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RgbdCameraSensor.cc
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RgbdCameraSensor.cc
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/*
* Copyright (C) 2019 Open Source Robotics Foundation
*
* 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.
*
*/
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4005)
#pragma warning(disable: 4251)
#endif
#include <ignition/msgs/image.pb.h>
#include <ignition/msgs/pointcloud_packed.pb.h>
#ifdef _WIN32
#pragma warning(pop)
#endif
#include <ignition/common/Image.hh>
#include <ignition/common/Profiler.hh>
#include <ignition/math/Helpers.hh>
// TODO(louise) Remove these pragmas once ign-rendering is disabling the
// warnings
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <ignition/rendering/Camera.hh>
#include <ignition/rendering/DepthCamera.hh>
#ifdef _WIN32
#pragma warning(pop)
#endif
#include <ignition/transport/Node.hh>
#include <sdf/Sensor.hh>
#include "ignition/sensors/ImageGaussianNoiseModel.hh"
#include "ignition/sensors/ImageNoise.hh"
#include "ignition/sensors/RgbdCameraSensor.hh"
#include "ignition/sensors/RenderingEvents.hh"
#include "ignition/sensors/SensorFactory.hh"
#include "PointCloudUtil.hh"
/// \brief Private data for RgbdCameraSensor
class ignition::sensors::RgbdCameraSensorPrivate
{
/// \brief Depth data callback used to get the data from the sensor
/// \param[in] _scan pointer to the data from the sensor
/// \param[in] _width width of the depth image
/// \param[in] _height height of the depth image
/// \param[in] _channel bytes used for the depth data
/// \param[in] _format string with the format
public: void OnNewDepthFrame(const float *_scan,
unsigned int _width, unsigned int _height,
unsigned int /*_channels*/,
const std::string &_format);
/// \brief Point cloud data callback used to get the data from the sensor
/// \param[in] _scan pointer to the data from the sensor
/// \param[in] _width width of the point cloud image
/// \param[in] _height height of the point cloud image
/// \param[in] _channel bytes used for the point cloud data
/// \param[in] _format string with the format
public: void OnNewRgbPointCloud(const float *_scan,
unsigned int _width, unsigned int _height,
unsigned int _channels,
const std::string &_format);
/// \brief node to create publisher
public: transport::Node node;
/// \brief publisher to publish images
public: transport::Node::Publisher imagePub;
/// \brief publisher to publish depth images
public: transport::Node::Publisher depthPub;
/// \brief publisher to publish point cloud
public: transport::Node::Publisher pointPub;
/// \brief true if Load() has been called and was successful
public: bool initialized = false;
/// \brief Rendering camera
public: ignition::rendering::DepthCameraPtr depthCamera;
/// \brief Depth data buffer.
public: float *depthBuffer = nullptr;
/// \brief Point cloud data buffer.
public: float *pointCloudBuffer = nullptr;
/// \brief True if a depth far clipping value has been set.
public: bool hasDepthFarClip = false;
/// \brief True if a depth near clipping value has been set.
public: bool hasDepthNearClip = false;
/// \brief Depth camera far clipping distance in meters.
public: double depthFarClip = 10.0;
/// \brief Depth camera near clipping distance in meters.
public: double depthNearClip = 0.1;
/// \brief The number of channels (x, y, z, rgba, ...) in the
/// point cloud.
public: unsigned int channels = 4;
/// \brief Pointer to an image to be published
public: ignition::rendering::Image image;
/// \brief Noise added to sensor data
public: std::map<SensorNoiseType, NoisePtr> noises;
/// \brief Connection from depth camera with new depth data
public: ignition::common::ConnectionPtr depthConnection;
/// \brief Connection from depth camera with new point cloud data
public: ignition::common::ConnectionPtr pointCloudConnection;
/// \brief Connection to the Manager's scene change event.
public: ignition::common::ConnectionPtr sceneChangeConnection;
/// \brief Just a mutex for thread safety
public: std::mutex mutex;
/// \brief SDF Sensor DOM object.
public: sdf::Sensor sdfSensor;
/// \brief The point cloud message.
public: msgs::PointCloudPacked pointMsg;
/// \brief Helper class that can fill a msgs::PointCloudPacked
/// image and depth data.
public: PointCloudUtil pointsUtil;
};
using namespace ignition;
using namespace sensors;
//////////////////////////////////////////////////
RgbdCameraSensor::RgbdCameraSensor()
: dataPtr(new RgbdCameraSensorPrivate())
{
}
//////////////////////////////////////////////////
RgbdCameraSensor::~RgbdCameraSensor()
{
this->dataPtr->depthConnection.reset();
this->dataPtr->pointCloudConnection.reset();
if (this->dataPtr->depthBuffer)
delete [] this->dataPtr->depthBuffer;
if (this->dataPtr->pointCloudBuffer)
delete [] this->dataPtr->pointCloudBuffer;
}
//////////////////////////////////////////////////
bool RgbdCameraSensor::Init()
{
return this->Sensor::Init();
}
//////////////////////////////////////////////////
bool RgbdCameraSensor::Load(sdf::ElementPtr _sdf)
{
sdf::Sensor sdfSensor;
sdfSensor.Load(_sdf);
return this->Load(sdfSensor);
}
//////////////////////////////////////////////////
bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
if (!Sensor::Load(_sdf))
{
return false;
}
// Check if this is the right type
if (_sdf.Type() != sdf::SensorType::RGBD_CAMERA)
{
ignerr << "Attempting to a load a RGBD Camera sensor, but received "
<< "a " << _sdf.TypeStr() << std::endl;
}
if (_sdf.CameraSensor() == nullptr)
{
ignerr << "Attempting to a load an RGBD Camera sensor, but received "
<< "a null sensor." << std::endl;
return false;
}
this->dataPtr->sdfSensor = _sdf;
// Create the 2d image publisher
this->dataPtr->imagePub =
this->dataPtr->node.Advertise<ignition::msgs::Image>(
this->Topic() + "/image");
if (!this->dataPtr->imagePub)
{
ignerr << "Unable to create publisher on topic["
<< this->Topic() + "/image" << "].\n";
return false;
}
igndbg << "RGB images for [" << this->Name() << "] advertised on ["
<< this->Topic() << "/image]" << std::endl;
// Create the depth image publisher
this->dataPtr->depthPub =
this->dataPtr->node.Advertise<ignition::msgs::Image>(
this->Topic() + "/depth_image");
if (!this->dataPtr->depthPub)
{
ignerr << "Unable to create publisher on topic["
<< this->Topic() + "/depth_image" << "].\n";
return false;
}
igndbg << "Depth images for [" << this->Name() << "] advertised on ["
<< this->Topic() << "/depth_image]" << std::endl;
// Create the point cloud publisher
this->dataPtr->pointPub =
this->dataPtr->node.Advertise<ignition::msgs::PointCloudPacked>(
this->Topic() + "/points");
if (!this->dataPtr->pointPub)
{
ignerr << "Unable to create publisher on topic["
<< this->Topic() + "/points" << "].\n";
return false;
}
igndbg << "Points for [" << this->Name() << "] advertised on ["
<< this->Topic() << "/points]" << std::endl;
if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
return false;
// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
if (this->Scene())
{
this->CreateCameras();
}
this->dataPtr->sceneChangeConnection =
RenderingEvents::ConnectSceneChangeCallback(
std::bind(&RgbdCameraSensor::SetScene, this, std::placeholders::_1));
this->dataPtr->initialized = true;
return true;
}
//////////////////////////////////////////////////
bool RgbdCameraSensor::CreateCameras()
{
const sdf::Camera *cameraSdf = this->dataPtr->sdfSensor.CameraSensor();
if (!cameraSdf)
{
ignerr << "Unable to access camera SDF element\n";
return false;
}
this->PopulateInfo(cameraSdf);
int width = cameraSdf->ImageWidth();
int height = cameraSdf->ImageHeight();
this->dataPtr->depthCamera =
this->Scene()->CreateDepthCamera(this->Name());
this->dataPtr->depthCamera->SetImageWidth(width);
this->dataPtr->depthCamera->SetImageHeight(height);
this->dataPtr->depthCamera->SetNearClipPlane(cameraSdf->NearClip());
this->dataPtr->depthCamera->SetFarClipPlane(cameraSdf->FarClip());
// Depth camera clip params are new and only override the camera clip
// params if specified.
if (cameraSdf->HasDepthCamera())
{
if (cameraSdf->HasDepthFarClip())
{
this->dataPtr->hasDepthFarClip = true;
this->dataPtr->depthFarClip = cameraSdf->DepthFarClip();
}
if (cameraSdf->HasDepthNearClip())
{
this->dataPtr->hasDepthNearClip = true;
this->dataPtr->depthNearClip = cameraSdf->DepthNearClip();
}
}
this->dataPtr->depthCamera->SetVisibilityMask(cameraSdf->VisibilityMask());
this->AddSensor(this->dataPtr->depthCamera);
const std::map<SensorNoiseType, sdf::Noise> noises = {
{CAMERA_NOISE, cameraSdf->ImageNoise()},
};
for (const auto & [noiseType, noiseSdf] : noises)
{
// Add gaussian noise to camera sensor
if (noiseSdf.Type() == sdf::NoiseType::GAUSSIAN)
{
this->dataPtr->noises[noiseType] =
ImageNoiseFactory::NewNoiseModel(noiseSdf, "rgbd_camera");
std::dynamic_pointer_cast<ImageGaussianNoiseModel>(
this->dataPtr->noises[noiseType])->SetCamera(
this->dataPtr->depthCamera);
}
else if (noiseSdf.Type() != sdf::NoiseType::NONE)
{
ignwarn << "The depth camera sensor only supports Gaussian noise. "
<< "The supplied noise type[" << static_cast<int>(noiseSdf.Type())
<< "] is not supported." << std::endl;
}
}
// \todo(nkoeng) these parameters via sdf
this->dataPtr->depthCamera->SetAntiAliasing(2);
math::Angle angle = cameraSdf->HorizontalFov();
// todo(anyone) verify that rgb pixels align with d for angles >90 degrees.
if (angle < 0.01 || angle > IGN_PI * 2)
{
ignerr << "Invalid horizontal field of view [" << angle << "]\n";
return false;
}
this->dataPtr->depthCamera->SetAspectRatio(static_cast<double>(width)/height);
this->dataPtr->depthCamera->SetHFOV(angle);
// Create depth texture when the camera is reconfigured from default values
this->dataPtr->depthCamera->CreateDepthTexture();
// \todo(nkoenig) Port Distortion class
// This->dataPtr->distortion.reset(new Distortion());
// This->dataPtr->distortion->Load(this->dataPtr->sdf->GetElement("distortion"));
this->Scene()->RootVisual()->AddChild(this->dataPtr->depthCamera);
this->dataPtr->depthConnection =
this->dataPtr->depthCamera->ConnectNewDepthFrame(
std::bind(&RgbdCameraSensorPrivate::OnNewDepthFrame,
this->dataPtr.get(),
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
std::placeholders::_4, std::placeholders::_5));
this->dataPtr->pointCloudConnection =
this->dataPtr->depthCamera->ConnectNewRgbPointCloud(
std::bind(&RgbdCameraSensorPrivate::OnNewRgbPointCloud,
this->dataPtr.get(),
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
std::placeholders::_4, std::placeholders::_5));
// Set the values of the point message based on the camera information.
this->dataPtr->pointMsg.set_width(this->ImageWidth());
this->dataPtr->pointMsg.set_height(this->ImageHeight());
this->dataPtr->pointMsg.set_row_step(
this->dataPtr->pointMsg.point_step() * this->ImageWidth());
return true;
}
/////////////////////////////////////////////////
void RgbdCameraSensor::SetScene(ignition::rendering::ScenePtr _scene)
{
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
// APIs make it possible for the scene pointer to change
if (this->Scene() != _scene)
{
// TODO(anyone) Remove cameras from current scene
this->dataPtr->depthCamera = nullptr;
RenderingSensor::SetScene(_scene);
if (this->dataPtr->initialized)
this->CreateCameras();
}
}
/////////////////////////////////////////////////
void RgbdCameraSensorPrivate::OnNewDepthFrame(const float *_scan,
unsigned int _width, unsigned int _height,
unsigned int /*_channels*/,
const std::string &/*_format*/)
{
std::lock_guard<std::mutex> lock(this->mutex);
unsigned int depthSamples = _width * _height;
unsigned int depthBufferSize = depthSamples * sizeof(float);
if (!this->depthBuffer)
this->depthBuffer = new float[depthSamples];
memcpy(this->depthBuffer, _scan, depthBufferSize);
}
/////////////////////////////////////////////////
void RgbdCameraSensorPrivate::OnNewRgbPointCloud(const float *_scan,
unsigned int _width, unsigned int _height,
unsigned int _channels,
const std::string &/*_format*/)
{
std::lock_guard<std::mutex> lock(this->mutex);
unsigned int pointCloudSamples = _width * _height;
unsigned int pointCloudBufferSize = pointCloudSamples * _channels *
sizeof(float);
this->channels = _channels;
if (!this->pointCloudBuffer)
this->pointCloudBuffer = new float[pointCloudSamples * _channels];
memcpy(this->pointCloudBuffer, _scan, pointCloudBufferSize);
}
//////////////////////////////////////////////////
bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
{
IGN_PROFILE("RgbdCameraSensor::Update");
if (!this->dataPtr->initialized)
{
ignerr << "Not initialized, update ignored.\n";
return false;
}
if (!this->dataPtr->depthCamera)
{
ignerr << "Depth or image cameras don't exist.\n";
return false;
}
unsigned int width = this->dataPtr->depthCamera->ImageWidth();
unsigned int height = this->dataPtr->depthCamera->ImageHeight();
unsigned int depthSamples = height * width;
// generate sensor data
this->Render();
// create and publish the depthmessage
if (this->dataPtr->depthPub.HasConnections())
{
ignition::msgs::Image msg;
msg.set_width(width);
msg.set_height(height);
msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
rendering::PF_FLOAT32_R));
msg.set_pixel_format_type(msgs::PixelFormatType::R_FLOAT32);
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
auto frame = msg.mutable_header()->add_data();
frame->set_key("frame_id");
frame->add_value(this->Name());
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
// The following code is a work around since ign-rendering's depth camera
// does not support 2 different clipping distances. An assumption is made
// that the depth clipping distances are within bounds of the rgb clipping
// distances, if not, the rgb clipping values will take priority.
if (this->dataPtr->hasDepthNearClip || this->dataPtr->hasDepthFarClip)
{
for (unsigned int i = 0; i < depthSamples; i++)
{
if (this->dataPtr->hasDepthFarClip &&
(this->dataPtr->depthBuffer[i] > this->dataPtr->depthFarClip))
{
this->dataPtr->depthBuffer[i] = ignition::math::INF_D;
}
if (this->dataPtr->hasDepthNearClip &&
(this->dataPtr->depthBuffer[i] < this->dataPtr->depthNearClip))
{
this->dataPtr->depthBuffer[i] = -ignition::math::INF_D;
}
}
}
msg.set_data(this->dataPtr->depthBuffer,
rendering::PixelUtil::MemorySize(rendering::PF_FLOAT32_R,
width, height));
// publish
{
this->AddSequence(msg.mutable_header(), "depthImage");
IGN_PROFILE("RgbdCameraSensor::Update Publish depth image");
this->dataPtr->depthPub.Publish(msg);
}
}
if (this->dataPtr->pointCloudBuffer)
{
bool filledImgData = false;
if (this->dataPtr->image.Width() != width
|| this->dataPtr->image.Height() != height)
{
this->dataPtr->image =
rendering::Image(width, height, rendering::PF_R8G8B8);
}
// publish point cloud msg
if (this->dataPtr->pointPub.HasConnections())
{
*this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
msgs::Convert(_now);
// Set the time stamp
this->dataPtr->pointMsg.set_is_dense(true);
if ((this->dataPtr->hasDepthNearClip || this->dataPtr->hasDepthFarClip)
&& this->dataPtr->depthBuffer)
{
for (unsigned int i = 0; i < depthSamples; i++)
{
float depthValue = this->dataPtr->depthBuffer[i];
if (std::isinf(depthValue))
{
unsigned int index = i * this->dataPtr->channels;
this->dataPtr->pointCloudBuffer[index] = depthValue;
this->dataPtr->pointCloudBuffer[index + 1] = depthValue;
this->dataPtr->pointCloudBuffer[index + 2] = depthValue;
}
}
}
{
IGN_PROFILE("RgbdCameraSensor::Update Fill Point Cloud");
// fill point cloud msg and image data
this->dataPtr->pointsUtil.FillMsg(this->dataPtr->pointMsg,
this->dataPtr->pointCloudBuffer, true,
this->dataPtr->image.Data<unsigned char>());
filledImgData = true;
}
// publish
{
this->AddSequence(this->dataPtr->pointMsg.mutable_header(), "pointMsg");
IGN_PROFILE("RgbdCameraSensor::Update Publish point cloud");
this->dataPtr->pointPub.Publish(this->dataPtr->pointMsg);
}
}
// publish the 2d image message
if (this->dataPtr->imagePub.HasConnections())
{
if (!filledImgData)
{
IGN_PROFILE("RgbdCameraSensor::Update Fill RGB Image");
// extract image data from point cloud data
this->dataPtr->pointsUtil.RGBFromPointCloud(
this->dataPtr->image.Data<unsigned char>(),
this->dataPtr->pointCloudBuffer,
width, height);
}
unsigned char *data = this->dataPtr->image.Data<unsigned char>();
ignition::msgs::Image msg;
msg.set_width(width);
msg.set_height(height);
msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
rendering::PF_R8G8B8));
msg.set_pixel_format_type(msgs::PixelFormatType::RGB_INT8);
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
auto frame = msg.mutable_header()->add_data();
frame->set_key("frame_id");
frame->add_value(this->Name());
msg.set_data(data, rendering::PixelUtil::MemorySize(rendering::PF_R8G8B8,
width, height));
// publish the image message
{
this->AddSequence(msg.mutable_header(), "rgbdImage");
IGN_PROFILE("RgbdCameraSensor::Update Publish RGB image");
this->dataPtr->imagePub.Publish(msg);
}
}
}
// publish the camera info message
this->PublishInfo(_now);
return true;
}
//////////////////////////////////////////////////
unsigned int RgbdCameraSensor::ImageWidth() const
{
return this->dataPtr->depthCamera->ImageWidth();
}
//////////////////////////////////////////////////
unsigned int RgbdCameraSensor::ImageHeight() const
{
return this->dataPtr->depthCamera->ImageHeight();
}