void* camera_thread(void*){
VideoFrameRef frame;
VideoFrameRef rgbframe;
int changed_stream;
VideoStream* pStream;
VideoStream* pRgbStream;
sensor_msgs::CameraInfo rgb_info;
sensor_msgs::CameraInfo depth_info;
sensor_msgs::Image image;
image.header.frame_id=frame_id;
image.is_bigendian=0;
int count = 0;
int num_frames_stat=64;
struct timeval previous_time;
gettimeofday(&previous_time, 0);
uint64_t last_stamp = 0;
while(run){
bool new_frame = false;
uint64_t current_stamp = 0;
openni::OpenNI::waitForAnyStream(streams, 2, &changed_stream);
switch (changed_stream)
{
//DEPTH
case 0:
depth.readFrame(&frame);
depth_info.header.stamp=ros::Time::now();
image.header.stamp=ros::Time::now();
if(!frame.isValid()) break;
current_stamp=frame.getTimestamp();
if (current_stamp-last_stamp>5000){
count++;
new_frame = true;
}
last_stamp = current_stamp;
if (! (count % (_frame_skip)) ){
image.header.seq = count;
if (! _registration){
image.header.frame_id=frame_id+"_depth";
} else
image.header.frame_id=frame_id+"_rgb";
depth_info.width=frame.getWidth();
depth_info.height=frame.getHeight();
depth_info.header.seq = count;
depth_info.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
depth_info.D.resize(5, 0.0);
depth_info.K[0]=depth_info.width/(2*tan(depth.getHorizontalFieldOfView()/2)); //fx
depth_info.K[4]=depth_info.height/(2*tan(depth.getVerticalFieldOfView()/2));; //fy
depth_info.K[2]=depth_info.width/2; //cx
depth_info.K[5]=depth_info.height/2; //cy
depth_info.K[8]=1;
depth_info.header.frame_id=image.header.frame_id;
image.height=frame.getHeight();
image.width=frame.getWidth();
image.encoding="mono16";
image.step=frame.getWidth()*2;
image.data.resize(image.step*image.height);
memcpy((char*)(&image.data[0]),frame.getData(),image.height*image.width*2);
pub_depth.publish(image);
pub_camera_info_depth.publish(depth_info);
}
break;
//RGB
case 1:
rgb.readFrame(&rgbframe);
image.header.stamp=ros::Time::now();
rgb_info.header.stamp=ros::Time::now();
if(!rgbframe.isValid()) break;
current_stamp=rgbframe.getTimestamp();
if (current_stamp-last_stamp>5000){
count++;
new_frame = true;
}
last_stamp = current_stamp;
if (_gain>=0) {
if (count > 64 && gain_status==0){
rgb.getCameraSettings()->setAutoExposureEnabled(false);
rgb.getCameraSettings()->setAutoWhiteBalanceEnabled(false);
rgb.getCameraSettings()->setExposure(1);
rgb.getCameraSettings()->setGain(100);
gain_status=1;
} else if (count > 128 && gain_status==1){
rgb.getCameraSettings()->setExposure(_exposure);
rgb.getCameraSettings()->setGain(_gain);
gain_status=2;
}
}
if (! (count%(_frame_skip)) ){
rgb_info.header.frame_id=frame_id+"_rgb";
rgb_info.width=rgbframe.getWidth();
rgb_info.height=rgbframe.getHeight();
rgb_info.header.seq = count;
rgb_info.K[0]=rgb_info.width/(2*tan(rgb.getHorizontalFieldOfView()/2)); //fx
rgb_info.K[4]=rgb_info.height/(2*tan(rgb.getVerticalFieldOfView()/2));; //fy
rgb_info.K[2]=rgb_info.width/2; //cx
rgb_info.K[5]=rgb_info.height/2; //cy
rgb_info.K[8]=1;
image.header.seq = count;
image.header.frame_id=frame_id+"_rgb";
image.height=rgbframe.getHeight();
image.width=rgbframe.getWidth();
image.encoding="rgb8";
image.step=rgbframe.getWidth()*3;
image.data.resize(image.step*image.height);
memcpy((char*)(&image.data[0]),rgbframe.getData(),image.height*image.width*3);
pub_rgb.publish(image);
pub_camera_info_rgb.publish(rgb_info);
}
break;
default:
printf("Error in wait\n");
}
if (!(count%num_frames_stat) && new_frame){
struct timeval current_time, interval;
gettimeofday(¤t_time, 0);
timersub(¤t_time, &previous_time, &interval);
previous_time = current_time;
double fps = num_frames_stat/(interval.tv_sec +1e-6*interval.tv_usec);
printf("running at %lf fps\n", fps);
fflush(stdout);
}
}
}
int main(int argc, char **argv){
printf("starting\n");
fflush(stdout);
ros::init(argc, argv, "xtion",ros::init_options::AnonymousName);
ros::NodeHandle n("~");
//Base topic name
n.param("topic", topic, string("/camera"));
//Resolution
//0 = 160x120
//1 = 320x240
n.param("depth_mode", _depth_mode, -1);
n.param("rgb_mode", _rgb_mode, -1);
n.param("sync", _sync, 0);
n.param("registration", _registration,0);
n.param("frame_id", frame_id, string("camera_frame"));
n.param("device_num", _device_num, -1);
n.param("device_uri", _device_uri, string("NA"));
n.param("frame_skip", _frame_skip, 0);
n.param("exposure", _exposure, -1);
n.param("gain", _gain, -1);
printf("Launched with params:\n");
printf("_device_num:= %d\n",_device_num);
printf("_device_uri:= %s\n",_device_uri.c_str());
printf("_topic:= %s\n",topic.c_str());
printf("_sync:= %d\n",_sync);
printf("_registration:= %d\n",_registration);
printf("_depth_mode:= %d\n",_depth_mode);
printf("_rgb_mode:= %d\n",_rgb_mode);
printf("_frame_id:= %s\n",frame_id.c_str());
printf("_frame_skip:= %d\n",_frame_skip);
printf("_exposure:= %d\n",_exposure);
printf("_gain:= %d\n",_gain);
fflush(stdout);
if (_frame_skip<=0)
_frame_skip = 1;
//OPENNI2 STUFF
//===================================================================
streams = new openni::VideoStream*[2];
streams[0]=&depth;
streams[1]=&rgb;
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
fflush(stdout);
return 1;
}
// enumerate the devices
openni::Array<openni::DeviceInfo> device_list;
openni::OpenNI::enumerateDevices(&device_list);
Device device;
if(_device_uri.compare("NA")){
string dev_uri("NA");
for (int i = 0; i<device_list.getSize(); i++){
if(!string(device_list[i].getUri()).compare(0, _device_uri.size(), _device_uri )){
dev_uri = device_list[i].getUri();
break;
}
}
if(!dev_uri.compare("NA")){
cerr << "cannot find device with uri starting for: " << _device_uri << endl;
}
rc = device.open(dev_uri.c_str());
}
else{
if (_device_num < 0){
cerr << endl << endl << "found " << device_list.getSize() << " devices" << endl;
for (int i = 0; i<device_list.getSize(); i++)
cerr << "\t num: " << i << " uri: " << device_list[i].getUri() << endl;
}
if (_device_num>=device_list.getSize() || _device_num<0 ) {
cerr << "device num: " << _device_num << " does not exist, aborting" << endl;
openni::OpenNI::shutdown();
return 0;
}
rc = device.open(device_list[_device_num].getUri());
}
if (rc != STATUS_OK){
printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
fflush(stdout);
return 2;
}
if(_depth_mode>=0){
if (device.getSensorInfo(SENSOR_DEPTH) != NULL){
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK){
printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
fflush(stdout);
return 3;
}
//DEPTH
pub_depth = n.advertise<sensor_msgs::Image>("/"+topic+"/depth/image_raw", 1);
pub_camera_info_depth = n.advertise<sensor_msgs::CameraInfo>("/"+topic+"/depth/camera_info", 1);
}
}
if(_rgb_mode>=0){
if (device.getSensorInfo(SENSOR_COLOR) != NULL){
rc = rgb.create(device, SENSOR_COLOR);
if (rc != STATUS_OK){
printf("Couldn't create rgb stream\n%s\n", OpenNI::getExtendedError());
fflush(stdout);
return 3;
}
//RGB
pub_rgb = n.advertise<sensor_msgs::Image>("/"+topic+"/rgb/image_raw", 1);
pub_camera_info_rgb = n.advertise<sensor_msgs::CameraInfo>("/"+topic+"/rgb/camera_info", 1);
}
}
if(_depth_mode<0 && _rgb_mode<0){
cout << "Depth modes" << endl;
const openni::SensorInfo* sinfo = device.getSensorInfo(openni::SENSOR_DEPTH); // select index=4 640x480, 30 fps, 1mm
const openni::Array< openni::VideoMode>& modesDepth = sinfo->getSupportedVideoModes();
printf("Enums data:\nPIXEL_FORMAT_DEPTH_1_MM = 100,\nPIXEL_FORMAT_DEPTH_100_UM = 101,\nPIXEL_FORMAT_SHIFT_9_2 = 102,\nPIXEL_FORMAT_SHIFT_9_3 = 103,\nPIXEL_FORMAT_RGB888 = 200,\nPIXEL_FORMAT_YUV422 = 201,\nPIXEL_FORMAT_GRAY8 = 202,\nPIXEL_FORMAT_GRAY16 = 203,\nPIXEL_FORMAT_JPEG = 204,\nPIXEL_FORMAT_YUYV = 205,\n\n");
cout << "Depth modes" << endl;
for (int i = 0; i<modesDepth.getSize(); i++) {
printf("%i: %ix%i, %i fps, %i format\n", i, modesDepth[i].getResolutionX(), modesDepth[i].getResolutionY(),modesDepth[i].getFps(), modesDepth[i].getPixelFormat()); //PIXEL_FORMAT_DEPTH_1_MM = 100, PIXEL_FORMAT_DEPTH_100_UM = 101
}
cout << "Rgb modes" << endl;
const openni::SensorInfo* sinfoRgb = device.getSensorInfo(openni::SENSOR_COLOR); // select index=4 640x480, 30 fps, 1mm
const openni::Array< openni::VideoMode>& modesRgb = sinfoRgb->getSupportedVideoModes();
for (int i = 0; i<modesRgb.getSize(); i++) {
printf("%i: %ix%i, %i fps, %i format\n", i, modesRgb[i].getResolutionX(), modesRgb[i].getResolutionY(),modesRgb[i].getFps(), modesRgb[i].getPixelFormat()); //PIXEL_FORMAT_DEPTH_1_MM = 100, PIXEL_FORMAT_DEPTH_100_UM
}
depth.stop();
depth.destroy();
rgb.stop();
rgb.destroy();
device.close();
OpenNI::shutdown();
exit(1);
}
if(_depth_mode>=0){
rc = depth.setVideoMode(device.getSensorInfo(SENSOR_DEPTH)->getSupportedVideoModes()[_depth_mode]);
depth.setMirroringEnabled(false);
rc = depth.start();
}
if(_rgb_mode>=0){
rc = rgb.setVideoMode(device.getSensorInfo(SENSOR_COLOR)->getSupportedVideoModes()[_rgb_mode]);
rgb.setMirroringEnabled(false);
rgb.getCameraSettings()->setAutoExposureEnabled(true);
rgb.getCameraSettings()->setAutoWhiteBalanceEnabled(true);
cerr << "Camera settings valid: " << rgb.getCameraSettings()->isValid() << endl;
rc = rgb.start();
}
if(_depth_mode>=0 && _rgb_mode>=0 && _sync==1){
rc =device.setDepthColorSyncEnabled(true);
if (rc != STATUS_OK) {
printf("Couldn't enable de pth and rgb images synchronization\n%s\n",
OpenNI::getExtendedError());
exit(2);
}
}
if(_depth_mode>=0 && _rgb_mode>=0 && _registration==1){
device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
}
run = true;
pthread_t runner;
pthread_create(&runner, 0, camera_thread, 0);
ros::spin();
void* result;
run =false;
pthread_join(runner, &result);
depth.stop();
depth.destroy();
rgb.stop();
rgb.destroy();
device.close();
OpenNI::shutdown();
return 0;
}
