Add Dynamic Transforms support -- multi-cam #169
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -41,6 +41,11 @@ namespace realsense_camera | |
| */ | ||
| BaseNodelet::~BaseNodelet() | ||
| { | ||
| if (enable_tf_ == true && enable_tf_dynamic_ == false) | ||
| { | ||
| transform_thread_->join(); | ||
| } | ||
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| stopCamera(); | ||
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| if (rs_context_) | ||
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@@ -91,10 +96,20 @@ namespace realsense_camera | |
| setStreams(); | ||
| startCamera(); | ||
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| // Start tranforms thread | ||
|
There was a problem hiding this comment. Can we fix the spelling of transforms? |
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| if (enable_tf_ == true) | ||
| { | ||
| getCameraExtrinsics(); | ||
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| if (enable_tf_dynamic_ == true) | ||
| { | ||
| transform_thread_ = | ||
| boost::shared_ptr<boost::thread>(new boost::thread (boost::bind(&BaseNodelet::prepareTransforms, this))); | ||
| } | ||
| else | ||
| { | ||
| publishStaticTransforms(); | ||
| } | ||
| } | ||
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| // Start dynamic reconfigure callback | ||
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@@ -135,6 +150,7 @@ namespace realsense_camera | |
| pnh_.param("enable_ir", enable_[RS_STREAM_INFRARED], ENABLE_IR); | ||
| pnh_.param("enable_pointcloud", enable_pointcloud_, ENABLE_PC); | ||
| pnh_.param("enable_tf", enable_tf_, ENABLE_TF); | ||
| pnh_.param("enable_tf_dynamic", enable_tf_dynamic_, ENABLE_TF_DYNAMIC); | ||
| pnh_.param("depth_width", width_[RS_STREAM_DEPTH], DEPTH_WIDTH); | ||
| pnh_.param("depth_height", height_[RS_STREAM_DEPTH], DEPTH_HEIGHT); | ||
| pnh_.param("color_width", width_[RS_STREAM_COLOR], COLOR_WIDTH); | ||
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@@ -945,17 +961,38 @@ namespace realsense_camera | |
| } | ||
|
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| /* | ||
| * Get the camera extrinsics | ||
| */ | ||
| void BaseNodelet::getCameraExtrinsics() | ||
| { | ||
| // Get offset between base frame and depth frame | ||
| rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &color2depth_extrinsic_, &rs_error_); | ||
| if (rs_error_) | ||
| { | ||
| ROS_ERROR_STREAM(nodelet_name_ << " - Verify camera is calibrated!"); | ||
| } | ||
| checkError(); | ||
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| // Get offset between base frame and infrared frame | ||
| rs_get_device_extrinsics(rs_device_, RS_STREAM_INFRARED, RS_STREAM_COLOR, &color2ir_extrinsic_, &rs_error_); | ||
| if (rs_error_) | ||
| { | ||
| ROS_ERROR_STREAM(nodelet_name_ << " - Verify camera is calibrated!"); | ||
| } | ||
| checkError(); | ||
| } | ||
|
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||
| /* | ||
| * Publish Static transforms. | ||
| */ | ||
| void BaseNodelet::publishStaticTransforms() | ||
| { | ||
| // Publish transforms for the cameras | ||
| ROS_INFO_STREAM(nodelet_name_ << " - Publishing camera transforms (/tf_static)"); | ||
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| tf::Quaternion q_c2co; | ||
| tf::Quaternion q_d2do; | ||
| tf::Quaternion q_i2io; | ||
| geometry_msgs::TransformStamped b2d_msg; | ||
| geometry_msgs::TransformStamped d2do_msg; | ||
| geometry_msgs::TransformStamped b2c_msg; | ||
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@@ -964,11 +1001,11 @@ namespace realsense_camera | |
| geometry_msgs::TransformStamped i2io_msg; | ||
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| // Get the current timestamp for all static transforms | ||
| transform_ts_ = ros::Time::now(); | ||
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| // The color frame is used as the base frame. | ||
| // Hence no additional transformation is done from base frame to color frame. | ||
| b2c_msg.header.stamp = transform_ts_; | ||
| b2c_msg.header.frame_id = base_frame_id_; | ||
| b2c_msg.child_frame_id = frame_id_[RS_STREAM_COLOR]; | ||
| b2c_msg.transform.translation.x = 0; | ||
|
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@@ -982,7 +1019,7 @@ namespace realsense_camera | |
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| // Transform color frame to color optical frame | ||
| q_c2co.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| c2co_msg.header.stamp = transform_ts_; | ||
| c2co_msg.header.frame_id = frame_id_[RS_STREAM_COLOR]; | ||
| c2co_msg.child_frame_id = optical_frame_id_[RS_STREAM_COLOR]; | ||
| c2co_msg.transform.translation.x = 0; | ||
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@@ -994,21 +1031,13 @@ namespace realsense_camera | |
| c2co_msg.transform.rotation.w = q_c2co.getW(); | ||
| static_tf_broadcaster_.sendTransform(c2co_msg); | ||
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| // Transform base frame to depth frame | ||
| b2d_msg.header.stamp = transform_ts_; | ||
| b2d_msg.header.frame_id = base_frame_id_; | ||
| b2d_msg.child_frame_id = frame_id_[RS_STREAM_DEPTH]; | ||
| b2d_msg.transform.translation.x = color2depth_extrinsic_.translation[2]; | ||
| b2d_msg.transform.translation.y = -color2depth_extrinsic_.translation[0]; | ||
| b2d_msg.transform.translation.z = -color2depth_extrinsic_.translation[1]; | ||
| b2d_msg.transform.rotation.x = 0; | ||
| b2d_msg.transform.rotation.y = 0; | ||
| b2d_msg.transform.rotation.z = 0; | ||
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@@ -1017,7 +1046,7 @@ namespace realsense_camera | |
|
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| // Transform depth frame to depth optical frame | ||
| q_d2do.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| d2do_msg.header.stamp = transform_ts_; | ||
| d2do_msg.header.frame_id = frame_id_[RS_STREAM_DEPTH]; | ||
| d2do_msg.child_frame_id = optical_frame_id_[RS_STREAM_DEPTH]; | ||
| d2do_msg.transform.translation.x = 0; | ||
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@@ -1029,21 +1058,13 @@ namespace realsense_camera | |
| d2do_msg.transform.rotation.w = q_d2do.getW(); | ||
| static_tf_broadcaster_.sendTransform(d2do_msg); | ||
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| // Transform base frame to infrared frame | ||
| b2i_msg.header.stamp = transform_ts_; | ||
| b2i_msg.header.frame_id = base_frame_id_; | ||
| b2i_msg.child_frame_id = frame_id_[RS_STREAM_INFRARED]; | ||
| b2i_msg.transform.translation.x = color2ir_extrinsic_.translation[2]; | ||
| b2i_msg.transform.translation.y = -color2ir_extrinsic_.translation[0]; | ||
| b2i_msg.transform.translation.z = -color2ir_extrinsic_.translation[1]; | ||
| b2i_msg.transform.rotation.x = 0; | ||
| b2i_msg.transform.rotation.y = 0; | ||
| b2i_msg.transform.rotation.z = 0; | ||
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@@ -1052,7 +1073,7 @@ namespace realsense_camera | |
|
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| // Transform infrared frame to infrared optical frame | ||
| q_i2io.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| i2io_msg.header.stamp = transform_ts_; | ||
| i2io_msg.header.frame_id = frame_id_[RS_STREAM_INFRARED]; | ||
| i2io_msg.child_frame_id = optical_frame_id_[RS_STREAM_INFRARED]; | ||
| i2io_msg.transform.translation.x = 0; | ||
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@@ -1065,6 +1086,82 @@ namespace realsense_camera | |
| static_tf_broadcaster_.sendTransform(i2io_msg); | ||
| } | ||
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| /* | ||
| * Publish Dynamic transforms. | ||
| */ | ||
| void BaseNodelet::publishDynamicTransforms() | ||
| { | ||
| tf::Transform tr; | ||
| tf::Quaternion q; | ||
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| // The color frame is used as the base frame. | ||
| // Hence no additional transformation is done from base frame to color frame. | ||
| tr.setOrigin(tf::Vector3(0,0,0)); | ||
| tr.setRotation(tf::Quaternion(0, 0, 0, 1)); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| base_frame_id_, frame_id_[RS_STREAM_COLOR])); | ||
|
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| // Transform color frame to color optical frame | ||
| tr.setOrigin(tf::Vector3(0,0,0)); | ||
| q.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| tr.setRotation(q); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| frame_id_[RS_STREAM_COLOR], optical_frame_id_[RS_STREAM_COLOR])); | ||
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| // Transform base frame to depth frame | ||
| tr.setOrigin(tf::Vector3( | ||
| color2depth_extrinsic_.translation[2], | ||
| -color2depth_extrinsic_.translation[0], | ||
| -color2depth_extrinsic_.translation[1])); | ||
| tr.setRotation(tf::Quaternion(0, 0, 0, 1)); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| base_frame_id_, frame_id_[RS_STREAM_DEPTH])); | ||
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| // Transform depth frame to depth optical frame | ||
| tr.setOrigin(tf::Vector3(0,0,0)); | ||
| q.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| tr.setRotation(q); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| frame_id_[RS_STREAM_DEPTH], optical_frame_id_[RS_STREAM_DEPTH])); | ||
|
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| // Transform base frame to infrared frame | ||
| tr.setOrigin(tf::Vector3( | ||
| color2ir_extrinsic_.translation[2], | ||
| -color2ir_extrinsic_.translation[0], | ||
| -color2ir_extrinsic_.translation[1])); | ||
| tr.setRotation(tf::Quaternion(0, 0, 0, 1)); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| base_frame_id_, frame_id_[RS_STREAM_INFRARED])); | ||
|
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| // Transform infrared frame to infrared optical frame | ||
| tr.setOrigin(tf::Vector3(0,0,0)); | ||
| q.setEuler(M_PI/2, 0.0, -M_PI/2); | ||
| tr.setRotation(q); | ||
| dynamic_tf_broadcaster_.sendTransform(tf::StampedTransform(tr, transform_ts_, | ||
| frame_id_[RS_STREAM_INFRARED], optical_frame_id_[RS_STREAM_INFRARED])); | ||
| } | ||
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| /* | ||
| * Prepare transforms. | ||
| */ | ||
| void BaseNodelet::prepareTransforms() | ||
| { | ||
| // Publish transforms for the cameras | ||
| ROS_INFO_STREAM(nodelet_name_ << " - Publishing camera transforms (/tf)"); | ||
|
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| ros::Rate loop_rate(1); | ||
|
There was a problem hiding this comment. Any reason for such a slow loop? tf transforms are traditionally published at ~50Hz. Additional parameter proposed in #221 There was a problem hiding this comment. The data is not changing, hence the slow loop rate. The default for transforms is to publish them with a static transform, but due to a ROS bug (and a camera driver bug for F200/SR300) the dynamic transform option was added. |
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| while (ros::ok()) | ||
| { | ||
| // update the time stamp for publication | ||
| transform_ts_ = ros::Time::now(); | ||
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| publishDynamicTransforms(); | ||
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| loop_rate.sleep(); | ||
| } | ||
| } | ||
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| /* | ||
| * Display error details and shutdown ROS. | ||
| */ | ||
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I think this should be enable_tf_dynamic_ == true
Shouldn't it?