void KeyframeMapper::RGBDCallback(
const ImageMsg::ConstPtr& rgb_msg,
const ImageMsg::ConstPtr& depth_msg,
const CameraInfoMsg::ConstPtr& info_msg)
{
tf::StampedTransform transform;
const ros::Time& time = rgb_msg->header.stamp;
try{
tf_listener_.waitForTransform(
fixed_frame_, rgb_msg->header.frame_id, time, ros::Duration(0.1));
tf_listener_.lookupTransform(
fixed_frame_, rgb_msg->header.frame_id, time, transform);
}
catch(...)
{
return;
}
// create a new frame and increment the counter
rgbdtools::RGBDFrame frame;
createRGBDFrameFromROSMessages(rgb_msg, depth_msg, info_msg, frame);
frame.index = rgbd_frame_index_;
rgbd_frame_index_++;
bool result = processFrame(frame, eigenAffineFromTf(transform));
if (result) publishKeyframeData(keyframes_.size() - 1);
publishPath();
}
void FeatureViewer::RGBDCallback(
const ImageMsg::ConstPtr& rgb_msg,
const ImageMsg::ConstPtr& depth_msg,
const CameraInfoMsg::ConstPtr& info_msg)
{
mutex_.lock();
ros::WallTime start = ros::WallTime::now();
// create frame
rgbdtools::RGBDFrame frame;
createRGBDFrameFromROSMessages(rgb_msg, depth_msg, info_msg, frame);
// find features
feature_detector_->findFeatures(frame);
ros::WallTime end = ros::WallTime::now();
// visualize
if (show_keypoints_) showKeypointImage(frame);
if (publish_cloud_) publishFeatureCloud(frame);
if (publish_covariances_) publishFeatureCovariances(frame);
// print diagnostics
int n_features = frame.keypoints.size();
int n_valid_features = frame.n_valid_keypoints;
double d_total = 1000.0 * (end - start).toSec();
printf("[FV %d] %s[%d][%d]: TOTAL %3.1f\n",
frame_count_, detector_type_.c_str(), n_features, n_valid_features, d_total);
frame_count_++;
mutex_.unlock();
}
void VisualOdometry::RGBDCallback(
const ImageMsg::ConstPtr& rgb_msg,
const ImageMsg::ConstPtr& depth_msg,
const CameraInfoMsg::ConstPtr& info_msg)
{
ros::WallTime start = ros::WallTime::now();
// **** initialize ***************************************************
if (!initialized_)
{
initialized_ = getBaseToCameraTf(rgb_msg->header);
init_time_ = rgb_msg->header.stamp;
if (!initialized_) return;
motion_estimation_.setBaseToCameraTf(eigenAffineFromTf(b2c_));
}
// **** create frame *************************************************
ros::WallTime start_frame = ros::WallTime::now();
rgbdtools::RGBDFrame frame;
createRGBDFrameFromROSMessages(rgb_msg, depth_msg, info_msg, frame);
ros::WallTime end_frame = ros::WallTime::now();
// **** find features ************************************************
ros::WallTime start_features = ros::WallTime::now();
feature_detector_->findFeatures(frame);
ros::WallTime end_features = ros::WallTime::now();
// **** registration *************************************************
ros::WallTime start_reg = ros::WallTime::now();
AffineTransform m = motion_estimation_.getMotionEstimation(frame);
tf::Transform motion = tfFromEigenAffine(m);
f2b_ = motion * f2b_;
ros::WallTime end_reg = ros::WallTime::now();
// **** publish outputs **********************************************
if (publish_tf_) publishTf(rgb_msg->header);
if (publish_odom_) publishOdom(rgb_msg->header);
if (publish_path_) publishPath(rgb_msg->header);
if (publish_pose_) publishPoseStamped(rgb_msg->header);
if (publish_feature_cloud_) publishFeatureCloud(frame);
if (publish_feature_cov_) publishFeatureCovariances(frame);
if (publish_model_cloud_) publishModelCloud();
if (publish_model_cov_) publishModelCovariances();
// **** print diagnostics *******************************************
ros::WallTime end = ros::WallTime::now();
frame_count_++;
int n_features = frame.keypoints.size();
int n_valid_features = frame.n_valid_keypoints;
int n_model_pts = motion_estimation_.getModelSize();
double d_frame = 1000.0 * (end_frame - start_frame ).toSec();
double d_features = 1000.0 * (end_features - start_features).toSec();
double d_reg = 1000.0 * (end_reg - start_reg ).toSec();
double d_total = 1000.0 * (end - start ).toSec();
diagnostics(n_features, n_valid_features, n_model_pts,
d_frame, d_features, d_reg, d_total);
}