void imageCallback(const sensor_msgs::ImageConstPtr& depth_msg)
{
std::cout << "imageCallback" <<std::endl;
//Convert to opencv
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(depth_msg, enc::TYPE_32FC1);
}
catch (cv_bridge::Exception & e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::imshow("Depth Image", cv_ptr->image);
cv::waitKey(3);
// std::cout << this << " " << &point_cloud_pub_ << std::endl;
PointCloud::Ptr cloud_msg(new PointCloud);
cloud_msg->header = depth_msg->header;
cloud_msg->height = depth_msg->height;
cloud_msg->width = depth_msg->width;
cloud_msg->is_dense = false;
cloud_msg->is_bigendian = false;
sensor_msgs::PointCloud2Modifier pcd_modifier(*cloud_msg);
pcd_modifier.setPointCloud2FieldsByString(1, "xyz");
if (depth_msg->encoding == enc::TYPE_16UC1)
{
convert<uint16_t>(depth_msg, cloud_msg);
}
else if (depth_msg->encoding == enc::TYPE_32FC1)
{
convert<float>(depth_msg, cloud_msg);
}
else
{
ROS_ERROR("Depth image has unsupported encoding [%s]", depth_msg->encoding.c_str());
return;
}
pointCloudPub.publish (cloud_msg);
newImagePub.publish(depth_msg);
}
static void depthCb(const sensor_msgs::msg::Image::SharedPtr image)
{
// The meat of this function is a port of the code from:
// https://github.com/ros-perception/image_pipeline/blob/92d7f6b/depth_image_proc/src/nodelets/point_cloud_xyz.cpp
if (nullptr == g_cam_info) {
// we haven't gotten the camera info yet, so just drop until we do
RCUTILS_LOG_WARN("No camera info, skipping point cloud conversion");
return;
}
sensor_msgs::msg::PointCloud2::SharedPtr cloud_msg =
std::make_shared<sensor_msgs::msg::PointCloud2>();
cloud_msg->header = image->header;
cloud_msg->height = image->height;
cloud_msg->width = image->width;
cloud_msg->is_dense = false;
cloud_msg->is_bigendian = false;
cloud_msg->fields.clear();
cloud_msg->fields.reserve(1);
sensor_msgs::PointCloud2Modifier pcd_modifier(*cloud_msg);
pcd_modifier.setPointCloud2FieldsByString(1, "xyz");
// g_cam_info here is a sensor_msg::msg::CameraInfo::SharedPtr,
// which we get from the depth_camera_info topic.
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(g_cam_info);
if (image->encoding == sensor_msgs::image_encodings::TYPE_16UC1) {
depthimage_to_pointcloud2::convert<uint16_t>(image, cloud_msg, model);
} else if (image->encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
depthimage_to_pointcloud2::convert<float>(image, cloud_msg, model);
} else {
RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, 5000,
"Depth image has unsupported encoding [%s]", image->encoding.c_str());
return;
}
g_pub_point_cloud->publish(cloud_msg);
}
// Fill depth information
bool GazeboRosOpenniKinect::FillPointCloudHelper(
sensor_msgs::PointCloud2 &point_cloud_msg,
uint32_t rows_arg, uint32_t cols_arg,
uint32_t step_arg, void* data_arg)
{
sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg);
pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
// convert to flat array shape, we need to reconvert later
pcd_modifier.resize(rows_arg*cols_arg);
point_cloud_msg.is_dense = true;
sensor_msgs::PointCloud2Iterator<float> iter_x(point_cloud_msg_, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(point_cloud_msg_, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(point_cloud_msg_, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_rgb(point_cloud_msg_, "rgb");
float* toCopyFrom = (float*)data_arg;
int index = 0;
double hfov = this->parentSensor->GetDepthCamera()->GetHFOV().Radian();
double fl = ((double)this->width) / (2.0 *tan(hfov/2.0));
// convert depth to point cloud
for (uint32_t j=0; j<rows_arg; j++)
{
double pAngle;
if (rows_arg>1) pAngle = atan2( (double)j - 0.5*(double)(rows_arg-1), fl);
else pAngle = 0.0;
for (uint32_t i=0; i<cols_arg; i++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb)
{
double yAngle;
if (cols_arg>1) yAngle = atan2( (double)i - 0.5*(double)(cols_arg-1), fl);
else yAngle = 0.0;
double depth = toCopyFrom[index++]; // + 0.0*this->myParent->GetNearClip();
if(depth > this->point_cloud_cutoff_ &&
depth < this->point_cloud_cutoff_max_)
{
// in optical frame
// hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in
// to urdf, where the *_optical_frame should have above relative
// rotation from the physical camera *_frame
*iter_x = depth * tan(yAngle);
*iter_y = depth * tan(pAngle);
*iter_z = depth;
}
else //point in the unseeable range
{
*iter_x = *iter_y = *iter_z = std::numeric_limits<float>::quiet_NaN ();
point_cloud_msg.is_dense = false;
}
// put image color data for each point
uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0]));
if (this->image_msg_.data.size() == rows_arg*cols_arg*3)
{
// color
iter_rgb[0] = image_src[i*3+j*cols_arg*3+0];
iter_rgb[1] = image_src[i*3+j*cols_arg*3+1];
iter_rgb[2] = image_src[i*3+j*cols_arg*3+2];
}
else if (this->image_msg_.data.size() == rows_arg*cols_arg)
{
// mono (or bayer? @todo; fix for bayer)
iter_rgb[0] = image_src[i+j*cols_arg];
iter_rgb[1] = image_src[i+j*cols_arg];
iter_rgb[2] = image_src[i+j*cols_arg];
}
else
{
// no image
iter_rgb[0] = 0;
iter_rgb[1] = 0;
iter_rgb[2] = 0;
}
}
}
// reconvert to original height and width after the flat reshape
point_cloud_msg.height = rows_arg;
point_cloud_msg.width = cols_arg;
point_cloud_msg.row_step = point_cloud_msg.point_step * point_cloud_msg.width;
return true;
}
