseRealSenseNode::imu_callback(rs2::frame frame)
{
auto stream = frame.get_profile().stream_type();
double frame_time = frame.get_timestamp();
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}
ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s",
ros_stream_to_string(frame.get_profile().stream_type()).c_str(),
frame.get_profile().stream_index(),
rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain()));
stream_index_pair stream_index;
if(stream == GYRO.first)
{
stream_index = GYRO;
}
else if(stream == ACCEL.first)
{
stream_index = ACCEL;
}
else if(stream == MOTION.first)
{
stream_index = MOTION;
}
else
{
ROS_ERROR("Unknown IMU stream type.");
return;
}
rclcpp::Time t(frameSystemTimeSec(frame));
if(_imu_publishers.find(stream_index) == _imu_publishers.end())
{
ROS_DEBUG("Received IMU callback while topic does not exist");
return;
}
if (0 != _imu_publishers[stream_index]->get_subscription_count())
{
auto imu_msg = sensor_msgs::msg::Imu();
ImuMessage_AddDefaultValues(imu_msg);
imu_msg.header.frame_id = OPTICAL_FRAME_ID(stream_index);
if (MOTION == stream_index)
{
auto combined_motion_data = frame.as<rs2::motion_frame>().get_combined_motion_data();
imu_msg.linear_acceleration.x = combined_motion_data.linear_acceleration.x;
imu_msg.linear_acceleration.y = combined_motion_data.linear_acceleration.y;
imu_msg.linear_acceleration.z = combined_motion_data.linear_acceleration.z;
imu_msg.angular_velocity.x = combined_motion_data.angular_velocity.x;
imu_msg.angular_velocity.y = combined_motion_data.angular_velocity.y;
imu_msg.angular_velocity.z = combined_motion_data.angular_velocity.z;
imu_msg.orientation.x = combined_motion_data.orientation.x;
imu_msg.orientation.y = combined_motion_data.orientation.y;
imu_msg.orientation.z = combined_motion_data.orientation.z;
imu_msg.orientation.w = combined_motion_data.orientation.w;
}
else
{
auto motion_data = frame.as<rs2::motion_frame>().get_motion_data();
if (GYRO == stream_index)
{
imu_msg.angular_velocity.x = motion_data.x;
imu_msg.angular_velocity.y = motion_data.y;
imu_msg.angular_velocity.z = motion_data.z;
}
else // ACCEL == stream_index
{
imu_msg.linear_acceleration.x = motion_data.x;
imu_msg.linear_acceleration.y = motion_data.y;
imu_msg.linear_acceleration.z = motion_data.z;
}
}
imu_msg.header.stamp = t;
_imu_publishers[stream_index]->publish(imu_msg);
ROS_DEBUG("Publish %s stream", ros_stream_to_string(frame.get_profile().stream_type()).c_str());
}
publishMetadata(frame, t, OPTICAL_FRAME_ID(stream_index));
}
void BaseRealSenseNode::frame_callback(rs2::frame frame)
{
if (_synced_imu_publisher)
_synced_imu_publisher->Pause();
double frame_time = frame.get_timestamp();
// We compute a ROS timestamp which is based on an initial ROS time at point of first frame,
// and the incremental timestamp from the camera.
// In sync mode the timestamp is based on ROS time
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}
rclcpp::Time t(frameSystemTimeSec(frame));
if (frame.is<rs2::frameset>())
{
ROS_DEBUG("Frameset arrived.");
auto frameset = frame.as<rs2::frameset>();
ROS_DEBUG("List of frameset before applying filters: size: %d", static_cast<int>(frameset.size()));
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
auto stream_unique_id = f.get_profile().unique_id();
ROS_DEBUG("Frameset contain (%s, %d, %s %d) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), stream_unique_id, frame.get_frame_number(), frame_time, t.nanoseconds());
}
// Clip depth_frame for max range:
rs2::depth_frame original_depth_frame = frameset.get_depth_frame();
if (original_depth_frame && _clipping_distance > 0)
{
clip_depth(original_depth_frame, _clipping_distance);
}
rs2::video_frame original_color_frame = frameset.get_color_frame();
rs2::video_frame original_infra2_frame = frameset.get_infrared_frame(2);
ROS_DEBUG("num_filters: %d", static_cast<int>(_filters.size()));
for (auto filter_it : _filters)
{
frameset = filter_it->Process(frameset);
}
ROS_DEBUG("List of frameset after applying filters: size: %d", static_cast<int>(frameset.size()));
bool sent_depth_frame(false);
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
auto f = (*it);
auto stream_type = f.get_profile().stream_type();
auto stream_index = f.get_profile().stream_index();
auto stream_format = f.get_profile().format();
stream_index_pair sip{stream_type,stream_index};
ROS_DEBUG("Frameset contain (%s, %d, %s) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), f.get_frame_number(), frame_time, t.nanoseconds());
if (f.is<rs2::video_frame>())
ROS_DEBUG_STREAM("frame: " << f.as<rs2::video_frame>().get_width() << " x " << f.as<rs2::video_frame>().get_height());
if (f.is<rs2::points>())
{
publishPointCloud(f.as<rs2::points>(), t, frameset);
}
else
{
if (stream_type == RS2_STREAM_DEPTH)
{
if (sent_depth_frame) continue;
sent_depth_frame = true;
if (original_color_frame && _align_depth_filter->is_enabled())
{
publishFrame(f, t, COLOR, _depth_aligned_image, _depth_aligned_info_publisher, _depth_aligned_image_publishers, false);
continue;
}
if (original_infra2_frame && _align_depth_filter->is_enabled())
{
publishFrame(f, t, INFRA2, _depth_aligned_image, _depth_aligned_info_publisher, _depth_aligned_image_publishers, false);
continue;
}
}
publishFrame(f, t, sip, _images, _info_publishers, _image_publishers);
}
}
if (original_depth_frame && _align_depth_filter->is_enabled())
{
rs2::frame frame_to_send;
if (_colorizer_filter->is_enabled())
frame_to_send = _colorizer_filter->Process(original_depth_frame);
else
frame_to_send = original_depth_frame;
publishFrame(frame_to_send, t, DEPTH, _images, _info_publishers, _image_publishers);
// Publish RGBD only if rgbd enabled and both depth and color frames exist.
// On this line we already know original_depth_frame is valid.
if(_enable_rgbd && original_color_frame)
{
auto color_format = original_color_frame.get_profile().format();
auto depth_format = original_depth_frame.get_profile().format();
publishRGBD(_images[COLOR], color_format, _depth_aligned_image[COLOR], depth_format, t);
}
}
}
else if (frame.is<rs2::video_frame>())
{
auto stream_type = frame.get_profile().stream_type();
auto stream_index = frame.get_profile().stream_index();
ROS_DEBUG("Single video frame arrived (%s, %d). frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu",
rs2_stream_to_string(stream_type), stream_index, frame.get_frame_number(), frame_time, t.nanoseconds());
stream_index_pair sip{stream_type,stream_index};
if (frame.is<rs2::depth_frame>())
{
if (_clipping_distance > 0)
{
clip_depth(frame, _clipping_distance);
}
}
publishFrame(frame, t, sip, _images, _info_publishers, _image_publishers);
}
if (_synced_imu_publisher)
_synced_imu_publisher->Resume();
} // frame_callback
void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_method sync_method)
{
auto stream = frame.get_profile().stream_type();
switch (stream)
{
case RS2_STREAM_GYRO:
case RS2_STREAM_ACCEL:
if (sync_method > imu_sync_method::NONE) imu_callback_sync(frame, sync_method);
else imu_callback(frame);
break;
default:
frame_callback(frame);
}
}
bool BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain)
{
if (time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
{
ROS_WARN_ONCE("Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)");
}
if (time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
{
ROS_WARN("frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.");
_ros_time_base = _node.now();
_camera_time_base = frame_time;
return true;
}
return false;
}
uint64_t BaseRealSenseNode::millisecondsToNanoseconds(double timestamp_ms)
{
// modf breaks input into an integral and fractional part
double int_part_ms, fract_part_ms;
fract_part_ms = modf(timestamp_ms, &int_part_ms);
//convert both parts to ns
static constexpr uint64_t milli_to_nano = 1000000;
uint64_t int_part_ns = static_cast<uint64_t>(int_part_ms) * milli_to_nano;
uint64_t fract_part_ns = static_cast<uint64_t>(std::round(fract_part_ms * milli_to_nano));
return int_part_ns + fract_part_ns;
}
rclcpp::Time BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame)
{
double timestamp_ms = frame.get_timestamp();
if (frame.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
{
double elapsed_camera_ns = millisecondsToNanoseconds(timestamp_ms - _camera_time_base);
/*
Fixing deprecated-declarations compilation error for EOL distro (foxy)
*/
#if defined(FOXY)
auto duration = rclcpp::Duration(elapsed_camera_ns);
#else
auto duration = rclcpp::Duration::from_nanoseconds(elapsed_camera_ns);
#endif
return rclcpp::Time(_ros_time_base + duration);
}
else
{
return rclcpp::Time(millisecondsToNanoseconds(timestamp_ms));
}
}
void BaseRealSenseNode::updateProfilesStreamCalibData(const std::vector<rs2::stream_profile>& profiles)
{
std::shared_ptr<rs2::stream_profile> left_profile;
std::shared_ptr<rs2::stream_profile> right_profile;
for (auto& profile : profiles)
{
if (profile.is<rs2::video_stream_profile>())
{
updateStreamCalibData(profile.as<rs2::video_stream_profile>());
// stream index: 1=left, 2=right
if (profile.stream_index() == 1) { left_profile = std::make_shared<rs2::stream_profile>(profile); }
if (profile.stream_index() == 2) { right_profile = std::make_shared<rs2::stream_profile>(profile); }
}
}
if (left_profile && right_profile) {
updateExtrinsicsCalibData(left_profile->as<rs2::video_stream_profile>(), right_profile->as<rs2::video_stream_profile>());
}
}
void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& video_profile)
{
stream_index_pair stream_index{video_profile.stream_type(), video_profile.stream_index()};
rs2_intrinsics intrinsic;
try
{
intrinsic = video_profile.get_intrinsics();
}
catch(const std::exception& ex)
{
// e.g. infra1/infra2 in Y16i format (calibration mode) doesn't have intrinsics.
ROS_WARN_STREAM("No intrinsics available for this stream profile. Using zeroed intrinsics as default.");
intrinsic = { 0, 0, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
}
_camera_info[stream_index].width = intrinsic.width;
_camera_info[stream_index].height = intrinsic.height;
_camera_info[stream_index].header.frame_id = OPTICAL_FRAME_ID(stream_index);
_camera_info[stream_index].k.at(0) = intrinsic.fx;
_camera_info[stream_index].k.at(2) = intrinsic.ppx;
_camera_info[stream_index].k.at(4) = intrinsic.fy;
_camera_info[stream_index].k.at(5) = intrinsic.ppy;
_camera_info[stream_index].k.at(8) = 1;
_camera_info[stream_index].p.at(0) = _camera_info[stream_index].k.at(0);
_camera_info[stream_index].p.at(1) = 0;
_camera_info[stream_index].p.at(2) = _camera_info[stream_index].k.at(2);
_camera_info[stream_index].p.at(3) = 0;
_camera_info[stream_index].p.at(4) = 0;
_camera_info[stream_index].p.at(5) = _camera_info[stream_index].k.at(4);
_camera_info[stream_index].p.at(6) = _camera_info[stream_index].k.at(5);
_camera_info[stream_index].p.at(7) = 0;
_camera_info[stream_index].p.at(8) = 0;
_camera_info[stream_index].p.at(9) = 0;
_camera_info[stream_index].p.at(10) = 1;
_camera_info[stream_index].p.at(11) = 0;
// set R (rotation matrix) values to identity matrix
_camera_info[stream_index].r.at(0) = 1.0;
_camera_info[stream_index].r.at(1) = 0.0;
_camera_info[stream_index].r.at(2) = 0.0;
_camera_info[stream_index].r.at(3) = 0.0;
_camera_info[stream_index].r.at(4) = 1.0;
_camera_info[stream_index].r.at(5) = 0.0;
_camera_info[stream_index].r.at(6) = 0.0;
_camera_info[stream_index].r.at(7) = 0.0;
_camera_info[stream_index].r.at(8) = 1.0;
int coeff_size(5);
if (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4)
{
_camera_info[stream_index].distortion_model = "equidistant";
coeff_size = 4;
} else {
_camera_info[stream_index].distortion_model = "plumb_bob";
}
_camera_info[stream_index].d.resize(coeff_size);
for (int i = 0; i < coeff_size; i++)
{
_camera_info[stream_index].d.at(i) = intrinsic.coeffs[i];
}
if (stream_index == DEPTH && _enable[DEPTH] && _enable[COLOR])
{
_camera_info[stream_index].p.at(3) = 0; // Tx
_camera_info[stream_index].p.at(7) = 0; // Ty
}
}
void BaseRealSenseNode::updateExtrinsicsCalibData(const rs2::video_stream_profile& left_video_profile, const rs2::video_stream_profile& right_video_profile)
{
stream_index_pair left{left_video_profile.stream_type(), left_video_profile.stream_index()};
stream_index_pair right{right_video_profile.stream_type(), right_video_profile.stream_index()};
float fx = _camera_info[right].k.at(0);
float fy = _camera_info[right].k.at(4);
const auto& ex = right_video_profile.get_extrinsics_to(left_video_profile);
_camera_info[right].header.frame_id = OPTICAL_FRAME_ID(left);
_camera_info[right].p.at(3) = -fx * ex.translation[0] + 0.0; // Tx - avoid -0.0 values.
_camera_info[right].p.at(7) = -fy * ex.translation[1] + 0.0; // Ty - avoid -0.0 values.
}
void BaseRealSenseNode::SetBaseStream()
{
const std::vector<stream_index_pair> base_stream_priority = {DEPTH};
std::set<stream_index_pair> checked_sips;
std::map<stream_index_pair, rs2::stream_profile> available_profiles;
for(auto&& sensor : _available_ros_sensors)
{
for (auto& profile : sensor->get_stream_profiles())
{
stream_index_pair sip(profile.stream_type(), profile.stream_index());
if (available_profiles.find(sip) != available_profiles.end())
continue;
available_profiles[sip] = profile;
}
}
std::vector<stream_index_pair>::const_iterator base_stream(base_stream_priority.begin());
while((base_stream != base_stream_priority.end()) && (available_profiles.find(*base_stream) == available_profiles.end()))
{
base_stream++;
}
if (base_stream == base_stream_priority.end())
{
throw std::runtime_error("No known base_stream found for transformations.");
}
ROS_DEBUG_STREAM("SELECTED BASE:" << base_stream->first << ", " << base_stream->second);
_base_profile = available_profiles[*base_stream];
}
void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t, const rs2::frameset& frameset)
{
std::string frame_id = OPTICAL_FRAME_ID(DEPTH);
_pc_filter->Publish(pc, t, frameset, frame_id);
}
Extrinsics BaseRealSenseNode::rsExtrinsicsToMsg(const rs2_extrinsics& extrinsics) const
{
Extrinsics extrinsicsMsg;
for (int i = 0; i < 9; ++i)
{
extrinsicsMsg.rotation[i] = extrinsics.rotation[i];
if (i < 3)
extrinsicsMsg.translation[i] = extrinsics.translation[i];
}
return extrinsicsMsg;
}
IMUInfo BaseRealSenseNode::getImuInfo(const rs2::stream_profile& profile)
{
IMUInfo info{};
auto sp = profile.as<rs2::motion_stream_profile>();
rs2_motion_device_intrinsic imuIntrinsics;
try
{
imuIntrinsics = sp.get_motion_intrinsics();
}
catch(const std::runtime_error &ex)
{
ROS_DEBUG_STREAM("No Motion Intrinsics available.");
imuIntrinsics = {{{1,0,0,0},{0,1,0,0},{0,0,1,0}}, {0,0,0}, {0,0,0}};
}
auto index = 0;
stream_index_pair sip(profile.stream_type(), profile.stream_index());
info.header.frame_id = OPTICAL_FRAME_ID(sip);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 4; ++j)
{
info.data[index] = imuIntrinsics.data[i][j];
++index;
}
info.noise_variances[i] = imuIntrinsics.noise_variances[i];
info.bias_variances[i] = imuIntrinsics.bias_variances[i];
}
return info;
}
bool BaseRealSenseNode::fillROSImageMsgAndReturnStatus(
const cv::Mat& cv_matrix_image,
const stream_index_pair& stream,
unsigned int width,
unsigned int height,
const rs2_format& stream_format,
const rclcpp::Time& t,
sensor_msgs::msg::Image* img_msg_ptr)
{
if (cv_matrix_image.empty())
{
ROS_ERROR_STREAM("cv::Mat is empty. Ignoring this frame.");
return false;
}
else if (_rs_format_to_ros_format.find(stream_format) == _rs_format_to_ros_format.end())
{
ROS_ERROR_STREAM("Format " << rs2_format_to_string(stream_format) << " is not supported in ROS2 image messages"
<< "Please try different format of this stream.");
return false;
}
// Convert the CV::Mat into a ROS image message (1 copy is done here)
cv_bridge::CvImage(std_msgs::msg::Header(), _rs_format_to_ros_format[stream_format], cv_matrix_image).toImageMsg(*img_msg_ptr);
// Convert OpenCV Mat to ROS Image
img_msg_ptr->header.frame_id = OPTICAL_FRAME_ID(stream);
img_msg_ptr->header.stamp = t;
img_msg_ptr->height = height;
img_msg_ptr->width = width;
img_msg_ptr->is_bigendian = false;
img_msg_ptr->step = width * cv_matrix_image.elemSize();
return true;
}
bool BaseRealSenseNode::fillCVMatImageAndReturnStatus(
rs2::frame& frame,
std::map<stream_index_pair, cv::Mat>& images,
unsigned int width,
unsigned int height,
const stream_index_pair& stream)
{
auto& image = images[stream];
auto stream_format = frame.get_profile().format();
if (_rs_format_to_cv_format.find(stream_format) == _rs_format_to_cv_format.end())
{
ROS_ERROR_STREAM("Format " << rs2_format_to_string(stream_format) << " is not supported in realsense2_camera node."
<< "\nPlease try different format of this stream.");
return false;
}
// we try to reduce image creation as much we can, so we check if the same image structure
// was already created before, and we fill this image next with the frame data
// image.create() should be called once per <stream>_<profile>_<format>
if (image.size() != cv::Size(width, height) || CV_MAKETYPE(image.depth(), image.channels()) != _rs_format_to_cv_format[stream_format])
{
image.create(height, width, _rs_format_to_cv_format[stream_format]);
}