From 6f3f503da15aa838af91396ae8d138d4e54404c0 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 16 Feb 2016 14:51:12 -0800 Subject: [PATCH 001/124] Updated README file. --- camera/README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/camera/README.md b/camera/README.md index 3f82ce9f53..428ddf0afb 100644 --- a/camera/README.md +++ b/camera/README.md @@ -134,12 +134,11 @@ Type the following to launch the camera nodelet. You will notice the camera ligh View using RVIZ: For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. -For the point cloud steam, before loading its corresponding topic, set the camera_depth_optical_frame using following command: +For the point cloud stream, before loading its corresponding topic, set the camera_depth_optical_frame using following command: $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100 You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. -![](docs/realsenseRvizScreenshot.png) View using other commands: * For color stream @@ -173,7 +172,7 @@ View using other commands: ** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. ###Limitations: -Currently camera ROS node supports following formats +Currently, the ROS camera nodelet only supports the following formats: * Color stream: RGB8 * Depth stream: Y16 * Infrared stream: Y8 From a8cb207ace01bbfcaf4856d1fa489a8502a771db Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 16 Feb 2016 15:53:53 -0800 Subject: [PATCH 002/124] Update the README to reflect the external librealsense git repo. Included the unit test commands in the main README and removed the README within the test folder. --- camera/README.md | 51 +++++++++++----- camera/test/README.md | 132 ------------------------------------------ 2 files changed, 38 insertions(+), 145 deletions(-) delete mode 100644 camera/test/README.md diff --git a/camera/README.md b/camera/README.md index 428ddf0afb..fd9660906b 100644 --- a/camera/README.md +++ b/camera/README.md @@ -4,21 +4,20 @@ ###Installation #####Getting the camera to work on Linux -* Clone the source from the librealsense git repository https://github.intel.com/PerCSystemsEngineering/librealsense. -* Follow the instructions at https://github.intel.com/PerCSystemsEngineering/librealsense/blob/master/doc/installation.md. +* Clone the source from the librealsense git repository https://github.com/IntelRealSense/librealsense.git and follow the "Installation Guide" for installing the library. * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. -* Make sure /usr/local/lib is in your LD__LIBRARY_PATH. +* Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". #####Building package: * Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. * To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense + catkin_make --pkg realsense_camera -Successful execution of command will build target “r200_camera_nodelet” +Successful execution of command will build target “realsense_camera_nodelet” -Sample launch files are available in realsense/launch directory +Sample launch files are available in camera/launch directory realsense_r200_launch_preset.launch @@ -123,13 +122,12 @@ Infrared2 camera ####Services get_settings (camera/get_settings) To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. - ###Running the R200 nodelet -Type the following to launch the camera nodelet. You will notice the camera light up. +Use the following command to launch the camera nodelet. You will notice the camera light up. - $ roslaunch realsense realsense_r200_launch_preset.launch + $ roslaunch realsense_camera realsense_r200_launch_preset.launch View using RVIZ: @@ -141,23 +139,23 @@ For the point cloud stream, before loading its corresponding topic, set the came You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. View using other commands: -* For color stream +For color stream $ rosrun image_view image_view image:=/camera/color/image_raw -* For depth stream +For depth stream $ rostopic echo /camera/depth/image_raw $ rostopic echo /camera/depth/camera_info -* For pointcloud +For pointcloud $ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image $ rosrun image_view image_view image:=/my_image -* For viewing supported camera settings with current values: +For viewing supported camera settings with current values: $ rosservice call /camera/get_settings @@ -171,6 +169,33 @@ View using other commands: ** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. +###Unit Tests +The Unit Tests can be executed using either of the methods: + +1. Using rostest command with test files + + $ rostest + E.g. rostest realsense_r200_depth_only.test + +2. Using rosrun command + + $ roslaunch realsense_camera realsense_r200_launch_manual.launch + + $ rosrun realsense_camera realsense_camera_test + E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 + +Sample testfiles are available in test directory + +realsense_r200_color_only.test + +realsense_r200_depth_only.test + +realsense_r200_resolution.test + +realsense_r200_settings.test + +Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. + ###Limitations: Currently, the ROS camera nodelet only supports the following formats: * Color stream: RGB8 diff --git a/camera/test/README.md b/camera/test/README.md deleted file mode 100644 index d38cd299ea..0000000000 --- a/camera/test/README.md +++ /dev/null @@ -1,132 +0,0 @@ -#Intel® ROS RealSense Package - Unit Testing -###(ROS Indigo + Ubuntu 14.04 [64-bit]) -ROS node unit test (rostest + gtest): node unit tests start up "RealsenseNodelet" and test its published topics, supported parameter values and services. - -#####Building package: - -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense - -Successful execution of command will build target "utest" along with target “r200_camera_nodelet” - -#### Subscribed Topics -Color camera - - camera/color/image_raw (sensor_msgs/Image) - Color rectified image. RGB format. - camera/color/camera_info - Calibration data - -Depth camera - - camera/depth/image_raw (sensor_msgs/Image) - uint16 depths in mm - camera/depth/camera_info - Calibration data - camera/depth/points (sensor_msgs/PointCloud2) - Registered XYZRGB point cloud. - -Infrared1 camera - - camera/infrared1/image_raw (sensor_msgs/Image) - camera/infrared1/camera_info - Calibration data - -Infrared2 camera - - camera/infrared2/image_raw (sensor_msgs/Image) - camera/infrared2/camera_info - Calibration data - -####Parameters - - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - depth_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. - camera (string, default: "R200") - Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] - R200_DEPTH_CONTROL_PRESET : [0, 5] - R200_DEPTH_UNITS : [1, 2147483647] - R200_DEPTH_CLAMP_MIN : [0, 65535] - R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] - R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31] - R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047] - -####Services called - get_settings (camera/get_settings) - To get supported camera options with current value set. - - -###Running the utest node -The Unit Tests can be executed using either of the methods: - -1. Using rostest command with test files - - $ rostest - e.g rostest realsense_tests_r200_depth_only.test - -2. Using rosrun command - - $ roslaunch realsense realsense_r200_launch_manual.launch - - $ rosrun realsense_tests utest - e.g rosrun realsense_tests utest enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 - -Sample testfiles are available in test directory - -realsense_tests_r200_color_only.test - -realsense_tests_r200_depth_only.test - -realsense_tests_r200_resolution.test - -realsense_tests_r200_settings.test - -Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unittests. - - From 6bcf2f5d184337e5e8f5cee8683ca846bb0208d3 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 16 Feb 2016 15:55:49 -0800 Subject: [PATCH 003/124] Updated README. --- camera/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/camera/README.md b/camera/README.md index fd9660906b..2cf330e9fc 100644 --- a/camera/README.md +++ b/camera/README.md @@ -172,12 +172,12 @@ For viewing supported camera settings with current values: ###Unit Tests The Unit Tests can be executed using either of the methods: -1. Using rostest command with test files +Using rostest command with test files $ rostest E.g. rostest realsense_r200_depth_only.test -2. Using rosrun command +Using rosrun command $ roslaunch realsense_camera realsense_r200_launch_manual.launch From 061d8a70568a4b7cdd0b16097badc22821ab2f24 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Tue, 16 Feb 2016 17:42:30 -0800 Subject: [PATCH 004/124] Remove Unused ROS Python Dependency --- camera/CMakeLists.txt | 1 - camera/package.xml | 2 -- 2 files changed, 3 deletions(-) diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 42e6acc0e2..a1533e9bc7 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -6,7 +6,6 @@ set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") find_package(catkin REQUIRED COMPONENTS roscpp - rospy nodelet cv_bridge image_transport diff --git a/camera/package.xml b/camera/package.xml index eb80033386..1033ead43f 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -16,7 +16,6 @@ catkin roscpp - rospy nodelet cv_bridge image_transport @@ -29,7 +28,6 @@ pcl_ros roscpp - rospy nodelet cv_bridge image_transport From 4acfbc1d4461b1f514134411acf1f389101ccda4 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Tue, 16 Feb 2016 17:43:13 -0800 Subject: [PATCH 005/124] Remove Old README.md This file was intend to have build directions and is now outdated. If the README exists at this level it should describe the Stack. --- README.md | 21 --------------------- 1 file changed, 21 deletions(-) delete mode 100644 README.md diff --git a/README.md b/README.md deleted file mode 100644 index 63bc061a88..0000000000 --- a/README.md +++ /dev/null @@ -1,21 +0,0 @@ -# ros -ROS Development - - -## Usage -* Setup for ROS - - `source /opt/ros/`*``*`/setup.bash` - -* Create your Catkin Workspace - - `mkdir catkin_ws` -* Clone the repository as the `src` directory - - `git clone https://github.com/otcshare/ros-realsense.git src` -* Build the Nodes - - `catkin_make` -* Setup to use newly build Nodes - - `source devel/setup.bash` From 3fa2f281e885c47f6f424da27d6de3ff4915870b Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Tue, 16 Feb 2016 17:45:18 -0800 Subject: [PATCH 006/124] Add dependency for the generated service files --- camera/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index a1533e9bc7..99ae8cf90f 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -37,9 +37,11 @@ target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} /usr/local/lib/librealsense.so ) +add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp) add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) +add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp) From 59e6fcb6c561a438805fad6dacc571f3df021e7c Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 17 Feb 2016 13:08:14 -0800 Subject: [PATCH 007/124] Updated README to specify copying of librealsense include files. --- camera/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/camera/README.md b/camera/README.md index 2cf330e9fc..107113403e 100644 --- a/camera/README.md +++ b/camera/README.md @@ -8,12 +8,12 @@ * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". +* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". #####Building package: -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense_camera +* Setup ROS and create a local catkin workspace. +* Compile the realsense_camera package by executing the catkin_make command. Successful execution of command will build target “realsense_camera_nodelet” From e00fbf7f3b9f3ae16ff6685107927591be318af4 Mon Sep 17 00:00:00 2001 From: Matt Hansen Date: Wed, 17 Feb 2016 16:28:45 -0800 Subject: [PATCH 008/124] Update README.md Added commands for easy viewing in RVIZ --- camera/README.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/camera/README.md b/camera/README.md index 107113403e..d2482b07a3 100644 --- a/camera/README.md +++ b/camera/README.md @@ -132,11 +132,16 @@ Use the following command to launch the camera nodelet. You will notice the came View using RVIZ: For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. + +You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. +``` + $ roscd realsense_camera + $ rosrun rviz rviz -d rviz/realsenseRvizConfiguration.rviz +``` For the point cloud stream, before loading its corresponding topic, set the camera_depth_optical_frame using following command: $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100 -You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. View using other commands: For color stream From e161975f819413068b3959feed130ac8659f36b1 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 17 Feb 2016 22:55:07 -0800 Subject: [PATCH 009/124] Modified .cpp file to read depth and camera frame ids from args. Added two new launch files to enable rgbd launch. Renamed existing launch files to distinguish standalone nodelets from others. --- camera/.cproject | 41 +-- camera/README.md | 12 +- camera/launch/realsense_r200_nodelet.launch | 21 ++ ...nse_r200_nodelet_standalone_manual.launch} | 0 ...nse_r200_nodelet_standalone_preset.launch} | 6 +- ...e_r200_nodelet_standalone_settings.launch} | 0 camera/launch/realsense_r200_rgbd.launch | 93 +++++++ ....rviz => realsenseRvizConfiguration1.rviz} | 0 camera/rviz/realsenseRvizConfiguration2.rviz | 245 ++++++++++++++++++ camera/src/realsense_camera_nodelet.cpp | 10 + camera/test/realsense_r200_color_only.test | 8 +- camera/test/realsense_r200_depth_only.test | 6 +- camera/test/realsense_r200_resolution.test | 13 +- 13 files changed, 412 insertions(+), 43 deletions(-) create mode 100644 camera/launch/realsense_r200_nodelet.launch rename camera/launch/{realsense_r200_launch_manual.launch => realsense_r200_nodelet_standalone_manual.launch} (100%) rename camera/launch/{realsense_r200_launch_preset.launch => realsense_r200_nodelet_standalone_preset.launch} (81%) rename camera/launch/{realsense_r200_launch_settings.launch => realsense_r200_nodelet_standalone_settings.launch} (100%) create mode 100644 camera/launch/realsense_r200_rgbd.launch rename camera/rviz/{realsenseRvizConfiguration.rviz => realsenseRvizConfiguration1.rviz} (100%) create mode 100644 camera/rviz/realsenseRvizConfiguration2.rviz diff --git a/camera/.cproject b/camera/.cproject index 7775a24d88..ca7ca6b28a 100644 --- a/camera/.cproject +++ b/camera/.cproject @@ -1,8 +1,8 @@ - - + + @@ -14,20 +14,20 @@ - - - - - - - - + + + + + + + + - - + + - - + + @@ -37,27 +37,30 @@ - + + + + - - + + - - + + diff --git a/camera/README.md b/camera/README.md index d2482b07a3..dc48fcfd7f 100644 --- a/camera/README.md +++ b/camera/README.md @@ -19,11 +19,11 @@ Successful execution of command will build target “realsense_camera_nodelet Sample launch files are available in camera/launch directory -realsense_r200_launch_preset.launch +realsense_r200_nodelet_standalone_preset.launch -realsense_r200_launch_manual.launch +realsense_r200_nodelet_standalone_manual.launch -realsense_r200_launch_settings.launch +realsense_r200_rgbd.launch ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera @@ -31,7 +31,7 @@ Publishing stream data from the Intel® RealSense™ R200 (DS4) camera #### Subscribed Topics None -#### Published Topics +#### Published Topics (default) Color camera @@ -133,10 +133,10 @@ View using RVIZ: For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. -You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. +You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration1.rviz. ``` $ roscd realsense_camera - $ rosrun rviz rviz -d rviz/realsenseRvizConfiguration.rviz + $ rosrun rviz rviz -d rviz/realsenseRvizConfiguration1.rviz ``` For the point cloud stream, before loading its corresponding topic, set the camera_depth_optical_frame using following command: diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch new file mode 100644 index 0000000000..9bc1944bb0 --- /dev/null +++ b/camera/launch/realsense_r200_nodelet.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + diff --git a/camera/launch/realsense_r200_launch_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch similarity index 100% rename from camera/launch/realsense_r200_launch_manual.launch rename to camera/launch/realsense_r200_nodelet_standalone_manual.launch diff --git a/camera/launch/realsense_r200_launch_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch similarity index 81% rename from camera/launch/realsense_r200_launch_preset.launch rename to camera/launch/realsense_r200_nodelet_standalone_preset.launch index a1a00ed2ce..42029217ca 100644 --- a/camera/launch/realsense_r200_launch_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -3,7 +3,7 @@ - + @@ -12,7 +12,7 @@ mode $(arg mode) enable_color $(arg enable_color) enable_depth $(arg enable_depth) - enable_pointcloud $(arg enable_pointcloud)"> + enable_pointcloud $(arg enable_pointcloud)"> - + diff --git a/camera/launch/realsense_r200_launch_settings.launch b/camera/launch/realsense_r200_nodelet_standalone_settings.launch similarity index 100% rename from camera/launch/realsense_r200_launch_settings.launch rename to camera/launch/realsense_r200_nodelet_standalone_settings.launch diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch new file mode 100644 index 0000000000..137ca0c354 --- /dev/null +++ b/camera/launch/realsense_r200_rgbd.launch @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/rviz/realsenseRvizConfiguration.rviz b/camera/rviz/realsenseRvizConfiguration1.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration.rviz rename to camera/rviz/realsenseRvizConfiguration1.rviz diff --git a/camera/rviz/realsenseRvizConfiguration2.rviz b/camera/rviz/realsenseRvizConfiguration2.rviz new file mode 100644 index 0000000000..370c7d924e --- /dev/null +++ b/camera/rviz/realsenseRvizConfiguration2.rviz @@ -0,0 +1,245 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image1 + - /Image2 + - /Image3 + - /Image4 + - /Image5 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image_raw + Max Value: 6000 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/ir/image_rect_ir + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/ir/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.785398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 55 + Y: -14 diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index d98267cabf..99a81d64a1 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -382,6 +382,16 @@ namespace realsense_camera camera_ = config_.at ("camera").c_str (); } + if (config_.find ("depth_frame_id") != config_.end ()) + { + frame_id_[RS_STREAM_DEPTH] = config_.at ("depth_frame_id").c_str (); + } + + if (config_.find ("color_frame_id") != config_.end ()) + { + frame_id_[RS_STREAM_COLOR] = config_.at ("color_frame_id").c_str (); + } + if (mode_.compare ("manual") == 0) { if (config_.find ("color_fps") != config_.end ()) diff --git a/camera/test/realsense_r200_color_only.test b/camera/test/realsense_r200_color_only.test index 76f5a34472..1d6cbc71fb 100644 --- a/camera/test/realsense_r200_color_only.test +++ b/camera/test/realsense_r200_color_only.test @@ -1,10 +1,10 @@ - - + - + args="enable_depth 0 enable_color 1" /> + diff --git a/camera/test/realsense_r200_depth_only.test b/camera/test/realsense_r200_depth_only.test index d3046af01d..79f0afe71c 100644 --- a/camera/test/realsense_r200_depth_only.test +++ b/camera/test/realsense_r200_depth_only.test @@ -1,12 +1,10 @@ - - + - + args="enable_depth 1 enable_color 0" /> diff --git a/camera/test/realsense_r200_resolution.test b/camera/test/realsense_r200_resolution.test index 57584445f8..65d893ed8d 100644 --- a/camera/test/realsense_r200_resolution.test +++ b/camera/test/realsense_r200_resolution.test @@ -1,15 +1,14 @@ - - + - + - + - - + args="color_height 1080 color_width 1920 depth_height 468 depth_width 628 color_fps 30 depth_fps 30" /> + From 1fdee60dfab0037963dcd9cc79f04fcba25ccc08 Mon Sep 17 00:00:00 2001 From: Matt Hansen Date: Sat, 20 Feb 2016 19:24:20 -0800 Subject: [PATCH 010/124] Update README.md --- camera/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/camera/README.md b/camera/README.md index dc48fcfd7f..e4a85fd438 100644 --- a/camera/README.md +++ b/camera/README.md @@ -8,7 +8,7 @@ * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". -* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". +* Copy the librealsense header files **folder** "librealsense/include/librealsense" to "/usr/local/include". #####Building package: @@ -127,7 +127,7 @@ Infrared2 camera Use the following command to launch the camera nodelet. You will notice the camera light up. - $ roslaunch realsense_camera realsense_r200_launch_preset.launch + $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch View using RVIZ: From be41ed2855b918c2cf8ca3e331efae684243784d Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Mon, 22 Feb 2016 19:25:56 -0700 Subject: [PATCH 011/124] Enable Defensive Compile Flags --- camera/CMakeLists.txt | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 99ae8cf90f..241bff20a6 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -2,7 +2,16 @@ cmake_minimum_required(VERSION 2.8.3) project(realsense_camera) -set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") +# Save the command line compile commands in the build output +set(CMAKE_EXPORT_COMPILE_COMMANDS 1) +# View the makefile commands during build +#set(CMAKE_VERBOSE_MAKEFILE on) + +set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") +# Flags executables +set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") +# Flags shared libraries +set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now") find_package(catkin REQUIRED COMPONENTS roscpp From f846b1ae9e160ff4b52fb27e8e4f5444c1fa917a Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Tue, 23 Feb 2016 11:07:31 -0800 Subject: [PATCH 012/124] Fix compiler warnings in nodelet and test --- camera/src/realsense_camera_nodelet.cpp | 5 +++-- camera/test/realsense_camera_test_node.cpp | 12 +++++------- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 99a81d64a1..baf158ceeb 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -475,6 +475,9 @@ namespace realsense_camera image_[(uint32_t) RS_STREAM_INFRARED2].data = (unsigned char *) (rs_get_frame_data (rs_device_, RS_STREAM_INFRARED2, 0)); break; + default: + // no other streams supported + break; } } @@ -586,8 +589,6 @@ namespace realsense_camera sensor_msgs::PointCloud2Iterator < uint8_t > iter_g (msg_pointcloud, "g"); sensor_msgs::PointCloud2Iterator < uint8_t > iter_b (msg_pointcloud, "b"); - rs::float2 thirdImagePixel; - float depth_point[3], color_point[3], color_pixel[2], scaled_depth; unsigned char *color_data = image_color.data; const float depth_scale = rs_get_device_depth_scale (rs_device_, &rs_error_); diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index abf88eef1c..ef86816fc9 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -18,7 +18,7 @@ void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor long infrared1_total = 0; int infrared1_count = 1; - for (int i = 0; i < msg->height * msg->width; i++) + for (unsigned int i = 0; i < msg->height * msg->width; i++) { if (*infrared1_data > 0 && *infrared1_data < 255) { @@ -48,7 +48,7 @@ void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor long infrared2_total = 0; int infrared2_count = 1; - for (int i = 0; i < msg->height * msg->width; i++) + for (unsigned int i = 0; i < msg->height * msg->width; i++) { if (*infrared2_data > 0 && *infrared2_data < 255) { @@ -77,9 +77,9 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg long depth_total = 0; int depth_count = 0; - for (int i = 0; i < msg->height * msg->width; ++i) + for (unsigned int i = 0; i < msg->height * msg->width; ++i) { - if (0 < *image_data <= R200_DEPTH_MAX) + if ((0 < *image_data) && (*image_data <= R200_DEPTH_MAX)) { depth_total += *image_data; depth_count++; @@ -139,7 +139,7 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg uchar *color_data = image.data; long color_total = 0; int color_count = 1; - for (int i = 0; i < msg->height * msg->width * 3; i++) + for (unsigned int i = 0; i < msg->height * msg->width * 3; i++) { if (*color_data > 0 && *color_data < 255) { @@ -452,8 +452,6 @@ void fillConfigMap(int argc, char **argv) int main(int argc, char **argv) { - int return_value = 1; - testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "utest"); fillConfigMap(argc, argv); From 6a31b7f753c6fc92243d804a822137faffe76be0 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 18 Feb 2016 16:33:53 -0800 Subject: [PATCH 013/124] Renamed contents of launch files to meet rgbd launch standards. Included rviz config file for testing. --- camera/launch/realsense_r200_nodelet.launch | 2 +- camera/package.xml | 2 +- camera/rviz/realsenseRvizConfiguration3.rviz | 305 ++++++++++++++++++ ...l => realsense_camera_nodelet_plugins.xml} | 0 4 files changed, 307 insertions(+), 2 deletions(-) create mode 100644 camera/rviz/realsenseRvizConfiguration3.rviz rename camera/src/{RealsenseNodelet_plugins.xml => realsense_camera_nodelet_plugins.xml} (100%) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch index 9bc1944bb0..c292c6bf9b 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/realsense_r200_nodelet.launch @@ -7,7 +7,7 @@ - diff --git a/camera/package.xml b/camera/package.xml index 1033ead43f..904e0cfdd1 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -40,7 +40,7 @@ pcl_ros - + diff --git a/camera/rviz/realsenseRvizConfiguration3.rviz b/camera/rviz/realsenseRvizConfiguration3.rviz new file mode 100644 index 0000000000..be9c8f7197 --- /dev/null +++ b/camera/rviz/realsenseRvizConfiguration3.rviz @@ -0,0 +1,305 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image5 + - /Image6 + - /Image7 + - /Image9 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/rgb/image_rect_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/ir/image_rect_ir + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth_registered/sw_registered/image_rect_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth_registered/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth_registered/sw_registered/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth_registered/hw_registered/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth_registered/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 12.544 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 1.5598 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.5954 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 55 + Y: -14 diff --git a/camera/src/RealsenseNodelet_plugins.xml b/camera/src/realsense_camera_nodelet_plugins.xml similarity index 100% rename from camera/src/RealsenseNodelet_plugins.xml rename to camera/src/realsense_camera_nodelet_plugins.xml From d1eded04968e01c9fa2ea33fe1bc6b06cbbbb6fd Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 18 Feb 2016 20:56:23 -0800 Subject: [PATCH 014/124] Updated code to refer to color_frame_id as rgb_frame_id based on rgbd_launch standards. Updated launch file to remap camera_info topic names. --- camera/launch/realsense_r200_nodelet.launch | 7 +++++-- camera/launch/realsense_r200_rgbd.launch | 2 +- camera/src/realsense_camera_nodelet.cpp | 4 ++-- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch index c292c6bf9b..2da64ec90b 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/realsense_r200_nodelet.launch @@ -15,7 +15,10 @@ - + + + + + - diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index 137ca0c354..ea3cd853b2 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -21,7 +21,7 @@ tree. Useful if you are playing back recorded raw data from a bag, or are supplying a more accurate tf tree from calibration. --> - + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index baf158ceeb..e8c4f7e127 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -387,9 +387,9 @@ namespace realsense_camera frame_id_[RS_STREAM_DEPTH] = config_.at ("depth_frame_id").c_str (); } - if (config_.find ("color_frame_id") != config_.end ()) + if (config_.find ("rgb_frame_id") != config_.end ()) { - frame_id_[RS_STREAM_COLOR] = config_.at ("color_frame_id").c_str (); + frame_id_[RS_STREAM_COLOR] = config_.at ("rgb_frame_id").c_str (); } if (mode_.compare ("manual") == 0) From 8e3ef3862ba52b6395c0dc68a35bfb3d4312106f Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 22 Feb 2016 18:46:36 -0800 Subject: [PATCH 015/124] Updated launch file to remap pointcloud topic name according to rgbd standards. --- camera/launch/realsense_r200_nodelet.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch index 2da64ec90b..bbc1239f4b 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/realsense_r200_nodelet.launch @@ -16,6 +16,7 @@ + From 6df42a8987678fedccfd76aa7f4dada67b071e6f Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 22 Feb 2016 20:08:44 -0800 Subject: [PATCH 016/124] Updated fix for following bugs: RAR-224, RAR-223, RAR-225, RAR-237. Also removed org.eclipse.cdt.ui.prefs file based on Protex scan result. --- camera/.settings/org.eclipse.cdt.ui.prefs | 2 -- camera/README.md | 10 ++++++---- 2 files changed, 6 insertions(+), 6 deletions(-) delete mode 100644 camera/.settings/org.eclipse.cdt.ui.prefs diff --git a/camera/.settings/org.eclipse.cdt.ui.prefs b/camera/.settings/org.eclipse.cdt.ui.prefs deleted file mode 100644 index 4ee12a4ba7..0000000000 --- a/camera/.settings/org.eclipse.cdt.ui.prefs +++ /dev/null @@ -1,2 +0,0 @@ -eclipse.preferences.version=1 -formatter_settings_version=1 diff --git a/camera/README.md b/camera/README.md index e4a85fd438..df2a9b0bd8 100644 --- a/camera/README.md +++ b/camera/README.md @@ -8,7 +8,9 @@ * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". -* Copy the librealsense header files **folder** "librealsense/include/librealsense" to "/usr/local/include". +* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". + + E.g. sudo cp -r /include/librealsense /usr/local/include #####Building package: @@ -179,8 +181,8 @@ The Unit Tests can be executed using either of the methods: Using rostest command with test files - $ rostest - E.g. rostest realsense_r200_depth_only.test + $ rostest realsense_camera + E.g. rostest realsense_camera realsense_r200_depth_only.test Using rosrun command @@ -189,7 +191,7 @@ Using rosrun command $ rosrun realsense_camera realsense_camera_test E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 -Sample testfiles are available in test directory +Sample test files are available in test directory realsense_r200_color_only.test From 7789dc457a9d770a46b8bad15e41aad37b5beedb Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 13:25:06 -0800 Subject: [PATCH 017/124] Based on the rgbd_launch standards, modified the main code, test code, launch files and test files to use true and false instead of 1 and 0. --- camera/launch/realsense_r200_nodelet.launch | 33 +++++++++++-------- ...ense_r200_nodelet_standalone_manual.launch | 6 ++-- ...ense_r200_nodelet_standalone_preset.launch | 6 ++-- ...se_r200_nodelet_standalone_settings.launch | 6 ++-- camera/launch/realsense_r200_rgbd.launch | 5 ++- camera/src/realsense_camera_nodelet.cpp | 29 +++++++++++++--- camera/test/realsense_camera_test_node.cpp | 18 ++++++++-- camera/test/realsense_r200_color_only.test | 4 +-- camera/test/realsense_r200_depth_only.test | 4 +-- camera/test/realsense_r200_settings.test | 6 ++-- 10 files changed, 81 insertions(+), 36 deletions(-) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch index bbc1239f4b..5ff3f4ee9e 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/realsense_r200_nodelet.launch @@ -1,25 +1,32 @@ - - - - - - - + + + + + + + + + + + - + rgb_frame_id $(arg rgb_frame_id) + enable_depth $(arg enable_depth) + enable_color $(arg enable_color) + enable_pointcloud $(arg enable_pointcloud)"> + - - - - + + + + diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch index f931bdab64..519fbcf0b1 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -5,9 +5,9 @@ - - - + + + diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch index 42029217ca..39ef3a29ab 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -1,9 +1,9 @@ - - - + + + diff --git a/camera/launch/realsense_r200_nodelet_standalone_settings.launch b/camera/launch/realsense_r200_nodelet_standalone_settings.launch index 675c9c7ba3..1f889ee666 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_settings.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_settings.launch @@ -1,8 +1,8 @@ - - - + + + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index ea3cd853b2..6a01af3827 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -60,7 +60,10 @@ - + + + + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index e8c4f7e127..69525963a8 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -364,17 +364,38 @@ namespace realsense_camera if (config_.find ("enable_color") != config_.end ()) { - enable_color_ = atoi (config_.at ("enable_color").c_str ()); + if (strcmp((config_.at ("enable_color").c_str ()),"true") == 0) + { + enable_color_ = true; + } + else + { + enable_color_ = false; + } } if (config_.find ("enable_depth") != config_.end ()) { - enable_depth_ = atoi (config_.at ("enable_depth").c_str ()); + if (strcmp((config_.at ("enable_depth").c_str ()),"true") == 0) + { + enable_depth_ = true; + } + else + { + enable_depth_ = false; + } } - if (config_.find ("enable_pointCloud") != config_.end ()) + if (config_.find ("enable_pointcloud") != config_.end ()) { - enable_pointcloud_ = atoi (config_.at ("enable_pointCloud").c_str ()); + if (strcmp((config_.at ("enable_pointcloud").c_str ()),"true") == 0) + { + enable_pointcloud_ = true; + } + else + { + enable_pointcloud_ = false; + } } if (config_.find ("camera") != config_.end ()) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index ef86816fc9..b37b12e524 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -398,7 +398,14 @@ void fillConfigMap(int argc, char **argv) if (config_args.find("enable_depth") != config_args.end()) { ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_depth", config_args.at("enable_depth").c_str()); - enable_depth = atoi(config_args.at("enable_depth").c_str()); + if (strcmp((config_args.at("enable_depth").c_str ()),"true") == 0) + { + enable_depth = true; + } + else + { + enable_depth = false; + } } if (config_args.find("depth_encoding") != config_args.end()) { @@ -425,7 +432,14 @@ void fillConfigMap(int argc, char **argv) if (config_args.find("enable_color") != config_args.end()) { ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_color", config_args.at("enable_color").c_str()); - enable_color = atoi(config_args.at("enable_color").c_str()); + if (strcmp((config_args.at("enable_color").c_str ()),"true") == 0) + { + enable_color = true; + } + else + { + enable_color = false; + } } if (config_args.find("color_encoding") != config_args.end()) { diff --git a/camera/test/realsense_r200_color_only.test b/camera/test/realsense_r200_color_only.test index 1d6cbc71fb..99150176ac 100644 --- a/camera/test/realsense_r200_color_only.test +++ b/camera/test/realsense_r200_color_only.test @@ -1,10 +1,10 @@ - + + args="enable_depth false enable_color true" /> diff --git a/camera/test/realsense_r200_depth_only.test b/camera/test/realsense_r200_depth_only.test index 79f0afe71c..66423cc13e 100644 --- a/camera/test/realsense_r200_depth_only.test +++ b/camera/test/realsense_r200_depth_only.test @@ -1,10 +1,10 @@ - + + args="enable_depth true enable_color false" /> diff --git a/camera/test/realsense_r200_settings.test b/camera/test/realsense_r200_settings.test index 6ad0ed7888..c74383f288 100644 --- a/camera/test/realsense_r200_settings.test +++ b/camera/test/realsense_r200_settings.test @@ -1,8 +1,8 @@ - - - + + + From cde43bec95bb59bc33b4793409ce13455550d561 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 15:04:31 -0800 Subject: [PATCH 018/124] Resolved rebase conflict. --- camera/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/camera/README.md b/camera/README.md index df2a9b0bd8..2041e7914c 100644 --- a/camera/README.md +++ b/camera/README.md @@ -12,6 +12,7 @@ If this does not work, you should first fix this issue before continuing with th E.g. sudo cp -r /include/librealsense /usr/local/include + #####Building package: * Setup ROS and create a local catkin workspace. From 0384e9c9da6b0882304e2a5455dfad19d0036c06 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 20:13:51 -0800 Subject: [PATCH 019/124] RAR-186 Added rgbd unit test artifacts. Updated make file with rgbd unit test executable. --- camera/CMakeLists.txt | 7 + .../test/realsense_camera_test_rgbd_node.cpp | 202 ++++++++++++++++++ camera/test/realsense_camera_test_rgbd_node.h | 38 ++++ camera/test/realsense_r200_rgbd.test | 8 + 4 files changed, 255 insertions(+) create mode 100644 camera/test/realsense_camera_test_rgbd_node.cpp create mode 100644 camera/test/realsense_camera_test_rgbd_node.h create mode 100644 camera/test/realsense_r200_rgbd.test diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 241bff20a6..7c12c647bb 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -54,3 +54,10 @@ target_link_libraries(realsense_camera_test ${GTEST_LIBRARIES} ) add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp) + +add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) +target_link_libraries(realsense_camera_test_rgbd + ${catkin_LIBRARIES} + ${GTEST_LIBRARIES} +) +add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp) diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp new file mode 100644 index 0000000000..20e7dfafd2 --- /dev/null +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -0,0 +1,202 @@ +#include "realsense_camera_test_rgbd_node.h" +using namespace std; + +void topic0Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_0_recv = true; + } +} + +void topic1Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_1_recv = true; + } +} + +void topic2Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_2_recv = true; + } +} + +void topic3Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_3_recv = true; + } +} + +void topic4Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_4_recv = true; + } +} + +void topic5Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_5_recv = true; + } +} + +void topic6Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_6_recv = true; + } +} + +void topic7Callback(const sensor_msgs::PointCloud2ConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_7_recv = true; + } +} + +void topic8Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_8_recv = true; + } +} + +void topic9Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_9_recv = true; + } +} + +void topic10Callback(const sensor_msgs::CameraInfoConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_10_recv = true; + } +} + +void topic11Callback(const sensor_msgs::PointCloud2ConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_11_recv = true; + } +} + +void topic12Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_12_recv = true; + } +} + +TEST (RealsenseTests, RGB_IMAGE_MONO) +{ + EXPECT_TRUE (topic_0_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_COLOR) +{ + EXPECT_TRUE (topic_1_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_RECT_MONO) +{ + EXPECT_TRUE (topic_2_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_RECT_COLOR) +{ + EXPECT_TRUE (topic_3_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE_RECT_RAW) +{ + EXPECT_TRUE (topic_4_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE_RECT) +{ + EXPECT_TRUE (topic_5_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE) +{ + EXPECT_TRUE (topic_6_recv); +} + +TEST (RealsenseTests, DEPTH_POINTS) +{ + EXPECT_TRUE (topic_7_recv); +} + +TEST (RealsenseTests, IR_IMAGE_RECT_IR) +{ + EXPECT_TRUE (topic_8_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT_RAW) +{ + EXPECT_TRUE (topic_9_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_CAMERA_INFO) +{ + EXPECT_TRUE (topic_10_recv); +} + +TEST (RealsenseTests, DEPTH_REG_POINTS) +{ + EXPECT_TRUE (topic_11_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT) +{ + EXPECT_TRUE (topic_12_recv); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "utest"); + + ROS_INFO_STREAM("RealSense Camera - Starting rgbd_launch Tests..."); + + ros::NodeHandle nh; + + subscriber[0] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_MONO, 1, topic0Callback, 0); + subscriber[1] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_COLOR, 1, topic1Callback, 0); + subscriber[2] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_MONO, 1, topic2Callback, 0); + subscriber[3] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_COLOR, 1, topic3Callback, 0); + subscriber[4] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT_RAW, 1, topic4Callback, 0); + subscriber[5] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT, 1, topic5Callback, 0); + subscriber[6] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE, 1, topic6Callback, 0); + subscriber[7] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_POINTS, 1, topic7Callback); + subscriber[8] = nh.subscribe < sensor_msgs::Image > (IR_IMAGE_RECT_IR, 1, topic8Callback, 0); + subscriber[9] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT_RAW, 1, topic9Callback, 0); + subscriber[10] = nh.subscribe < sensor_msgs::CameraInfo > (DEPTH_REG_SW_REG_CAMERA_INFO, 1, topic10Callback); + subscriber[11] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_REG_POINTS, 1, topic11Callback, 0); + subscriber[12] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT, 1, topic12Callback, 0); + + ros::Duration duration; + duration.sec = 10; + duration.sleep(); + ros::spinOnce(); + + return RUN_ALL_TESTS(); +} diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/camera/test/realsense_camera_test_rgbd_node.h new file mode 100644 index 0000000000..78a44b3ea0 --- /dev/null +++ b/camera/test/realsense_camera_test_rgbd_node.h @@ -0,0 +1,38 @@ +#include +#include +#include +#include +#include +#include + +const static int TOPIC_COUNT = 13; + +const char *RGB_IMAGE_MONO = "/camera/rgb/image_mono"; +const char *RGB_IMAGE_COLOR = "/camera/rgb/image_color"; +const char *RGB_IMAGE_RECT_MONO = "/camera/rgb/image_rect_mono"; +const char *RGB_IMAGE_RECT_COLOR = "/camera/rgb/image_rect_color"; +const char *DEPTH_IMAGE_RECT_RAW = "/camera/depth/image_rect_raw"; +const char *DEPTH_IMAGE_RECT = "/camera/depth/image_rect"; +const char *DEPTH_IMAGE = "/camera/depth/image"; +const char *DEPTH_POINTS = "/camera/depth/points"; +const char *IR_IMAGE_RECT_IR = "/camera/ir/image_rect_ir"; +const char *DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "/camera/depth_registered/sw_registered/image_rect_raw"; +const char *DEPTH_REG_SW_REG_CAMERA_INFO = "/camera/depth_registered/sw_registered/camera_info"; +const char *DEPTH_REG_POINTS = "/camera/depth_registered/points"; +const char *DEPTH_REG_SW_REG_IMAGE_RECT = "/camera/depth_registered/sw_registered/image_rect"; + +bool topic_0_recv = false; +bool topic_1_recv = false; +bool topic_2_recv = false; +bool topic_3_recv = false; +bool topic_4_recv = false; +bool topic_5_recv = false; +bool topic_6_recv = false; +bool topic_7_recv = false; +bool topic_8_recv = false; +bool topic_9_recv = false; +bool topic_10_recv = false; +bool topic_11_recv = false; +bool topic_12_recv = false; + +ros::Subscriber subscriber[TOPIC_COUNT]; diff --git a/camera/test/realsense_r200_rgbd.test b/camera/test/realsense_r200_rgbd.test new file mode 100644 index 0000000000..e7ae01897e --- /dev/null +++ b/camera/test/realsense_r200_rgbd.test @@ -0,0 +1,8 @@ + + + + + + + + From 2bd89377a3f1cee45e28d3c7ecf0c297615846ed Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 21:30:41 -0800 Subject: [PATCH 020/124] Modified rgbd launch and test files to handle enable_ir flag. --- camera/launch/realsense_r200_nodelet.launch | 62 ++++++++++++--------- camera/launch/realsense_r200_rgbd.launch | 22 ++++---- camera/test/realsense_r200_rgbd.test | 12 ++-- 3 files changed, 52 insertions(+), 44 deletions(-) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/realsense_r200_nodelet.launch index 5ff3f4ee9e..410fe91ca8 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/realsense_r200_nodelet.launch @@ -1,32 +1,40 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - - - - - - - - - - - + enable_depth $(arg enable_depth_ir) + enable_color $(arg enable_color) + enable_pointcloud $(arg enable_pointcloud)"> + + + + + + + + + + + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index 6a01af3827..32a5c736c0 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -3,9 +3,9 @@ - - - + + + @@ -32,9 +32,8 @@ - - - + + @@ -53,7 +52,7 @@ + file="$(find realsense_camera)/launch/realsense_r200_nodelet.launch"> @@ -63,9 +62,10 @@ - + + - + @@ -84,12 +84,12 @@ - + + file="$(find rgbd_launch)/launch/kinect_frames.launch"> diff --git a/camera/test/realsense_r200_rgbd.test b/camera/test/realsense_r200_rgbd.test index e7ae01897e..8832e12d12 100644 --- a/camera/test/realsense_r200_rgbd.test +++ b/camera/test/realsense_r200_rgbd.test @@ -1,8 +1,8 @@ - - - - - + + + + + - + From e465c56a6d82ee89fe40a53353270cc6161ecd2f Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 21:59:35 -0800 Subject: [PATCH 021/124] Updated README file to indicate that the camera does not provide hardware based depth registration/projector data. --- camera/README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/camera/README.md b/camera/README.md index 2041e7914c..22e648e15a 100644 --- a/camera/README.md +++ b/camera/README.md @@ -28,6 +28,16 @@ Sample launch files are available in camera/launch directory realsense_r200_rgbd.launch +Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file realsense_r200_rgbd.launch will not generate data for the following topics: + +/camera/depth_registered/hw_registered/image_rect_raw +/camera/depth_registered/points +/camera/depth_registered/hw_registered/image_rect +/camera/depth_registered/image +/camera/depth/disparity +/camera/depth_registered/disparity + + ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera @@ -202,6 +212,8 @@ Sample test files are available in test directory realsense_r200_settings.test +realsense_r200_rgbd.test + Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. ###Limitations: From a4070201d35dcef4dd59004ad73fb8b0509378e0 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 22:17:43 -0800 Subject: [PATCH 022/124] RAR-234 Update API documentation. --- camera/README.md | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/camera/README.md b/camera/README.md index 22e648e15a..cd369e848c 100644 --- a/camera/README.md +++ b/camera/README.md @@ -28,14 +28,13 @@ Sample launch files are available in camera/launch directory realsense_r200_rgbd.launch -Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file realsense_r200_rgbd.launch will not generate data for the following topics: - -/camera/depth_registered/hw_registered/image_rect_raw -/camera/depth_registered/points -/camera/depth_registered/hw_registered/image_rect -/camera/depth_registered/image -/camera/depth/disparity -/camera/depth_registered/disparity +Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: +/camera/depth_registered/hw_registered/image_rect_raw +/camera/depth_registered/points +/camera/depth_registered/hw_registered/image_rect +/camera/depth_registered/image +/camera/depth/disparity +/camera/depth_registered/disparity ### Intel® RealSense™ R200 Nodelet @@ -216,9 +215,14 @@ Sample test files are available in test directory Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. +###Developer API: +Refer to the function definitions in [realsense_camera_nodelet.h](/src/realsense_camera_nodelet.h) + + ###Limitations: Currently, the ROS camera nodelet only supports the following formats: * Color stream: RGB8 * Depth stream: Y16 * Infrared stream: Y8 + From 223d6adaf0f29f8818dd61d8e840578b38a26df8 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 23 Feb 2016 22:20:19 -0800 Subject: [PATCH 023/124] Updated the correct API link in README. --- camera/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/README.md b/camera/README.md index cd369e848c..e834cfe1ed 100644 --- a/camera/README.md +++ b/camera/README.md @@ -216,7 +216,7 @@ Sample test files are available in test directory Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. ###Developer API: -Refer to the function definitions in [realsense_camera_nodelet.h](/src/realsense_camera_nodelet.h) +Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_camera_nodelet.h) ###Limitations: From 5c57fcc5100c45ac4f85437ec75ff676c413b5cb Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 24 Feb 2016 13:50:49 -0800 Subject: [PATCH 024/124] Removed kinect frames launch file from rgbd launch. --- camera/launch/realsense_r200_rgbd.launch | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index 32a5c736c0..f0b45fc499 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -18,10 +18,8 @@ + tree. Useful if you are playing back recorded raw data from a bag. --> - @@ -87,10 +85,4 @@ - - - - - From fb438e5595c52cdc3c126430fc27610e40145e9e Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Thu, 18 Feb 2016 16:37:25 -0800 Subject: [PATCH 025/124] Add publishTransform thread to camera nodelet --- camera/src/realsense_camera_nodelet.cpp | 92 +++++++++++++++++++------ camera/src/realsense_camera_nodelet.h | 8 ++- 2 files changed, 78 insertions(+), 22 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 69525963a8..9edfa5b487 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -13,6 +13,8 @@ using namespace std; // Nodelet dependencies. #include +#include + PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodelet, nodelet::Nodelet) namespace realsense_camera { @@ -23,6 +25,7 @@ namespace realsense_camera RealsenseNodelet::~RealsenseNodelet () { device_thread_->join (); + transform_thread_->join(); // Stop device. if (is_device_started_ == true) @@ -57,8 +60,8 @@ namespace realsense_camera camera_configuration_ = getMyArgv (); - frame_id_[RS_STREAM_DEPTH] = DEPTH_DEF_FRAME; - frame_id_[RS_STREAM_COLOR] = COLOR_DEF_FRAME; + frame_id_[RS_STREAM_DEPTH] = DEPTH_OPTICAL_DEF_FRAME; + frame_id_[RS_STREAM_COLOR] = COLOR_OPTICAL_DEF_FRAME; frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; @@ -96,10 +99,23 @@ namespace realsense_camera get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); - // Start working thread. - device_thread_ = - boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); - } + bool connected = false; + + connected = connectToCamera (); + + if (connected == true) + { + // Start working thread. + device_thread_ = + boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); + transform_thread_ = + boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::publishTransforms, this))); + } + else + { + ros::shutdown (); + } +} /* *Private Methods. @@ -123,20 +139,9 @@ namespace realsense_camera */ void RealsenseNodelet::devicePoll () { - bool connected = false; - - connected = connectToCamera (); - - if (connected == true) + while (ros::ok ()) { - while (ros::ok ()) - { - publishStreams (); - } - } - else - { - ros::shutdown (); + publishStreams (); } } @@ -675,4 +680,51 @@ namespace realsense_camera pointcloud_publisher_.publish (msg_pointcloud); } } -} + /* + * Publish camera transforms + */ + void RealsenseNodelet::publishTransforms() + { + // publish transforms for the cameras + ROS_INFO_STREAM("RealSense Camera - Publishing camera transforms"); + tf::Transform tr; + tf::Quaternion q; + tf::TransformBroadcaster tf_broadcaster; + rs_extrinsics z_extrinsic; + + // extrinsics are offsets between the cameras + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + + ros::Duration sleeper(0.1); // 100ms + + while (ros::ok()) + { + // time stamp is future dated to be valid for given duration + ros::Time time_stamp = ros::Time::now() + sleeper; + + // transform base frame to depth frame + tr.setOrigin(tf::Vector3(z_extrinsic.translation[0], z_extrinsic.translation[1], z_extrinsic.translation[2])); + tr.setRotation(tf::Quaternion(0, 0, 0, 1)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, DEPTH_DEF_FRAME)); + + // 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 ); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, DEPTH_DEF_FRAME, frame_id_[RS_STREAM_DEPTH])); + + // transform base frame to color frame (these are the same) + tr.setOrigin(tf::Vector3(0,0,0)); + tr.setRotation(tf::Quaternion(0, 0, 0, 1)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, COLOR_DEF_FRAME)); + + // 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 ); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, COLOR_DEF_FRAME, frame_id_[RS_STREAM_COLOR])); + + sleeper.sleep(); // need sleep or transform won't publish correctly + } + } +} // end namespace diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 3ccca2b7b6..11f0a56b76 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -67,8 +67,10 @@ class RealsenseNodelet: public nodelet::Nodelet const rs_format IR1_FORMAT = RS_FORMAT_Y8; const rs_format IR2_FORMAT = RS_FORMAT_Y8; const char *BASE_DEF_FRAME = "realsense_frame"; - const char *DEPTH_DEF_FRAME = "camera_depth_optical_frame"; - const char *COLOR_DEF_FRAME = "camera_color_optical_frame"; + const char *DEPTH_DEF_FRAME = "camera_depth_frame"; + const char *COLOR_DEF_FRAME = "camera_color_frame"; + const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; + const char *COLOR_OPTICAL_DEF_FRAME = "camera_color_optical_frame"; const char *IR1_DEF_FRAME = "camera_infrared_optical_frame"; const char *IR2_DEF_FRAME = "camera_infrared2_optical_frame"; const char *DEPTH_TOPIC = "camera/depth/image_raw"; @@ -83,6 +85,7 @@ class RealsenseNodelet: public nodelet::Nodelet private: // Member Variables. boost::shared_ptr device_thread_; + boost::shared_ptr transform_thread_; rs_error *rs_error_ = 0; rs_context *rs_context_; @@ -132,6 +135,7 @@ class RealsenseNodelet: public nodelet::Nodelet void prepareStreamData(rs_stream rs_strm); void publishStreams(); void publishPointCloud(cv::Mat & image_rgb); + void publishTransforms(); void devicePoll(); void allocateResources(); bool connectToCamera(); From ade1f25c8b9e39120ffb52207bb1522e2cf3957a Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Tue, 23 Feb 2016 08:43:24 -0800 Subject: [PATCH 026/124] Add tests for publishTransform --- camera/test/realsense_camera_test_node.cpp | 12 ++++++++++++ camera/test/realsense_camera_test_node.h | 7 +++++++ 2 files changed, 19 insertions(+) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index b37b12e524..4b1387760a 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -376,6 +376,18 @@ TEST (RealsenseTests, testCameraSettings) } } +TEST (RealsenseTests, testTransforms) +{ + // make sure all transforms are being broadcast as expected + tf::TransformListener tf_listener; + ros::Duration(1).sleep(); // must listen for ~1 sec or tf won't be found + + EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (DEPTH_DEF_FRAME, DEPTH_OPTICAL_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, COLOR_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now())); +} + void fillConfigMap(int argc, char **argv) { std::vector < std::string > args; diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 607013f7ec..8679479b43 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -28,6 +28,7 @@ #include "std_msgs/Float32MultiArray.h" #include #include +#include const char *DEPTH_TOPIC = "camera/depth/image_raw"; const char *COLOR_TOPIC = "camera/color/image_raw"; @@ -38,6 +39,12 @@ const char *SETTINGS_SERVICE = "camera/get_settings"; const char *R200 = "R200"; const int R200_DEPTH_MAX = 10000; +const char *BASE_DEF_FRAME = "realsense_frame"; +const char *DEPTH_DEF_FRAME = "camera_depth_frame"; +const char *COLOR_DEF_FRAME = "camera_color_frame"; +const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; +const char *COLOR_OPTICAL_DEF_FRAME = "camera_color_optical_frame"; + //utest commandline args int color_height_exp = 0; int color_width_exp = 0; From c18ba89920041b65e44fa9785f38631a0dfc41fd Mon Sep 17 00:00:00 2001 From: kevincwells Date: Thu, 18 Feb 2016 19:07:19 -0800 Subject: [PATCH 027/124] Updated licenses to BSD 3-clause text. Replaced the stand-in project license file and license header text atop all .cpp and .h files with the BSD 3-clause license text under which we intend to release. --- camera/licenses/ReadMe.txt | 20 +++++++++------- camera/src/realsense_camera_nodelet.cpp | 32 +++++++++++++++++++++---- camera/src/realsense_camera_nodelet.h | 32 +++++++++++++++++++++---- 3 files changed, 66 insertions(+), 18 deletions(-) diff --git a/camera/licenses/ReadMe.txt b/camera/licenses/ReadMe.txt index eb71cd0e5d..ec997c2e5f 100644 --- a/camera/licenses/ReadMe.txt +++ b/camera/licenses/ReadMe.txt @@ -1,8 +1,12 @@ -Copyright (c) 2016, Intel Corporation. - -This RealSense-ROS ("Software") is furnished under license and may only be used or copied in accordance with the terms of that license. -No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. -The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. -Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. -Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. -Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. \ No newline at end of file +Copyright (c) 2016, Intel Corporation +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 9edfa5b487..b38939c03a 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include "realsense_camera_nodelet.h" diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 11f0a56b76..42a60cc69a 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #pragma once From 817f09f49c50de40c734649f282fe62635dbb226 Mon Sep 17 00:00:00 2001 From: kevincwells Date: Mon, 22 Feb 2016 19:01:37 -0800 Subject: [PATCH 028/124] Add ROS Navigation files and documentation for Turtlebot. Incorporated the robot description, launch, RViz, and documentaiton files from the old DS4 realsense repository into our current project. Updated all of the files to include our current package names and launch file names and locations. --- ros-realsense-nav/turtlebot/README.md | 122 ++ .../turtlebot/doc/img/bag_screen.png | Bin 0 -> 109838 bytes .../turtlebot/doc/img/mapping_screen.png | Bin 0 -> 260595 bytes .../turtlebot/doc/img/screen-ds4-nav.png | Bin 0 -> 151742 bytes ros-realsense-nav/turtlebot/doc/style-doc.css | 46 + .../turtlebot/install_realsense_navigation.sh | 10 + .../turtlebot/launch/amcl.launch | 78 + .../turtlebot/launch/gmapping.launch | 59 + .../turtlebot/launch/navigation_demo.launch | 40 + .../launch/realsense_robot_description.launch | 14 + .../turtlebot/launch/simulate_mapping.launch | 55 + ros-realsense-nav/turtlebot/package.xml | 22 + .../custom_costmap_params.yaml | 24 + .../kobuki_minimal_r200.urdf.xacro | 14 + .../robot_description/meshes/sensors/r200.dae | 890 ++++++++++++ .../meshes/sensors/r200_entire.dae | 1256 +++++++++++++++++ .../meshes/sensors/r200_entire/texture0.jpg | Bin 0 -> 2508 bytes .../meshes/sensors/r200_only.dae | 890 ++++++++++++ .../robot_description/r200.launch.xml | 35 + .../turtlebot_library_extended.urdf.xacro | 22 + .../urdf/sensors/r200.urdf.xacro | 96 ++ .../urdf/stacks/minimal.urdf.xacro | 84 ++ .../turtlebot/rviz/navigation_r200.rviz | 379 +++++ .../rviz/navigation_r200_without_depth.rviz | 540 +++++++ 24 files changed, 4676 insertions(+) create mode 100644 ros-realsense-nav/turtlebot/README.md create mode 100644 ros-realsense-nav/turtlebot/doc/img/bag_screen.png create mode 100644 ros-realsense-nav/turtlebot/doc/img/mapping_screen.png create mode 100644 ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png create mode 100644 ros-realsense-nav/turtlebot/doc/style-doc.css create mode 100644 ros-realsense-nav/turtlebot/install_realsense_navigation.sh create mode 100644 ros-realsense-nav/turtlebot/launch/amcl.launch create mode 100644 ros-realsense-nav/turtlebot/launch/gmapping.launch create mode 100644 ros-realsense-nav/turtlebot/launch/navigation_demo.launch create mode 100644 ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch create mode 100644 ros-realsense-nav/turtlebot/launch/simulate_mapping.launch create mode 100644 ros-realsense-nav/turtlebot/package.xml create mode 100644 ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml create mode 100644 ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro create mode 100644 ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae create mode 100644 ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire.dae create mode 100644 ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg create mode 100644 ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_only.dae create mode 100644 ros-realsense-nav/turtlebot/robot_description/r200.launch.xml create mode 100644 ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro create mode 100644 ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro create mode 100644 ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro create mode 100644 ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz create mode 100644 ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz diff --git a/ros-realsense-nav/turtlebot/README.md b/ros-realsense-nav/turtlebot/README.md new file mode 100644 index 0000000000..0c34102b54 --- /dev/null +++ b/ros-realsense-nav/turtlebot/README.md @@ -0,0 +1,122 @@ + + +# Navigation with Intel® RealSense™ **R200** camera +This document presents the transition from a **Kinect** to the **R200** for the ROS Navigation stack. +It assumes the **R200** drivers were already installed, and that the navigation using the Kinect is working. + +#### Document outline +Click on the following links to navigate this document + +- [Initial setup](#a-initial-setup) +- [Mapping](#b-mapping) +- [Navigation](#c-navigation) +- [Simulating a mapping](#d-simulating-a-mapping) + +## A - Initial setup + +First, make sure you have the latest versions of the ROS navigation stack. Specifically, check that the following packages are up-to-date: + +- **turtlebot_description** +- **turtlebot_bringup** + +Before being able to use the navigation stack with the **R200**, you need to set a few things up. + +The `install_realsense_navigation.sh` script (located in the `install_resources` folder) will do everything needed. It will place the required files in their respective locations. + +From now on, if you want to use the **R200** as your turtlebot 3d sensor, you need to change environment variables: + +```bash +export TURTLEBOT_3D_SENSOR=r200 +export TURTLEBOT_STACKS=minimal +``` + +To have quick shortcuts, consider pasting this code snippet in your `~/.bash_aliases` file: + +```bash +alias setr200='export TURTLEBOT_3D_SENSOR=r200 && export TURTLEBOT_STACKS=minimal' +alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=hexagons' +``` + +## B - Mapping + +The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch`. + +So, the normal flow would be : + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_navigation gmapping.launch +roslaunch turtlebot_rviz_launchers view_navigation.launch +``` + +You may also want to teleoperate the robot, for instance with the keyboard. + +![](doc/img/mapping_screen.png) + +Once you're done mapping, you can save the map with the following command: + +```bash +rosrun map_server map_saver -f +``` + +> Don't put an extension to your map name, the .*yaml* and .*pgm* files will be created accordingly in you `~/.ros` folder. If you want, you can also provide an absolute path. + + +## C - Navigation + +Once you have a map, you can start the navigation with the following commands + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_navigation navigation_demo.launch map:= +``` + +## D - Simulating a mapping +Now that you know how to map a room using the **R200**, you might need to repeat the process several times, to adjust all the parameters of the algorithm, or to test with depth enhancement. To avoid using the robot, we can simulate the scanning process (= robot moves + camera) thanks to **rosbag**. + +### 1. Recording a scan +The first thing to do is to record the scanning process. We will store in a *bag file* the required contents so we can later launch gmapping **on the same input data**. + +So we first need to start the turtlebot (+ the teleop of your choice) and the camera: + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +``` + +Then, we will store the relevent topics in a bag file: + +* _/camera/depth/image_raw_ +* _/camera/depth/camera_info_ +* _/scan_ +* _/tf_ + +![](doc/img/bag_screen.png) +*You can visualize the bagfile with __rqt_bag__* + +> Note that we don't need to actually build the map, so calling gmapping is not necessary. But you can do it, to have an idea if you're not moving the robot too fast, for instance. + +```bash +rosbag record -O /camera/depth/image_raw /camera/depth/camera_info /mobile_base/commands/velocity /tf +``` + +You can now begin to move/teleop your robot around the room. Once you're done, kill first the rosbag record process, then the other nodes. + +### 2. Playing it back +From now on, you'll be able to simulate this mapping again. To do so, you should simply type this line in a terminal (without any other running node): + +```bash +roslaunch realsense_navigation simulate_mapping.launch bag_file:= +``` + +> The path to the bagfile is relative to the user `~` folder. 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background-color: #f0f0ed; +} + diff --git a/ros-realsense-nav/turtlebot/install_realsense_navigation.sh b/ros-realsense-nav/turtlebot/install_realsense_navigation.sh new file mode 100644 index 0000000000..455cebe267 --- /dev/null +++ b/ros-realsense-nav/turtlebot/install_realsense_navigation.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +# Installation script for realsense_navigation +# Requires root privileges + +sudo cp ./robot_description/kobuki_minimal_r200.urdf.xacro /opt/ros/$ROS_DISTRO/share/turtlebot_description/robots/ +sudo cp ./robot_description/r200.launch.xml /opt/ros/$ROS_DISTRO/share/turtlebot_bringup/launch/includes/3dsensor/ + +sudo mkdir /opt/ros/$ROS_DISTRO/share/realsense_navigation +sudo cp -r ./* /opt/ros/$ROS_DISTRO/share/realsense_navigation diff --git a/ros-realsense-nav/turtlebot/launch/amcl.launch b/ros-realsense-nav/turtlebot/launch/amcl.launch new file mode 100644 index 0000000000..8ca1b72d90 --- /dev/null +++ b/ros-realsense-nav/turtlebot/launch/amcl.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/launch/gmapping.launch b/ros-realsense-nav/turtlebot/launch/gmapping.launch new file mode 100644 index 0000000000..7a306641ce --- /dev/null +++ b/ros-realsense-nav/turtlebot/launch/gmapping.launch @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/launch/navigation_demo.launch b/ros-realsense-nav/turtlebot/launch/navigation_demo.launch new file mode 100644 index 0000000000..bcef81f963 --- /dev/null +++ b/ros-realsense-nav/turtlebot/launch/navigation_demo.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch b/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch new file mode 100644 index 0000000000..575a5a50f7 --- /dev/null +++ b/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch b/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch new file mode 100644 index 0000000000..c6bcc076a9 --- /dev/null +++ b/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/package.xml b/ros-realsense-nav/turtlebot/package.xml new file mode 100644 index 0000000000..86d6eab394 --- /dev/null +++ b/ros-realsense-nav/turtlebot/package.xml @@ -0,0 +1,22 @@ + + + realsense_navigation + 0.0.1 + Intel(r) RealSense(tm) Technology package allowing the use of the R200 camera with the navigation stack + + Amit Moran + + See license attached. + + https://github.com/PercATI/RealSense-ROS + + Amit Moran + + catkin + roscpp + rospy + + roscpp + rospy + + diff --git a/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml b/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml new file mode 100644 index 0000000000..b89cdd26cc --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml @@ -0,0 +1,24 @@ +global_costmap: + robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + +local_costmap: + robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + + + diff --git a/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro new file mode 100644 index 0000000000..662294778b --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + \ No newline at end of file diff --git a/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae b/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae new file mode 100644 index 0000000000..c1ebc6ab21 --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae @@ -0,0 +1,890 @@ + + + + + Google SketchUp 8.0.4811 + + 2015-05-31T08:41:34Z + 2015-05-31T08:41:34Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.1254901960784314 0.2117647058823529 0.2274509803921569 1 + + + + + + + + + + + 0.2431372549019608 0.3568627450980392 0.4352941176470588 1 + + + + + + + + + + + 0.6627450980392157 0.6627450980392157 0.6627450980392157 1 + + + + + + + + + + + 0 0 0 1 + + + + + + + + + + + 0.2156862745098039 0.3568627450980392 0.3843137254901961 1 + + + + + + + + + + + 0.2431372549019608 0.3568627450980392 0.4352941176470588 1 + + + 1 + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml b/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml new file mode 100644 index 0000000000..1e764e3c03 --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro b/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro new file mode 100644 index 0000000000..31c9de673a --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro b/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro new file mode 100644 index 0000000000..d18618589b --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro @@ -0,0 +1,96 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro b/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro new file mode 100644 index 0000000000..17ff013e77 --- /dev/null +++ b/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz b/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz new file mode 100644 index 0000000000..e3a33f2bf2 --- /dev/null +++ b/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz @@ -0,0 +1,379 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 409 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000228000000dd00fffffffb0000000a0049006d0061006700650100000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 22 diff --git a/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz b/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz new file mode 100644 index 0000000000..8d45ceee6d --- /dev/null +++ b/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz @@ -0,0 +1,540 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 772 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000393000000dd00fffffffb0000000a0049006d0061006700650000000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 14 From a9ff98a4b35e9aec20e9fe743b5d9323a648158e Mon Sep 17 00:00:00 2001 From: Kevin Wells Date: Tue, 23 Feb 2016 18:42:56 -0800 Subject: [PATCH 029/124] Move navigation files and documentation into appropriate location. The navigation files were in the wrong spot and would not allow for a proper catkin_make. The files have been moved into the correct spot and the entire navigation process has been tested. --- .../ros-realsense-nav}/turtlebot/README.md | 0 .../turtlebot/doc/img/bag_screen.png | Bin .../turtlebot/doc/img/mapping_screen.png | Bin .../turtlebot/doc/img/screen-ds4-nav.png | Bin .../ros-realsense-nav}/turtlebot/doc/style-doc.css | 0 .../turtlebot/install_realsense_navigation.sh | 2 +- .../ros-realsense-nav}/turtlebot/launch/amcl.launch | 0 .../turtlebot/launch/gmapping.launch | 0 .../turtlebot/launch/navigation_demo.launch | 0 .../launch/realsense_robot_description.launch | 0 .../turtlebot/launch/simulate_mapping.launch | 0 .../ros-realsense-nav}/turtlebot/package.xml | 0 .../robot_description/custom_costmap_params.yaml | 0 .../kobuki_minimal_r200.urdf.xacro | 0 .../robot_description/meshes/sensors/r200.dae | 0 .../meshes/sensors/r200_entire.dae | 0 .../meshes/sensors/r200_entire/texture0.jpg | Bin .../robot_description/meshes/sensors/r200_only.dae | 0 .../turtlebot/robot_description/r200.launch.xml | 0 .../turtlebot_library_extended.urdf.xacro | 0 .../robot_description/urdf/sensors/r200.urdf.xacro | 0 .../urdf/stacks/minimal.urdf.xacro | 0 .../turtlebot/rviz/navigation_r200.rviz | 0 .../rviz/navigation_r200_without_depth.rviz | 0 24 files changed, 1 insertion(+), 1 deletion(-) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/README.md (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/doc/img/bag_screen.png (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/doc/img/mapping_screen.png (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/doc/img/screen-ds4-nav.png (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/doc/style-doc.css (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/install_realsense_navigation.sh (86%) mode change 100644 => 100755 rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/launch/amcl.launch (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/launch/gmapping.launch (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/launch/navigation_demo.launch (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/launch/realsense_robot_description.launch (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/launch/simulate_mapping.launch (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/package.xml (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/custom_costmap_params.yaml (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/meshes/sensors/r200.dae (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/meshes/sensors/r200_entire.dae (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/meshes/sensors/r200_only.dae (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/r200.launch.xml (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/rviz/navigation_r200.rviz (100%) rename {ros-realsense-nav => camera/ros-realsense-nav}/turtlebot/rviz/navigation_r200_without_depth.rviz (100%) diff --git a/ros-realsense-nav/turtlebot/README.md b/camera/ros-realsense-nav/turtlebot/README.md similarity index 100% rename from ros-realsense-nav/turtlebot/README.md rename to camera/ros-realsense-nav/turtlebot/README.md diff --git a/ros-realsense-nav/turtlebot/doc/img/bag_screen.png b/camera/ros-realsense-nav/turtlebot/doc/img/bag_screen.png similarity index 100% rename from ros-realsense-nav/turtlebot/doc/img/bag_screen.png rename to camera/ros-realsense-nav/turtlebot/doc/img/bag_screen.png diff --git a/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png b/camera/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png similarity index 100% rename from ros-realsense-nav/turtlebot/doc/img/mapping_screen.png rename to camera/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png diff --git a/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png b/camera/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png similarity index 100% rename from ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png rename to camera/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png diff --git a/ros-realsense-nav/turtlebot/doc/style-doc.css b/camera/ros-realsense-nav/turtlebot/doc/style-doc.css similarity index 100% rename from ros-realsense-nav/turtlebot/doc/style-doc.css rename to camera/ros-realsense-nav/turtlebot/doc/style-doc.css diff --git a/ros-realsense-nav/turtlebot/install_realsense_navigation.sh b/camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh old mode 100644 new mode 100755 similarity index 86% rename from ros-realsense-nav/turtlebot/install_realsense_navigation.sh rename to camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh index 455cebe267..c6707d6b42 --- a/ros-realsense-nav/turtlebot/install_realsense_navigation.sh +++ b/camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh @@ -6,5 +6,5 @@ sudo cp ./robot_description/kobuki_minimal_r200.urdf.xacro /opt/ros/$ROS_DISTRO/share/turtlebot_description/robots/ sudo cp ./robot_description/r200.launch.xml /opt/ros/$ROS_DISTRO/share/turtlebot_bringup/launch/includes/3dsensor/ -sudo mkdir /opt/ros/$ROS_DISTRO/share/realsense_navigation +sudo mkdir -p /opt/ros/$ROS_DISTRO/share/realsense_navigation sudo cp -r ./* /opt/ros/$ROS_DISTRO/share/realsense_navigation diff --git a/ros-realsense-nav/turtlebot/launch/amcl.launch b/camera/ros-realsense-nav/turtlebot/launch/amcl.launch similarity index 100% rename from ros-realsense-nav/turtlebot/launch/amcl.launch rename to camera/ros-realsense-nav/turtlebot/launch/amcl.launch diff --git a/ros-realsense-nav/turtlebot/launch/gmapping.launch b/camera/ros-realsense-nav/turtlebot/launch/gmapping.launch similarity index 100% rename from ros-realsense-nav/turtlebot/launch/gmapping.launch rename to camera/ros-realsense-nav/turtlebot/launch/gmapping.launch diff --git a/ros-realsense-nav/turtlebot/launch/navigation_demo.launch b/camera/ros-realsense-nav/turtlebot/launch/navigation_demo.launch similarity index 100% rename from ros-realsense-nav/turtlebot/launch/navigation_demo.launch rename to camera/ros-realsense-nav/turtlebot/launch/navigation_demo.launch diff --git a/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch b/camera/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch similarity index 100% rename from ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch rename to camera/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch diff --git a/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch b/camera/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch similarity index 100% rename from ros-realsense-nav/turtlebot/launch/simulate_mapping.launch rename to camera/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch diff --git a/ros-realsense-nav/turtlebot/package.xml b/camera/ros-realsense-nav/turtlebot/package.xml similarity index 100% rename from ros-realsense-nav/turtlebot/package.xml rename to camera/ros-realsense-nav/turtlebot/package.xml diff --git a/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml b/camera/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml rename to camera/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml diff --git a/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/camera/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro rename to camera/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro diff --git a/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae b/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae rename to camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae diff --git a/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire.dae b/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire.dae similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire.dae rename to camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire.dae diff --git a/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg b/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg rename to camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg diff --git a/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_only.dae b/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_only.dae similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_only.dae rename to camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200_only.dae diff --git a/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml b/camera/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/r200.launch.xml rename to camera/ros-realsense-nav/turtlebot/robot_description/r200.launch.xml diff --git a/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro b/camera/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro rename to camera/ros-realsense-nav/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro diff --git a/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro b/camera/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro rename to camera/ros-realsense-nav/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro diff --git a/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro b/camera/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro similarity index 100% rename from ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro rename to camera/ros-realsense-nav/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro diff --git a/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz b/camera/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz similarity index 100% rename from ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz rename to camera/ros-realsense-nav/turtlebot/rviz/navigation_r200.rviz diff --git a/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz b/camera/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz similarity index 100% rename from ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz rename to camera/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz From b57ffe41d8a95c503653ba251fb8901d52f3a03f Mon Sep 17 00:00:00 2001 From: kevincwells Date: Wed, 24 Feb 2016 16:52:01 -0800 Subject: [PATCH 030/124] Add license headers to new .cpp and .h files. Added the appropriate BSD 3-clause license header to the tops of the new .cpp and .h files brought in from Master. --- camera/test/realsense_camera_test_node.cpp | 32 ++++++++++++++++--- camera/test/realsense_camera_test_node.h | 32 ++++++++++++++++--- .../test/realsense_camera_test_rgbd_node.cpp | 30 +++++++++++++++++ camera/test/realsense_camera_test_rgbd_node.h | 30 +++++++++++++++++ 4 files changed, 114 insertions(+), 10 deletions(-) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 4b1387760a..6379c9ead7 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include "gtest/gtest.h" diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 8679479b43..7233b020ec 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp index 20e7dfafd2..d3cf52ecca 100644 --- a/camera/test/realsense_camera_test_rgbd_node.cpp +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -1,3 +1,33 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + #include "realsense_camera_test_rgbd_node.h" using namespace std; diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/camera/test/realsense_camera_test_rgbd_node.h index 78a44b3ea0..1f4713e491 100644 --- a/camera/test/realsense_camera_test_rgbd_node.h +++ b/camera/test/realsense_camera_test_rgbd_node.h @@ -1,3 +1,33 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + #include #include #include From 47fa4326cc7c3595f804b515bb2a2680cfe57990 Mon Sep 17 00:00:00 2001 From: rjingar Date: Wed, 24 Feb 2016 21:37:10 -0800 Subject: [PATCH 031/124] Added dynamic reconfiguration for R200 camera options --- camera/CMakeLists.txt | 10 +++++ camera/cfg/camera_params.cfg | 30 ++++++++++++++ camera/package.xml | 2 + camera/src/realsense_camera_nodelet.cpp | 53 +++++++++++++++++++++++++ camera/src/realsense_camera_nodelet.h | 13 ++++++ 5 files changed, 108 insertions(+) create mode 100755 camera/cfg/camera_params.cfg diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 7c12c647bb..9b72272811 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -14,6 +14,7 @@ set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now") find_package(catkin REQUIRED COMPONENTS + dynamic_reconfigure roscpp nodelet cv_bridge @@ -37,6 +38,13 @@ generate_messages( std_msgs ) +#add dynamic reconfigure api +generate_dynamic_reconfigure_options( + cfg/camera_params.cfg +) + + + include_directories( ${catkin_INCLUDE_DIRS} ) @@ -46,6 +54,7 @@ target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} /usr/local/lib/librealsense.so ) +add_dependencies(realsense_camera_nodelet ${PROJECT_NAME}_gencfg) add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp) add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) @@ -53,6 +62,7 @@ target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) +add_dependencies(realsense_camera_test ${PROJECT_NAME}_gencfg) add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp) add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg new file mode 100755 index 0000000000..95502ee366 --- /dev/null +++ b/camera/cfg/camera_params.cfg @@ -0,0 +1,30 @@ +#!/usr/bin/env python + +PACKAGE="realsense_camera" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) +gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) +gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) +gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) +gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) +gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 330) +gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) +gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) + +exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) + diff --git a/camera/package.xml b/camera/package.xml index 904e0cfdd1..f9fe576836 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -26,6 +26,7 @@ sensor_msgs rostest pcl_ros + dynamic_reconfigure roscpp nodelet @@ -38,6 +39,7 @@ sensor_msgs rostest pcl_ros + dynamic_reconfigure diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index b38939c03a..f045af4a7b 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -121,6 +121,9 @@ namespace realsense_camera get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); + mReconfigureServer.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); + mReconfigureServer->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); + bool connected = false; connected = connectToCamera (); @@ -142,6 +145,56 @@ namespace realsense_camera /* *Private Methods. */ + void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) + { + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.COLOR_BACKLIGHT_COMPENSATION, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.COLOR_BRIGHTNESS, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.COLOR_CONTRAST, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.COLOR_GAIN, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.COLOR_GAMMA, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.COLOR_HUE, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.COLOR_SATURATION, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.COLOR_SHARPNESS, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.COLOR_ENABLE_AUTO_WHITE_BALANCE, 0); + + if(config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 1) { + rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.COLOR_WHITE_BALANCE, 0); + } + + //R200 camera specific options + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.R200_LR_AUTO_EXPOSURE_ENABLED, 0); + + if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 0) { + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.R200_LR_EXPOSURE, 0); + } + + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.R200_LR_GAIN, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.R200_EMITTER_ENABLED, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_DISPARITY_MULTIPLIER, config.R200_DISPARITY_MULTIPLIER, 0); + + if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) + { + if(config.R200_AUTO_EXPOSURE_TOP_EDGE >= depth_height_) { + config.R200_AUTO_EXPOSURE_TOP_EDGE = depth_height_ - 1; + } + if(config.R200_AUTO_EXPOSURE_BOTTOM_EDGE >= depth_height_) { + config.R200_AUTO_EXPOSURE_BOTTOM_EDGE = depth_height_ - 1; + } + if(config.R200_AUTO_EXPOSURE_LEFT_EDGE >= depth_width_) { + config.R200_AUTO_EXPOSURE_LEFT_EDGE = depth_width_ - 1; + } + if(config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) { + config.R200_AUTO_EXPOSURE_RIGHT_EDGE = depth_width_ - 1; + } + edge_values[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; + edge_values[1] = config.R200_AUTO_EXPOSURE_TOP_EDGE; + edge_values[2] = config.R200_AUTO_EXPOSURE_RIGHT_EDGE; + edge_values[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; + + rs_set_device_options(rs_device_, edge_options, 4, edge_values, 0); + } + } + void RealsenseNodelet::check_error () { if (rs_error_) diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 42a60cc69a..709e8d5258 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -60,6 +60,9 @@ #include #include +#include +#include + namespace realsense_camera { @@ -129,6 +132,14 @@ class RealsenseNodelet: public nodelet::Nodelet cv::Mat image_[STREAM_COUNT]; + rs_option edge_options[4] = { + RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE + }; + double edge_values[4]; + sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; image_transport::CameraPublisher camera_publisher_[STREAM_COUNT]; @@ -149,6 +160,7 @@ class RealsenseNodelet: public nodelet::Nodelet double min, max, step, value; }; std::vector options; + boost::shared_ptr> mReconfigureServer; // Member Functions. void check_error(); @@ -165,6 +177,7 @@ class RealsenseNodelet: public nodelet::Nodelet void getConfigValues(std::vector args); void setConfigValues(std::vector args, std::vector cam_options); bool getCameraSettings(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); + void configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level); }; } From aeeddde6e1c8c68bf95a68a674e02e0bb9e55fc8 Mon Sep 17 00:00:00 2001 From: rjingar Date: Thu, 25 Feb 2016 12:25:54 -0800 Subject: [PATCH 032/124] Added dynamic reconfiguration section in README. Formatting in cfg file. Changed variable names to follow ROS coding standards. Modified CMakelists.txt file --- camera/CMakeLists.txt | 4 +- camera/README.md | 59 +++++++++++++++++++++---- camera/cfg/camera_params.cfg | 40 ++++++++--------- camera/src/realsense_camera_nodelet.cpp | 14 +++--- camera/src/realsense_camera_nodelet.h | 6 +-- 5 files changed, 81 insertions(+), 42 deletions(-) diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 9b72272811..1d4f617504 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -54,15 +54,13 @@ target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} /usr/local/lib/librealsense.so ) -add_dependencies(realsense_camera_nodelet ${PROJECT_NAME}_gencfg) -add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp) +add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) -add_dependencies(realsense_camera_test ${PROJECT_NAME}_gencfg) add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp) add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) diff --git a/camera/README.md b/camera/README.md index e834cfe1ed..83ad8b6146 100644 --- a/camera/README.md +++ b/camera/README.md @@ -28,15 +28,6 @@ Sample launch files are available in camera/launch directory realsense_r200_rgbd.launch -Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: -/camera/depth_registered/hw_registered/image_rect_raw -/camera/depth_registered/points -/camera/depth_registered/hw_registered/image_rect -/camera/depth_registered/image -/camera/depth/disparity -/camera/depth_registered/disparity - - ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera @@ -135,6 +126,48 @@ Infrared2 camera get_settings (camera/get_settings) To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. +####Dynamic Reconfiguration + List of dynamically configurable camera options: + + COLOR_BACKLIGHT_COMPENSATION + COLOR_BRIGHTNESS + COLOR_CONTRAST + COLOR_GAIN + COLOR_GAMMA + COLOR_HUE + COLOR_SATURATION + COLOR_SHARPNESS + COLOR_WHITE_BALANCE + COLOR_ENABLE_AUTO_WHITE_BALANCE + R200_LR_AUTO_EXPOSURE_ENABLED + R200_LR_GAIN + R200_LR_EXPOSURE + R200_EMITTER_ENABLED + R200_DISPARITY_MULTIPLIER + R200_AUTO_EXPOSURE_TOP_EDGE + R200_AUTO_EXPOSURE_BOTTOM_EDGE + R200_AUTO_EXPOSURE_LEFT_EDGE + R200_AUTO_EXPOSURE_RIGHT_EDGE + +Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. + +Command to launch GUI: + + $ rosrun rqt_reconfigure rqt_reconfigure + +Change options commandline using following command: + + $ rosrun dynamic_reconfigure dynparam set /node parameter_name value + E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 + +Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. +E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) + +To change EDGE parameters, R200_LR_AUTO_EXPOSURE_ENABLED should be enabled. +To set R200_LR_EXPOSURE, R200_LR_AUTO_EXPOSURE_ENABLED should be disabled. +To set COLOR_WHITE_BALANCE, COLOR_ENABLE_AUTO_WHITE_BALANCE should be disabled. + + ###Running the R200 nodelet Use the following command to launch the camera nodelet. You will notice the camera light up. @@ -225,4 +258,12 @@ Currently, the ROS camera nodelet only supports the following formats: * Depth stream: Y16 * Infrared stream: Y8 +Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: +/camera/depth_registered/hw_registered/image_rect_raw +/camera/depth_registered/points +/camera/depth_registered/hw_registered/image_rect +/camera/depth_registered/image +/camera/depth/disparity +/camera/depth_registered/disparity + diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 95502ee366..7c38ddb934 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -6,25 +6,25 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() -gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) -gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) -gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) -gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) -gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) -gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) -gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) -gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) -gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) -gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) -gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) -gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) -gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 330) -gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) -gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) -gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) -gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) -gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) -gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) +# Name Type Level Description Default Min Max +gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) +gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) +gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) +gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) +gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) +gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 330) +gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) +gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) - diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index f045af4a7b..aa02445ae8 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -121,8 +121,8 @@ namespace realsense_camera get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); - mReconfigureServer.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); - mReconfigureServer->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); + dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); bool connected = false; @@ -186,12 +186,12 @@ namespace realsense_camera if(config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) { config.R200_AUTO_EXPOSURE_RIGHT_EDGE = depth_width_ - 1; } - edge_values[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; - edge_values[1] = config.R200_AUTO_EXPOSURE_TOP_EDGE; - edge_values[2] = config.R200_AUTO_EXPOSURE_RIGHT_EDGE; - edge_values[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; + edge_values_[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; + edge_values_[1] = config.R200_AUTO_EXPOSURE_TOP_EDGE; + edge_values_[2] = config.R200_AUTO_EXPOSURE_RIGHT_EDGE; + edge_values_[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; - rs_set_device_options(rs_device_, edge_options, 4, edge_values, 0); + rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } } diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 709e8d5258..fffe5dcdf9 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -132,13 +132,13 @@ class RealsenseNodelet: public nodelet::Nodelet cv::Mat image_[STREAM_COUNT]; - rs_option edge_options[4] = { + rs_option edge_options_[4] = { RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE }; - double edge_values[4]; + double edge_values_[4]; sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; @@ -160,7 +160,7 @@ class RealsenseNodelet: public nodelet::Nodelet double min, max, step, value; }; std::vector options; - boost::shared_ptr> mReconfigureServer; + boost::shared_ptr> dynamic_reconf_server_; // Member Functions. void check_error(); From 77d731943566f5ce72a9b441f92391d5467ba786 Mon Sep 17 00:00:00 2001 From: rjingar Date: Thu, 25 Feb 2016 14:40:41 -0800 Subject: [PATCH 033/124] Resolved Service call failed issue --- camera/src/realsense_camera_nodelet.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index aa02445ae8..0e902b035e 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -120,9 +120,8 @@ namespace realsense_camera } get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); - - dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); - dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); + + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); bool connected = false; @@ -140,6 +139,8 @@ namespace realsense_camera { ros::shutdown (); } + + dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); } /* From de8d62db1f67c63df37f44a9d429fa9b0e98af29 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 25 Feb 2016 16:26:55 -0800 Subject: [PATCH 034/124] Updated README to correct filenames. --- camera/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/camera/README.md b/camera/README.md index 83ad8b6146..966ab93d38 100644 --- a/camera/README.md +++ b/camera/README.md @@ -157,7 +157,7 @@ Command to launch GUI: Change options commandline using following command: - $ rosrun dynamic_reconfigure dynparam set /node parameter_name value + $ rosrun dynamic_reconfigure dynparam set / E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. @@ -229,7 +229,7 @@ Using rostest command with test files Using rosrun command - $ roslaunch realsense_camera realsense_r200_launch_manual.launch + $ roslaunch realsense_camera realsense_r200_nodelet_standalone_manual.launch $ rosrun realsense_camera realsense_camera_test E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 From 0ff3e4ba515e8838719aa2d1f5e25bba90a4e3d8 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 25 Feb 2016 16:29:45 -0800 Subject: [PATCH 035/124] Updated README to fix angle bracket issue. --- camera/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/camera/README.md b/camera/README.md index 966ab93d38..ccbee57463 100644 --- a/camera/README.md +++ b/camera/README.md @@ -8,8 +8,8 @@ * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". -* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". - +* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". + E.g. sudo cp -r /include/librealsense /usr/local/include From 7baf02457dafffdd9a2f4192c4567c570ad33249 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 25 Feb 2016 16:35:51 -0800 Subject: [PATCH 036/124] Updated README to fix angle bracket issue. --- camera/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/README.md b/camera/README.md index ccbee57463..880e221eb6 100644 --- a/camera/README.md +++ b/camera/README.md @@ -10,7 +10,7 @@ If this does not work, you should first fix this issue before continuing with th * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". * Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". - E.g. sudo cp -r /include/librealsense /usr/local/include + E.g. sudo cp -r \/include/librealsense /usr/local/include #####Building package: From b9a68b0d32ef5c9263b91357a719ba866b955a39 Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Fri, 26 Feb 2016 14:47:13 -0600 Subject: [PATCH 037/124] Update camera_params.cfg Changed MAX value for R200_LR_EXPOSURE setting --- camera/cfg/camera_params.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 7c38ddb934..ce1d2376f7 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -19,7 +19,7 @@ gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) -gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 330) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) From 885c94d0ee7e4acd7db273a9d59196e257eb5aa4 Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Fri, 26 Feb 2016 14:48:38 -0600 Subject: [PATCH 038/124] Update realsense_camera_nodelet.cpp changed COLOR_ENABLE_AUTO_WHITE_BALANCE condition check to set COLOR_WHITE_BALANCE --- camera/src/realsense_camera_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 0e902b035e..506868e43d 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -158,7 +158,7 @@ namespace realsense_camera rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.COLOR_SHARPNESS, 0); rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.COLOR_ENABLE_AUTO_WHITE_BALANCE, 0); - if(config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 1) { + if(config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 0) { rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.COLOR_WHITE_BALANCE, 0); } From bbd3a450bed6bcec798dec7ea987ecc50a5f02bb Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 26 Feb 2016 14:57:30 -0800 Subject: [PATCH 039/124] RAR-180-dynamic-reconfigure-unit-test intial commit. --- camera/CMakeLists.txt | 2 +- camera/test/realsense_camera_test_node.cpp | 29 ++++++++++++++++--- .../test/realsense_r200_settings_dynconf.test | 14 +++++++++ 3 files changed, 40 insertions(+), 5 deletions(-) create mode 100644 camera/test/realsense_r200_settings_dynconf.test diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 1d4f617504..29dc548ee9 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -61,7 +61,7 @@ target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) -add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp) +add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) target_link_libraries(realsense_camera_test_rgbd diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 6379c9ead7..94a5907c41 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -410,6 +410,27 @@ TEST (RealsenseTests, testTransforms) EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now())); } +TEST (RealsenseTests, testDynamicReconfigure) +{ + stringstream settings_ss (srv.response.configuration_str); + string setting; + string setting_name; + string setting_value; + + while (getline (settings_ss, setting, ';')) + { + stringstream setting_ss (setting); + getline (setting_ss, setting_name, ':'); + setting_value = (setting.substr (setting.rfind (":") + 1)); + if (config_args.find (setting_name) != config_args.end ()) + { + int actual_value = atoi (setting_value.c_str ()); + int expected_value = atoi (config_args.at (setting_name).c_str ()); + EXPECT_EQ (expected_value, actual_value); + } + } +} + void fillConfigMap(int argc, char **argv) { std::vector < std::string > args; diff --git a/camera/test/realsense_r200_settings_dynconf.test b/camera/test/realsense_r200_settings_dynconf.test new file mode 100644 index 0000000000..46cbb04e6c --- /dev/null +++ b/camera/test/realsense_r200_settings_dynconf.test @@ -0,0 +1,14 @@ + + + + + + + + + + + \ No newline at end of file From 7016e8d511baf32b97e59be834e1928a3a6a1166 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 26 Feb 2016 17:16:24 -0800 Subject: [PATCH 040/124] Updated README file for transform frames, removed non-required license file, removed incorrectly commented code. --- camera/README.md | 9 +- ...ra Alpha, Beta, Prototype Site License.htm | 395 ------------------ camera/test/realsense_camera_test_node.cpp | 85 ++-- .../test/realsense_r200_settings_dynconf.test | 14 - 4 files changed, 50 insertions(+), 453 deletions(-) delete mode 100644 camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm delete mode 100644 camera/test/realsense_r200_settings_dynconf.test diff --git a/camera/README.md b/camera/README.md index 880e221eb6..dd11f9bd43 100644 --- a/camera/README.md +++ b/camera/README.md @@ -64,6 +64,12 @@ Infrared2 camera camera/infrared2/camera_info Calibration data +#### Transform Frames + The following command creates a pdf file that describes the transforms generated by the camera nodelet. You may refer to the [ROS tf wiki](http://wiki.ros.org/tf) for more commands. + + rosrun tf tf_monitor + + ####Parameters mode (string, default: preset) @@ -124,7 +130,8 @@ Infrared2 camera ####Services get_settings (camera/get_settings) - To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. + +To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. ####Dynamic Reconfiguration List of dynamically configurable camera options: diff --git a/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm b/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm deleted file mode 100644 index 0479020e0f..0000000000 --- a/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm +++ /dev/null @@ -1,395 +0,0 @@ - - - - - - - - - - - -
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- - - - diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 94a5907c41..7f84367a89 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -125,34 +125,33 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg depth_recv = true; } -/* - void pcCallback (const sensor_msgs::PointCloud2ConstPtr pc) - { - pcl::PointCloud < pcl::PointXYZRGB > pointcloud; - pcl::fromROSMsg (*pc, pointcloud); - - long pc_depth_total = 0; - int pc_depth_count = 0; - for (int i = 0; i < pointcloud.width * pointcloud.height; ++i) - { - pcl::PointXYZRGB point = pointcloud.points[i]; - float pc_depth = (float) std::ceil (point.z); - if (0 < pc_depth <= 10) - { - pc_depth_total += pc_depth; - pc_depth_count++; - } - } - - - if (pc_depth_count != 0) - { - pc_depth_avg = pc_depth_total / pc_depth_count; - } - - pc_recv = true; - } - */ + + void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc) +{ + pcl::PointCloud < pcl::PointXYZRGB > pointcloud; + pcl::fromROSMsg(*pc, pointcloud); + + long pc_depth_total = 0; + int pc_depth_count = 0; + for (unsigned int i = 0; i < pointcloud.width * pointcloud.height; ++i) + { + pcl::PointXYZRGB point = pointcloud.points[i]; + float pc_depth = (float) std::ceil(point.z); + if ((0 < pc_depth) && (pc_depth <= R200_DEPTH_MAX)) + { + pc_depth_total += pc_depth; + pc_depth_count++; + } + } + + if (pc_depth_count != 0) + { + pc_depth_avg = pc_depth_total / pc_depth_count; + } + + pc_recv = true; +} + void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) { @@ -362,21 +361,21 @@ TEST (RealsenseTests, testInfrared2CameraInfo) } } -/* + TEST (RealsenseTests, testPointCloud) - { - if (enable_depth) - { - ROS_INFO_STREAM ("RealSense Camera - pc_depth_avg: " << pc_depth_avg); - EXPECT_TRUE (pc_depth_avg > 0); - EXPECT_TRUE (pc_recv); - } - else - { - EXPECT_FALSE (pc_recv); - } - } - */ +{ + if (enable_depth) + { + ROS_INFO_STREAM ("RealSense Camera - pc_depth_avg: " << pc_depth_avg); + EXPECT_TRUE (pc_depth_avg > 0); + EXPECT_TRUE (pc_recv); + } + else + { + EXPECT_FALSE (pc_recv); + } +} + TEST (RealsenseTests, testCameraSettings) { @@ -537,7 +536,7 @@ int main(int argc, char **argv) camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); } - //m_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); + m_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); ros::ServiceClient client = nh.serviceClient < realsense_camera::cameraConfiguration > (SETTINGS_SERVICE); client.call(srv); diff --git a/camera/test/realsense_r200_settings_dynconf.test b/camera/test/realsense_r200_settings_dynconf.test deleted file mode 100644 index 46cbb04e6c..0000000000 --- a/camera/test/realsense_r200_settings_dynconf.test +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - \ No newline at end of file From 20f8a4ec389bf24511427f5b0e2226bc1eb80502 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Sat, 27 Feb 2016 19:22:32 -0800 Subject: [PATCH 041/124] add enable_tf flag to allow for disabling publish transform --- .../realsense_r200_nodelet.launch.xml} | 13 +++++- ...ense_r200_nodelet_standalone_preset.launch | 8 ++-- camera/launch/realsense_r200_rgbd.launch | 14 ++++--- camera/src/realsense_camera_nodelet.cpp | 42 ++++++++++++++----- camera/src/realsense_camera_nodelet.h | 12 +++--- 5 files changed, 63 insertions(+), 26 deletions(-) rename camera/launch/{realsense_r200_nodelet.launch => includes/realsense_r200_nodelet.launch.xml} (78%) diff --git a/camera/launch/realsense_r200_nodelet.launch b/camera/launch/includes/realsense_r200_nodelet.launch.xml similarity index 78% rename from camera/launch/realsense_r200_nodelet.launch rename to camera/launch/includes/realsense_r200_nodelet.launch.xml index 410fe91ca8..2fac0ac011 100644 --- a/camera/launch/realsense_r200_nodelet.launch +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -1,7 +1,10 @@ - + + + + @@ -14,6 +17,11 @@ Else "enable_depth_ir" will take the value of "enable_depth" --> + + + + @@ -25,7 +33,8 @@ rgb_frame_id $(arg rgb_frame_id) enable_depth $(arg enable_depth_ir) enable_color $(arg enable_color) - enable_pointcloud $(arg enable_pointcloud)"> + enable_pointcloud $(arg enable_pointcloud) + enable_tf $(arg enable_tf)"> diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch index 39ef3a29ab..f39e99e09c 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -3,16 +3,18 @@ - + + + enable_color $(arg enable_color) + enable_pointcloud $(arg enable_pointcloud) + enable_tf $(arg enable_tf)"> diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index f0b45fc499..d0e207d34c 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -18,8 +18,10 @@ + tree. Useful if you are playing back recorded raw data from a bag, or are + supplying a more accurate tf tree from calibration. --> + @@ -50,17 +52,17 @@ - + file="$(find realsense_camera)/launch/includes/realsense_r200_nodelet.launch.xml"> - + + - + - + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 506868e43d..ccab900bcc 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -47,7 +47,11 @@ namespace realsense_camera RealsenseNodelet::~RealsenseNodelet () { device_thread_->join (); - transform_thread_->join(); + + if (enable_tf_ == true) + { + transform_thread_->join(); + } // Stop device. if (is_device_started_ == true) @@ -78,6 +82,7 @@ namespace realsense_camera enable_depth_ = ENABLE_DEPTH; enable_color_ = ENABLE_COLOR; enable_pointcloud_ = ENABLE_PC; + enable_tf_ = ENABLE_TF; is_device_started_ = false; camera_configuration_ = getMyArgv (); @@ -120,8 +125,8 @@ namespace realsense_camera } get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); - - dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); + + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); bool connected = false; @@ -132,15 +137,20 @@ namespace realsense_camera // Start working thread. device_thread_ = boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); - transform_thread_ = - boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::publishTransforms, this))); + + if (enable_tf_ == true) + { + transform_thread_ = + boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::publishTransforms, this))); + } + } else { ros::shutdown (); } - dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); + dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); } /* @@ -479,6 +489,18 @@ namespace realsense_camera } } + if (config_.find ("enable_tf") != config_.end ()) + { + if (strcmp((config_.at ("enable_tf").c_str ()),"true") == 0) + { + enable_tf_ = true; + } + else + { + enable_tf_ = false; + } + } + if (config_.find ("camera") != config_.end ()) { camera_ = config_.at ("camera").c_str (); diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index fffe5dcdf9..d6b356963c 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -86,6 +86,7 @@ class RealsenseNodelet: public nodelet::Nodelet const bool ENABLE_DEPTH = true; const bool ENABLE_COLOR = true; const bool ENABLE_PC = true; + const bool ENABLE_TF = true; const uint32_t SERIAL_NUMBER = 0xFFFFFFFF; const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; @@ -126,6 +127,7 @@ class RealsenseNodelet: public nodelet::Nodelet bool enable_color_; bool enable_depth_; bool enable_pointcloud_; + bool enable_tf_; std::vector camera_configuration_; std::string camera_ = "R200"; const uint16_t *image_depth16_; @@ -138,7 +140,7 @@ class RealsenseNodelet: public nodelet::Nodelet RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE }; - double edge_values_[4]; + double edge_values_[4]; sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; From 652ad9b109c5459efe49040f68397dde54ebacda Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Sun, 28 Feb 2016 12:24:23 -0800 Subject: [PATCH 042/124] add enable_tf flag to manual launch file --- camera/launch/realsense_r200_nodelet_standalone_manual.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch index 519fbcf0b1..f07e0fe0a4 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -8,6 +8,7 @@ + From c6d6bd43171073de83a3db08144ea66e4a6afd9a Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Sun, 28 Feb 2016 12:25:05 -0800 Subject: [PATCH 043/124] add realsense_r200_navigation launch file --- .../launch/realsense_r200_navigation.launch | 20 +++++++++++++++++++ camera/ros-realsense-nav/turtlebot/README.md | 8 ++++---- 2 files changed, 24 insertions(+), 4 deletions(-) create mode 100644 camera/launch/realsense_r200_navigation.launch diff --git a/camera/launch/realsense_r200_navigation.launch b/camera/launch/realsense_r200_navigation.launch new file mode 100644 index 0000000000..f32469053d --- /dev/null +++ b/camera/launch/realsense_r200_navigation.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/README.md b/camera/ros-realsense-nav/turtlebot/README.md index 0c34102b54..d44d6c12c7 100644 --- a/camera/ros-realsense-nav/turtlebot/README.md +++ b/camera/ros-realsense-nav/turtlebot/README.md @@ -39,13 +39,13 @@ alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=he ## B - Mapping -The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch`. +The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_navigation.launch`. So, the normal flow would be : ```bash roslaunch turtlebot_bringup minimal.launch -roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_camera realsense_r200_navigation.launch roslaunch realsense_navigation gmapping.launch roslaunch turtlebot_rviz_launchers view_navigation.launch ``` @@ -69,7 +69,7 @@ Once you have a map, you can start the navigation with the following commands ```bash roslaunch turtlebot_bringup minimal.launch -roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_camera realsense_r200_navigation.launch roslaunch realsense_navigation navigation_demo.launch map:= ``` @@ -83,7 +83,7 @@ So we first need to start the turtlebot (+ the teleop of your choice) and the ca ```bash roslaunch turtlebot_bringup minimal.launch -roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_camera realsense_r200_navigation.launch ``` Then, we will store the relevent topics in a bag file: From 798f0030821f4a1336a642da14be958ba6434cea Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Sun, 28 Feb 2016 14:04:27 -0800 Subject: [PATCH 044/124] change realsense_frame to camera_link in transform --- camera/src/realsense_camera_nodelet.h | 6 +++--- camera/test/realsense_camera_test_node.h | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index d6b356963c..dd27b3f8a1 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -92,11 +92,11 @@ class RealsenseNodelet: public nodelet::Nodelet const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; const rs_format IR1_FORMAT = RS_FORMAT_Y8; const rs_format IR2_FORMAT = RS_FORMAT_Y8; - const char *BASE_DEF_FRAME = "realsense_frame"; + const char *BASE_DEF_FRAME = "camera_link"; const char *DEPTH_DEF_FRAME = "camera_depth_frame"; - const char *COLOR_DEF_FRAME = "camera_color_frame"; + const char *COLOR_DEF_FRAME = "camera_rgb_frame"; const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; - const char *COLOR_OPTICAL_DEF_FRAME = "camera_color_optical_frame"; + const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; const char *IR1_DEF_FRAME = "camera_infrared_optical_frame"; const char *IR2_DEF_FRAME = "camera_infrared2_optical_frame"; const char *DEPTH_TOPIC = "camera/depth/image_raw"; diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 7233b020ec..e2e9a5be8b 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -61,11 +61,11 @@ const char *SETTINGS_SERVICE = "camera/get_settings"; const char *R200 = "R200"; const int R200_DEPTH_MAX = 10000; -const char *BASE_DEF_FRAME = "realsense_frame"; +const char *BASE_DEF_FRAME = "camera_link"; const char *DEPTH_DEF_FRAME = "camera_depth_frame"; -const char *COLOR_DEF_FRAME = "camera_color_frame"; +const char *COLOR_DEF_FRAME = "camera_rgb_frame"; const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; -const char *COLOR_OPTICAL_DEF_FRAME = "camera_color_optical_frame"; +const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; //utest commandline args int color_height_exp = 0; From 2f19a75f73fac0814a3565600cbd8e87c5936391 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 29 Feb 2016 11:06:48 -0800 Subject: [PATCH 045/124] Updated document fixes. --- .gitignore | 5 + camera/.cproject | 70 ------- camera/.project | 71 ------- .../org.eclipse.cdt.managedbuilder.core.prefs | 14 -- camera/README.md | 4 +- camera/docs/RealSense-ROS-R200-nodelet.html | 113 ----------- camera/docs/RealSense-ROS-R200-nodelet.md | 180 ------------------ camera/docs/realsenseRvizScreenshot.png | Bin 921129 -> 0 bytes camera/licenses/{ReadMe.txt => License.txt} | 0 camera/licenses/Licenses.txt | 3 - .../turtlebot/README.md | 0 .../turtlebot/doc/img/bag_screen.png | Bin .../turtlebot/doc/img/mapping_screen.png | Bin .../turtlebot/doc/img/screen-ds4-nav.png | Bin .../turtlebot/doc/style-doc.css | 0 .../turtlebot/install_realsense_navigation.sh | 0 .../turtlebot/launch/amcl.launch | 0 .../turtlebot/launch/gmapping.launch | 0 .../turtlebot/launch/navigation_demo.launch | 0 .../launch/realsense_robot_description.launch | 0 .../turtlebot/launch/simulate_mapping.launch | 0 .../turtlebot/package.xml | 0 .../custom_costmap_params.yaml | 0 .../kobuki_minimal_r200.urdf.xacro | 0 .../robot_description/meshes/sensors/r200.dae | 0 .../meshes/sensors/r200_entire.dae | 0 .../meshes/sensors/r200_entire/texture0.jpg | Bin .../meshes/sensors/r200_only.dae | 0 .../robot_description/r200.launch.xml | 0 .../turtlebot_library_extended.urdf.xacro | 0 .../urdf/sensors/r200.urdf.xacro | 0 .../urdf/stacks/minimal.urdf.xacro | 0 .../turtlebot/rviz/navigation_r200.rviz | 0 .../rviz/navigation_r200_without_depth.rviz | 0 camera/package.xml | 3 +- 35 files changed, 10 insertions(+), 453 deletions(-) delete mode 100644 camera/.cproject delete mode 100644 camera/.project delete mode 100644 camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs delete mode 100644 camera/docs/RealSense-ROS-R200-nodelet.html delete mode 100644 camera/docs/RealSense-ROS-R200-nodelet.md delete mode 100644 camera/docs/realsenseRvizScreenshot.png rename camera/licenses/{ReadMe.txt => License.txt} (100%) delete mode 100644 camera/licenses/Licenses.txt rename camera/{ros-realsense-nav => navigation}/turtlebot/README.md (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/doc/img/bag_screen.png (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/doc/img/mapping_screen.png (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/doc/img/screen-ds4-nav.png (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/doc/style-doc.css (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/install_realsense_navigation.sh (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/launch/amcl.launch (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/launch/gmapping.launch (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/launch/navigation_demo.launch (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/launch/realsense_robot_description.launch (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/launch/simulate_mapping.launch (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/package.xml (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/custom_costmap_params.yaml (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/meshes/sensors/r200.dae (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/meshes/sensors/r200_entire.dae (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/meshes/sensors/r200_only.dae (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/r200.launch.xml (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/rviz/navigation_r200.rviz (100%) rename camera/{ros-realsense-nav => navigation}/turtlebot/rviz/navigation_r200_without_depth.rviz (100%) diff --git a/.gitignore b/.gitignore index 6259391948..1f5220ba76 100644 --- a/.gitignore +++ b/.gitignore @@ -8,3 +8,8 @@ # Ignore all Linux Editor revision save files *~ +# Ignore all hidden files +.project +.cproject +.settings + diff --git a/camera/.cproject b/camera/.cproject deleted file mode 100644 index ca7ca6b28a..0000000000 --- a/camera/.cproject +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/camera/.project b/camera/.project deleted file mode 100644 index da529c3a53..0000000000 --- a/camera/.project +++ /dev/null @@ -1,71 +0,0 @@ - - - realsense_ros - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.buildLocation - ${workspace_loc:/ds4_camera/Default} - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs deleted file mode 100644 index 820b971dc1..0000000000 --- a/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs +++ /dev/null @@ -1,14 +0,0 @@ -eclipse.preferences.version=1 -environment/buildEnvironmentInclude/0.451674452/CPATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/CPATH/operation=replace -environment/buildEnvironmentInclude/0.451674452/CPATH/value=/home/turtlebot/workspace/3AM/ROS_Nodes/catkin_tb/devel/include\:/opt/ros/indigo/include -environment/buildEnvironmentInclude/0.451674452/CPLUS_INCLUDE_PATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/CPLUS_INCLUDE_PATH/operation=remove -environment/buildEnvironmentInclude/0.451674452/C_INCLUDE_PATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/C_INCLUDE_PATH/operation=remove -environment/buildEnvironmentInclude/0.451674452/append=true -environment/buildEnvironmentInclude/0.451674452/appendContributed=true -environment/buildEnvironmentLibrary/0.451674452/LIBRARY_PATH/delimiter=\: -environment/buildEnvironmentLibrary/0.451674452/LIBRARY_PATH/operation=remove -environment/buildEnvironmentLibrary/0.451674452/append=true -environment/buildEnvironmentLibrary/0.451674452/appendContributed=true diff --git a/camera/README.md b/camera/README.md index dd11f9bd43..1e9b549837 100644 --- a/camera/README.md +++ b/camera/README.md @@ -22,11 +22,13 @@ Successful execution of command will build target “realsense_camera_nodelet Sample launch files are available in camera/launch directory +realsense_r200_rgbd.launch + realsense_r200_nodelet_standalone_preset.launch realsense_r200_nodelet_standalone_manual.launch -realsense_r200_rgbd.launch +realsense_r200_nodelet_standalone_settings.launch ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera diff --git a/camera/docs/RealSense-ROS-R200-nodelet.html b/camera/docs/RealSense-ROS-R200-nodelet.html deleted file mode 100644 index 2d9668a531..0000000000 --- a/camera/docs/RealSense-ROS-R200-nodelet.html +++ /dev/null @@ -1,113 +0,0 @@ -

Intel RealSense Technology - ROS Integration

-

(ROS Indigo + Ubuntu 14.04 [64-bit])

-

Installation

-
Getting the camera to work on Linux
-

Please make sure that you have a working camera and that the software stack is installed properly. This can be checked by connecting the camera (to a USB3 port) and running one of the provided librealsense samples. If this does not work, you should first fix this issue before continuing with the ROS integration.

-
Building package:
-
    -
  • Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace.
    • -
  • To compile just realsense package, instead of catkin_make, execute following command catkin_make --pkg realsense
    • -
-

Successful execution of command will build target “r200_camera_nodelet”

-

Sample launch files are available in realsense/launch directory

-

realsense_r200_launch_preset.launch

-

realsense_r200_launch_manual.launch

-

Intel RealSense R200 Nodelet

-

Publishing stream data from the Intel RealSense R200 (DS4) camera

-

Subscribed Topics

-
None
-

Publisehd Topics

-

Color camera

-
camera/color/image_raw (sensor_msgs/Image)
-    Color rectified image. RGB format.
-camera/color/camera_info
-    Calibration data
-

Depth camera

-
camera/depth/image_raw (sensor_msgs/Image)
-    uint16 depths in mm
-camera/depth/camera_info
-    Calibration data
-camera/depth/points (sensor_msgs/PointCloud2)
-    Registered XYZRGB point cloud.
-

Infrared camera

-
camera/infrared1/image_raw (sensor_msgs/Image)
-camera/infrared1/camera_info
-    Calibration data
-

Infrared2 camera

-
camera/infrared2/image_raw (sensor_msgs/Image)
-camera/infrared2/camera_info
-    Calibration data
-

Parameters

-
Mode (string, default: preset)
-Specify mode to start camera streams with. Preset mode starts all streams with defaults values for each stream’s width/height and FPS. In Manual mode, camera streams will be set with resolution and FPS values passed.
-cHeight (int, default: 480)
-    Specify the color camera height resolution.
-cWidth (int, default: 640)
-    Specify the color camera width resolution.
-dHeight (int, default: 360)
-    Specify the depth camera height resolution.
-dWidth (int, default: 480)
-    Specify the depth camera width resolution.
-cFPS (int, default: 60)
-    Specify the color camera FPS
-dFPS (int, default: 60)
-    Specify the depth camera FPS
-enableDepth (bool, default: 1) 
-    Specify if to enable or not the depth camera. 1 is true. 0 is false.
-enableColor (bool, default: 1) 
-    Specify if to enable or not the color camera. 1 is true. 0 is false.
-enablePointCloud (bool, default: 1) 
-    Specify if to enable or not the point cloud camera. 1 is true. 0 is false.
-Supported options: Here are r200 camera supported options that can be set
-    COLOR_BACKLIGHT_COMPENSATION : [0, 4]
-    COLOR_BRIGHTNESS : [0, 255]
-    COLOR_CONTRAST : [16, 64]
-    COLOR_EXPOSURE : [0, 0]
-    COLOR_GAIN : [0, 256]
-    COLOR_GAMMA : [100, 280]
-    COLOR_HUE : [-2200, 2200]
-    COLOR_SATURATION : [0, 255]
-    COLOR_SHARPNESS : [0, 7]
-    COLOR_WHITE_BALANCE : [2000, 8000]
-    COLOR_ENABLE_AUTO_EXPOSURE : [0, 0]
-    COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1]
-    R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1]
-    R200_LR_GAIN : [100, 1600]
-    R200_LR_EXPOSURE : [0, 333]
-    R200_EMITTER_ENABLED : [0, 1]
-    R200_DEPTH_CONTROL_PRESET : [0, 5]
-    R200_DEPTH_UNITS : [1, 2147483647]
-    R200_DEPTH_CLAMP_MIN : [0, 65535]
-    R200_DEPTH_CLAMP_MAX : [0, 65535]
-    R200_DISPARITY_MULTIPLIER : [1, 1000]
-    R200_DISPARITY_SHIFT : [0, 0]
-

Services

-
None
-

Running the R200 nodelet

-

Simply type:

-
$ roslaunch realsense realsense_r200_launch.launch
-

This will launch the camera nodelet. You will see the camera lights up.

-

For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics.

-

You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz.

-

Other commands to view streams:

-
    -

  • For Color stream

    -

    $ rosrun image_view image_view image:=/camera/color/image_raw

    • -

  • For depth stream

    • -
-

Verified data and other info by rostopic echo command for image_raw and camera_info.

-
$ rostopic echo /camera/depth/image_raw
-$ rostopic echo /camera/depth/camera_info
-
    -
  • For pointcloud
    • -
-

To view it in rviz, set camera_depth_optical_frame using following command:

-
$ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100
-

To view it using image_view:

-
$ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image
-$ rosrun image_view image_view image:=/my_image
-

Tech and dependencies * librealsense.so

-

System: * Linux 14.04+ * ROS Indigo * R200 (DS4) camera

-

** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo.

-

Limitations:

-

Currently camera ROS node supports following formats * Color stream: RGB8 * Depth stream: Y16 * Infrared stream: Y8

diff --git a/camera/docs/RealSense-ROS-R200-nodelet.md b/camera/docs/RealSense-ROS-R200-nodelet.md deleted file mode 100644 index 3f82ce9f53..0000000000 --- a/camera/docs/RealSense-ROS-R200-nodelet.md +++ /dev/null @@ -1,180 +0,0 @@ -#Intel® RealSense™ Technology - ROS Integration - -###(ROS Indigo + Ubuntu 14.04 [64-bit]) -###Installation -#####Getting the camera to work on Linux - -* Clone the source from the librealsense git repository https://github.intel.com/PerCSystemsEngineering/librealsense. -* Follow the instructions at https://github.intel.com/PerCSystemsEngineering/librealsense/blob/master/doc/installation.md. -* Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. -If this does not work, you should first fix this issue before continuing with the ROS integration. -* Make sure /usr/local/lib is in your LD__LIBRARY_PATH. - -#####Building package: - -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense - -Successful execution of command will build target “r200_camera_nodelet” - -Sample launch files are available in realsense/launch directory - -realsense_r200_launch_preset.launch - -realsense_r200_launch_manual.launch - -realsense_r200_launch_settings.launch - -### Intel® RealSense™ R200 Nodelet -Publishing stream data from the Intel® RealSense™ R200 (DS4) camera - -#### Subscribed Topics - None - -#### Published Topics - -Color camera - - camera/color/image_raw (sensor_msgs/Image) - Color rectified image. RGB format. - camera/color/camera_info - Calibration data - -Depth camera - - camera/depth/image_raw (sensor_msgs/Image) - uint16 depths in mm - camera/depth/camera_info - Calibration data - camera/depth/points (sensor_msgs/PointCloud2) - Registered XYZRGB point cloud. - -Infrared1 camera - - camera/infrared1/image_raw (sensor_msgs/Image) - camera/infrared1/camera_info - Calibration data - -Infrared2 camera - - camera/infrared2/image_raw (sensor_msgs/Image) - camera/infrared2/camera_info - Calibration data - -####Parameters - - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - depth_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. - camera (string, default: "R200") - Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] - R200_DEPTH_CONTROL_PRESET : [0, 5] - R200_DEPTH_UNITS : [1, 2147483647] - R200_DEPTH_CLAMP_MIN : [0, 65535] - R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] - R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31] - R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047] - -####Services - get_settings (camera/get_settings) - To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. - - -###Running the R200 nodelet - -Type the following to launch the camera nodelet. You will notice the camera light up. - - $ roslaunch realsense realsense_r200_launch_preset.launch - -View using RVIZ: - -For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. -For the point cloud steam, before loading its corresponding topic, set the camera_depth_optical_frame using following command: - - $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100 - -You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. -![](docs/realsenseRvizScreenshot.png) - -View using other commands: -* For color stream - - $ rosrun image_view image_view image:=/camera/color/image_raw - -* For depth stream - - $ rostopic echo /camera/depth/image_raw - - $ rostopic echo /camera/depth/camera_info - -* For pointcloud - - $ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image - - $ rosrun image_view image_view image:=/my_image - -* For viewing supported camera settings with current values: - - $ rosservice call /camera/get_settings - -Tech and dependencies -* librealsense.so - -System: -* Linux 14.04+ -* ROS Indigo -* R200 (DS4) camera - -** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. - -###Limitations: -Currently camera ROS node supports following formats -* Color stream: RGB8 -* Depth stream: Y16 -* Infrared stream: Y8 - diff --git a/camera/docs/realsenseRvizScreenshot.png b/camera/docs/realsenseRvizScreenshot.png deleted file mode 100644 index 40e3d8663f7e769d7007c06cfc05b2914701d71c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 921129 zcmZsCcQjmW_jc6i-4JC2i4vnl@6me~o#?&S(TOr*FoZx*!aq zm(TOQ-~0T2@AG|soORYYYu1|k-uK?uwfD96d84DHOiVyW@ZiA%VpSCdy$27lj~_h1 zD#gRSe}hL>{O$gR;j5=C_n>B!Vdwq<+fi0i_Q8XC7~!=w&iymKmx_t+g9j9Te_a?$ z4ou(&5AI4;6=V&-mV0>*b6*ZzoYg+Pn5W)je3$HJY!x`WWG&H2h{s|xJ!1x%>9A2I 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See license attached - http://www.intel.com/realsense + http://www.ros.org/wiki/RealSense Rajvi Jingar Reagan Lopez + Matt Hansen catkin roscpp From 8065ac3b2c7974fdfba819708af9c1ac304882db Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 29 Feb 2016 11:24:17 -0800 Subject: [PATCH 046/124] Updated readme to remove the settings unit test file because it does not work. --- camera/README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/camera/README.md b/camera/README.md index 1e9b549837..333fb892a8 100644 --- a/camera/README.md +++ b/camera/README.md @@ -245,15 +245,14 @@ Using rosrun command Sample test files are available in test directory +realsense_r200_rgbd.test + realsense_r200_color_only.test realsense_r200_depth_only.test realsense_r200_resolution.test -realsense_r200_settings.test - -realsense_r200_rgbd.test Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. From a0afa79496d3c58a8d37c9d9be8e7467e1d31774 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 29 Feb 2016 11:42:55 -0800 Subject: [PATCH 047/124] Updated the website link, version and license in the turtlebot package.xml file --- camera/navigation/turtlebot/package.xml | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/camera/navigation/turtlebot/package.xml b/camera/navigation/turtlebot/package.xml index 86d6eab394..ba069d974e 100644 --- a/camera/navigation/turtlebot/package.xml +++ b/camera/navigation/turtlebot/package.xml @@ -1,14 +1,14 @@ realsense_navigation - 0.0.1 - Intel(r) RealSense(tm) Technology package allowing the use of the R200 camera with the navigation stack + 1.0.0 + RealSense Camera package allowing access to Intel 3D cameras and advanced modules Amit Moran - See license attached. + BSD 3-clause. See license attached - https://github.com/PercATI/RealSense-ROS + http://www.ros.org/wiki/RealSense Amit Moran @@ -18,5 +18,4 @@ roscpp rospy - From 01d0ee9c1fac7ec108cb97f5e824d363bf377208 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 29 Feb 2016 15:54:40 -0800 Subject: [PATCH 048/124] Updated README with correct settings information. Removed settings launch and test file from repo. --- camera/README.md | 39 +++------- ...se_r200_nodelet_standalone_settings.launch | 75 ------------------ camera/test/realsense_r200_settings.test | 78 ------------------- 3 files changed, 11 insertions(+), 181 deletions(-) delete mode 100644 camera/launch/realsense_r200_nodelet_standalone_settings.launch delete mode 100644 camera/test/realsense_r200_settings.test diff --git a/camera/README.md b/camera/README.md index 333fb892a8..46959655a1 100644 --- a/camera/README.md +++ b/camera/README.md @@ -28,8 +28,6 @@ Sample launch files are available in camera/launch directory realsense_r200_nodelet_standalone_manual.launch -realsense_r200_nodelet_standalone_settings.launch - ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera @@ -72,7 +70,7 @@ Infrared2 camera rosrun tf tf_monitor -####Parameters +#### Static Parameters mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. @@ -89,36 +87,21 @@ Infrared2 camera Specify the color camera FPS depth_fps (int, default: 60) Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. + enable_depth (bool, default: true) + Specify if to enable or not the depth camera. + enable_color (bool, default: true) + Specify if to enable or not the color camera. + enable_pointcloud (bool, default: true) + Specify if to enable or not the point cloud camera. + enable_tf (bool, default: true) + Specify if to enable or not the transform frames. camera (string, default: "R200") Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] + Supported options: Following are the options supported by the R200 camera: R200_DEPTH_CONTROL_PRESET : [0, 5] R200_DEPTH_UNITS : [1, 2147483647] R200_DEPTH_CLAMP_MIN : [0, 65535] R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] @@ -135,7 +118,7 @@ Infrared2 camera To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. -####Dynamic Reconfiguration +####Dynamic Parameters List of dynamically configurable camera options: COLOR_BACKLIGHT_COMPENSATION diff --git a/camera/launch/realsense_r200_nodelet_standalone_settings.launch b/camera/launch/realsense_r200_nodelet_standalone_settings.launch deleted file mode 100644 index 1f889ee666..0000000000 --- a/camera/launch/realsense_r200_nodelet_standalone_settings.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/camera/test/realsense_r200_settings.test b/camera/test/realsense_r200_settings.test deleted file mode 100644 index c74383f288..0000000000 --- a/camera/test/realsense_r200_settings.test +++ /dev/null @@ -1,78 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 4afa456425230da5158f88c10a26044baef91756 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 29 Feb 2016 16:09:52 -0800 Subject: [PATCH 049/124] Added global readme file. --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000000..610271fd88 --- /dev/null +++ b/README.md @@ -0,0 +1,9 @@ +# Intel® RealSense™ ROS +These are packages for using Intel RealSense cameras with ROS. + +www.intel.com/realsense + +www.ros.org + + +Refer to the README.md file within each package for more details. From 0e12ea693ed97d2e60cd8dc8350592ce0323bdad Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Wed, 2 Mar 2016 18:47:45 -0800 Subject: [PATCH 050/124] Update ignore file to Team Standard This is the default file for ROS from GitHub.com plus a few team specific updates. See Team Wiki: https://wiki.ith.intel.com/download/attachments/559551949/ROS_gitignore.txt?api=v2 --- .gitignore | 49 +++++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 43 insertions(+), 6 deletions(-) diff --git a/.gitignore b/.gitignore index 1f5220ba76..ed29d1381c 100644 --- a/.gitignore +++ b/.gitignore @@ -1,15 +1,52 @@ -# git ls-files --others --exclude-from=.git/info/exclude # Lines that start with '#' are comments. # See http://git-scm.com/docs/gitignore -# Don't check in Top Level CMakeLists.txt -/CMakeLists.txt +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py -# Ignore all Linux Editor revision save files -*~ +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc -# Ignore all hidden files +# eclipse stuff .project .cproject .settings +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +# Ignore all Linux Editor revision save files +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE From b95f8560e8285e35763dcb27dd7245aee5735240 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Wed, 2 Mar 2016 18:35:07 -0800 Subject: [PATCH 051/124] Add missing Change Log history file This is a required file as part of the ROS (bloom) release process which was missed from our initial release. --- camera/CHANGELOG.rst | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 camera/CHANGELOG.rst diff --git a/camera/CHANGELOG.rst b/camera/CHANGELOG.rst new file mode 100644 index 0000000000..9a7d041a27 --- /dev/null +++ b/camera/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package realsense_camera +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2016-02-29) +------------------ +* Initial Release +* Contributors: Rajvi Jingar, Reagan Lopez From e6c2093f032a1f6fa7204fa3860710c4c3cc2a82 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 3 Mar 2016 16:27:36 -0800 Subject: [PATCH 052/124] RAR-258 Add rgbd_launch as run dependency. --- camera/package.xml | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/camera/package.xml b/camera/package.xml index 292d330119..031f6a3db9 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -13,34 +13,35 @@ Rajvi Jingar Reagan Lopez - Matt Hansen + Matt Hansen catkin roscpp - nodelet + nodelet cv_bridge image_transport camera_info_manager tf message_generation - std_msgs - sensor_msgs + std_msgs + sensor_msgs rostest pcl_ros dynamic_reconfigure roscpp - nodelet + nodelet cv_bridge image_transport - camera_info_manager + camera_info_manager tf message_generation - std_msgs - sensor_msgs + std_msgs + sensor_msgs rostest pcl_ros dynamic_reconfigure + rgbd_launch From 3e9684d68698cd54f086fd3bebd175677b2694b7 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Fri, 4 Mar 2016 10:47:21 -0800 Subject: [PATCH 053/124] Add identity matrix for rotation to camera_info msgs --- camera/src/realsense_camera_nodelet.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index ccab900bcc..361163cdac 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -397,6 +397,17 @@ namespace realsense_camera camera_info_[stream_index]->distortion_model = "plumb_bob"; + // set R (rotation matrix) values to identity matrix + camera_info_[stream_index]->R.at(0) = (double) 1; + camera_info_[stream_index]->R.at(1) = (double) 0; + camera_info_[stream_index]->R.at(2) = (double) 0; + camera_info_[stream_index]->R.at(3) = (double) 0; + camera_info_[stream_index]->R.at(4) = (double) 1; + camera_info_[stream_index]->R.at(5) = (double) 0; + camera_info_[stream_index]->R.at(6) = (double) 0; + camera_info_[stream_index]->R.at(7) = (double) 0; + camera_info_[stream_index]->R.at(8) = (double) 1; + for (int i = 0; i < 5; i++) camera_info_[stream_index]->D.push_back (0); } From 5d6488715ce71f2a3a0d93be67e7fcc57b525868 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Fri, 4 Mar 2016 13:26:59 -0800 Subject: [PATCH 054/124] update tests to check for rotation identity matrix --- camera/test/realsense_camera_test_node.cpp | 50 ++++++++++++++++++++++ camera/test/realsense_camera_test_node.h | 5 +++ 2 files changed, 55 insertions(+) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 7f84367a89..7cfccd9e01 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -59,6 +59,13 @@ void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor inf1_caminfo_height_recv = info_msg->height; inf1_caminfo_width_recv = info_msg->width; inf1_dmodel_recv = info_msg->distortion_model; + + // copy rotation matrix + for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + { + inf1_caminfo_rotation_recv[i] = info_msg->R[i]; + } + infrared1_recv = true; } @@ -89,6 +96,13 @@ void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor inf2_caminfo_height_recv = info_msg->height; inf2_caminfo_width_recv = info_msg->width; inf2_dmodel_recv = info_msg->distortion_model; + + // copy rotation matrix + for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + { + inf2_caminfo_rotation_recv[i] = info_msg->R[i]; + } + infrared2_recv = true; } @@ -122,6 +136,12 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg depth_caminfo_width_recv = info_msg->width; depth_dmodel_recv = info_msg->distortion_model; + // copy rotation matrix + for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + { + depth_caminfo_rotation_recv[i] = info_msg->R[i]; + } + depth_recv = true; } @@ -180,6 +200,12 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg color_caminfo_width_recv = info_msg->width; color_dmodel_recv = info_msg->distortion_model; + // copy rotation matrix + for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + { + color_caminfo_rotation_recv[i] = info_msg->R[i]; + } + color_recv = true; } @@ -227,6 +253,12 @@ TEST (RealsenseTests, testColorCameraInfo) EXPECT_EQ (color_width_recv, color_caminfo_width_recv); EXPECT_EQ (color_height_recv, color_caminfo_height_recv); EXPECT_STREQ (color_dmodel_recv.c_str (), "plumb_bob"); + + // verify rotation is equal to identity matrix + for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) + { + EXPECT_EQ (ROTATION_IDENTITY[i], color_caminfo_rotation_recv[i]); + } } } @@ -274,6 +306,12 @@ TEST (RealsenseTests, testDepthCameraInfo) EXPECT_EQ (depth_width_recv, depth_caminfo_width_recv); EXPECT_EQ (depth_height_recv, depth_caminfo_height_recv); EXPECT_STREQ (depth_dmodel_recv.c_str (), "plumb_bob"); + + // verify rotation is equal to identity matrix + for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) + { + EXPECT_EQ (ROTATION_IDENTITY[i], depth_caminfo_rotation_recv[i]); + } } } @@ -320,6 +358,12 @@ TEST (RealsenseTests, testInfrared1CameraInfo) EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); EXPECT_STREQ (inf1_dmodel_recv.c_str (), "plumb_bob"); + + // verify rotation is equal to identity matrix + for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) + { + EXPECT_EQ (ROTATION_IDENTITY[i], inf1_caminfo_rotation_recv[i]); + } } } @@ -358,6 +402,12 @@ TEST (RealsenseTests, testInfrared2CameraInfo) EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); EXPECT_STREQ (inf2_dmodel_recv.c_str (), "plumb_bob"); + + // verify rotation is equal to identity matrix + for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) + { + EXPECT_EQ (ROTATION_IDENTITY[i], inf2_caminfo_rotation_recv[i]); + } } } diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index e2e9a5be8b..5e9dc5c6aa 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -66,6 +66,7 @@ const char *DEPTH_DEF_FRAME = "camera_depth_frame"; const char *COLOR_DEF_FRAME = "camera_rgb_frame"; const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; +const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; //utest commandline args int color_height_exp = 0; @@ -124,12 +125,16 @@ std::string color_encoding_recv; // Expected color encoding. int depth_caminfo_height_recv = 0; int depth_caminfo_width_recv = 0; +double depth_caminfo_rotation_recv[9] = {0}; int color_caminfo_height_recv = 0; int color_caminfo_width_recv = 0; +double color_caminfo_rotation_recv[9] = {0}; int inf1_caminfo_height_recv = 0; int inf1_caminfo_width_recv = 0; +double inf1_caminfo_rotation_recv[9] = {0}; int inf2_caminfo_height_recv = 0; int inf2_caminfo_width_recv = 0; +double inf2_caminfo_rotation_recv[9] = {0}; std::string inf1_dmodel_recv; std::string inf2_dmodel_recv; From 4ecbae16b18fd00086885077476ed87d314b06a2 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Mon, 7 Mar 2016 15:46:01 -0800 Subject: [PATCH 055/124] change arrays to use at(#) instead of [#] consistently --- camera/src/realsense_camera_nodelet.cpp | 40 ++++++++++++------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 361163cdac..11d1b5a656 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -374,26 +374,26 @@ namespace realsense_camera camera_info_[stream_index]->width = intrinsic.width; camera_info_[stream_index]->height = intrinsic.height; - camera_info_[stream_index]->K.at (0) = intrinsic.fx; - camera_info_[stream_index]->K.at (2) = intrinsic.ppx; - camera_info_[stream_index]->K.at (4) = intrinsic.fy; - camera_info_[stream_index]->K.at (5) = intrinsic.ppy; - camera_info_[stream_index]->K.at (8) = 1; - - camera_info_[stream_index]->P[0] = camera_info_[stream_index]->K.at (0); - camera_info_[stream_index]->P[1] = 0; - camera_info_[stream_index]->P[2] = camera_info_[stream_index]->K.at (2); - camera_info_[stream_index]->P[3] = 0; - - camera_info_[stream_index]->P[4] = 0; - camera_info_[stream_index]->P[5] = camera_info_[stream_index]->K.at (4); - camera_info_[stream_index]->P[6] = camera_info_[stream_index]->K.at (5); - camera_info_[stream_index]->P[7] = 0; - - camera_info_[stream_index]->P[8] = 0; - camera_info_[stream_index]->P[9] = 0; - camera_info_[stream_index]->P[10] = 1; - camera_info_[stream_index]->P[11] = 0; + camera_info_[stream_index]->K.at(0) = intrinsic.fx; + camera_info_[stream_index]->K.at(2) = intrinsic.ppx; + camera_info_[stream_index]->K.at(4) = intrinsic.fy; + camera_info_[stream_index]->K.at(5) = intrinsic.ppy; + camera_info_[stream_index]->K.at(8) = 1; + + camera_info_[stream_index]->P.at(0) = camera_info_[stream_index]->K.at(0); + camera_info_[stream_index]->P.at(1) = 0; + camera_info_[stream_index]->P.at(2) = camera_info_[stream_index]->K.at(2); + camera_info_[stream_index]->P.at(3) = 0; + + camera_info_[stream_index]->P.at(4) = 0; + camera_info_[stream_index]->P.at(5) = camera_info_[stream_index]->K.at(4); + camera_info_[stream_index]->P.at(6) = camera_info_[stream_index]->K.at(5); + camera_info_[stream_index]->P.at(7) = 0; + + camera_info_[stream_index]->P.at(8) = 0; + camera_info_[stream_index]->P.at(9) = 0; + camera_info_[stream_index]->P.at(10) = 1; + camera_info_[stream_index]->P.at(11) = 0; camera_info_[stream_index]->distortion_model = "plumb_bob"; From 6f0f1d3c044bec7f67bd0e64e0d56bca91d0f11b Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Mon, 7 Mar 2016 17:19:17 -0800 Subject: [PATCH 056/124] add depth to color translation to projection matrix --- camera/src/realsense_camera_nodelet.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 11d1b5a656..f5a64d4997 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -395,6 +395,16 @@ namespace realsense_camera camera_info_[stream_index]->P.at(10) = 1; camera_info_[stream_index]->P.at(11) = 0; + if (stream_index == RS_STREAM_DEPTH) + { + // set depth to color translation values in Projection matrix (P) + rs_extrinsics z_extrinsic; + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + camera_info_[stream_index]->P.at(3) = z_extrinsic.translation[0]/1000; // Tx + camera_info_[stream_index]->P.at(7) = z_extrinsic.translation[1]/1000; // Ty + camera_info_[stream_index]->P.at(11) = z_extrinsic.translation[2]/1000; // Tz + } + camera_info_[stream_index]->distortion_model = "plumb_bob"; // set R (rotation matrix) values to identity matrix From 2e34d3b4796dc0c2a4be7ce71b8d2c10ec00ab03 Mon Sep 17 00:00:00 2001 From: rjingar Date: Fri, 4 Mar 2016 16:16:34 -0800 Subject: [PATCH 057/124] Add dynamically enable/disable depth stream code --- camera/cfg/camera_params.cfg | 1 + camera/src/realsense_camera_nodelet.cpp | 277 ++++++++++++++++-------- camera/src/realsense_camera_nodelet.h | 4 + 3 files changed, 189 insertions(+), 93 deletions(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index ce1d2376f7..9d60718b21 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,6 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 361163cdac..cd475861ce 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -92,6 +92,9 @@ namespace realsense_camera frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; + for (int i = 0; i < STREAM_COUNT; ++i) + camera_info_[i] = NULL; + ros::NodeHandle & nh = getNodeHandle (); // Set up the topics. @@ -101,28 +104,18 @@ namespace realsense_camera getConfigValues (camera_configuration_); // Advertise the various topics and services. + // Advertise color stream only if color parameter is set. + camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); // Advertise depth and infrared streams only if depth parameter is set. - if (enable_depth_ == true) + camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); + camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); + if (camera_.find (R200) != std::string::npos) { - camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); - camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); - if (camera_.find (R200) != std::string::npos) - { - camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera (IR2_TOPIC, 1); - } - - // Advertise pointcloud only if pointcloud parameter is set. - if (enable_pointcloud_ == true) - { - pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); - } + camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera (IR2_TOPIC, 1); } - // Advertise color stream only if color parameter is set. - if (enable_color_ == true) - { - camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); - } + pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); + get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); @@ -156,6 +149,90 @@ namespace realsense_camera /* *Private Methods. */ + void RealsenseNodelet::enable_color_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_COLOR); + } + } + + void RealsenseNodelet::enable_depth_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_DEPTH); + } + } + + void RealsenseNodelet::enable_infrared_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_INFRARED); + } + } + + void RealsenseNodelet::enable_infrared2_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); + } + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_INFRARED2); + } + } + + + void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) { rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.COLOR_BACKLIGHT_COMPENSATION, 0); @@ -203,7 +280,15 @@ namespace realsense_camera edge_values_[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); - } + } + + if(config.ENABLE_DEPTH == false) { + enable_depth_ = false; + } + else { + enable_depth_ = true; + } + } void RealsenseNodelet::check_error () @@ -254,7 +339,7 @@ namespace realsense_camera ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << - rs_get_device_firmware_version (rs_device_, &rs_error_)); + rs_get_device_firmware_version (rs_device_, &rs_error_)); check_error (); ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name (rs_device_, &rs_error_)); check_error (); @@ -262,36 +347,16 @@ namespace realsense_camera check_error (); // Enable streams. - if (enable_depth_ == true) + if (enable_color_ == true) { - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); - } - else - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); - } + enable_color_stream(); } - if (enable_color_ == true) + if (enable_depth_ == true) { - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); - } - else - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - } + enable_depth_stream(); + enable_infrared_stream(); + enable_infrared2_stream(); } for (int i = 0; i < RS_OPTION_COUNT; ++i) @@ -299,7 +364,7 @@ namespace realsense_camera option_str o = { (rs_option) i}; - if (!rs_device_supports_option (rs_device_, o.opt, &rs_error_)) + if (!rs_device_supports_option (rs_device_, o.opt, 0)) { continue; } @@ -318,6 +383,7 @@ namespace realsense_camera // Start device. rs_start_device (rs_device_, &rs_error_); + check_error (); is_device_started_ = true; @@ -334,26 +400,12 @@ namespace realsense_camera // Prepare camera for enabled streams (color/depth/infrared/infrared2). fillStreamEncoding (); - if (rs_is_stream_enabled (rs_device_, RS_STREAM_COLOR, 0)) - { - image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat (color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); - prepareStreamCalibData (RS_STREAM_COLOR); - } - - if (rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0)) + image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat (color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); + image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat (depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); + image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + if (camera_.find (R200) != std::string::npos) { - // Define message. - image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat (depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_DEPTH); - - image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_INFRARED); - - if (rs_is_stream_enabled (rs_device_, RS_STREAM_INFRARED2, 0)) - { image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_INFRARED2); - } } } @@ -425,7 +477,7 @@ namespace realsense_camera { option_str o = { (rs_option) i}; - if (!rs_device_supports_option (rs_device_, o.opt, &rs_error_)) + if (!rs_device_supports_option (rs_device_, o.opt, 0)) { continue; } @@ -636,45 +688,84 @@ namespace realsense_camera */ void RealsenseNodelet::publishStreams () { - rs_wait_for_frames (rs_device_, &rs_error_); - check_error (); - time_stamp_ = ros::Time::now (); - - for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) + if(enable_depth_ == false && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1) { - // Publish image stream only if there is at least one subscriber. - if (camera_publisher_[stream_index].getNumSubscribers () > 0) + if(rs_is_device_streaming(rs_device_, 0) == 1) { - prepareStreamData ((rs_stream) stream_index); - - sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header (), - stream_encoding_[stream_index], - image_[stream_index]).toImageMsg (); + rs_stop_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + } - msg->header.frame_id = frame_id_[stream_index]; - msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. - msg->width = image_[stream_index].cols; - msg->height = image_[stream_index].rows; - msg->is_bigendian = false; - msg->step = stream_step_[stream_index]; + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); - camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; - camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + if(rs_is_device_streaming(rs_device_, 0) == 0) + { + rs_start_device (rs_device_, &rs_error_);check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Started"); + } + } + + if(enable_depth_ == true && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 0) + { + if(rs_is_device_streaming(rs_device_, 0) == 1) + { + rs_stop_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + } + + enable_depth_stream(); + + if(rs_is_device_streaming(rs_device_, 0) == 0) + { + rs_start_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } - if (pointcloud_publisher_.getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) - && enable_pointcloud_ == true) + if(rs_is_device_streaming(rs_device_, 0) == 1) { - if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers () <= 0) + rs_wait_for_frames (rs_device_, &rs_error_); + check_error (); + time_stamp_ = ros::Time::now (); + + for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) { - prepareStreamData (RS_STREAM_DEPTH); + // Publish image stream only if there is at least one subscriber. + if (camera_publisher_[stream_index].getNumSubscribers () > 0 && + rs_is_stream_enabled (rs_device_, (rs_stream) stream_index, 0) == 1) + { + prepareStreamData ((rs_stream) stream_index); + + sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header (), + stream_encoding_[stream_index], + image_[stream_index]).toImageMsg (); + + msg->header.frame_id = frame_id_[stream_index]; + msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. + msg->width = image_[stream_index].cols; + msg->height = image_[stream_index].rows; + msg->is_bigendian = false; + msg->step = stream_step_[stream_index]; + + camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; + camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + } } - if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers () <= 0) + + if (pointcloud_publisher_.getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1 + && enable_pointcloud_ == true) { - prepareStreamData (RS_STREAM_COLOR); + if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers () <= 0) + { + prepareStreamData (RS_STREAM_DEPTH); + } + if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers () <= 0) + { + prepareStreamData (RS_STREAM_COLOR); + } + publishPointCloud (image_[(uint32_t) RS_STREAM_COLOR]); } - publishPointCloud (image_[(uint32_t) RS_STREAM_COLOR]); } } diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index dd27b3f8a1..645c2433e0 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -165,6 +165,10 @@ class RealsenseNodelet: public nodelet::Nodelet boost::shared_ptr> dynamic_reconf_server_; // Member Functions. + void enable_color_stream(); + void enable_depth_stream(); + void enable_infrared_stream(); + void enable_infrared2_stream(); void check_error(); void fetchCalibData(); void prepareStreamCalibData(rs_stream calib_data); From dc9881ac425d5996d37376f50cc7bc33bbc5fde8 Mon Sep 17 00:00:00 2001 From: rjingar Date: Thu, 10 Mar 2016 17:53:40 -0800 Subject: [PATCH 058/124] Add unit tests for Enable/disable depth stream --- camera/test/realsense_camera_test_node.cpp | 24 ++++++++++++++++------ camera/test/realsense_camera_test_node.h | 2 ++ 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 7cfccd9e01..1daeb29b0b 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -262,6 +262,18 @@ TEST (RealsenseTests, testColorCameraInfo) } } +TEST (RealsenseTests, testIsDepthStreamEnabled) +{ + if (enable_depth) + { + EXPECT_TRUE (depth_recv); + } + else + { + EXPECT_FALSE (depth_recv); + } +} + TEST (RealsenseTests, testDepthStream) { if (enable_depth) @@ -317,7 +329,7 @@ TEST (RealsenseTests, testDepthCameraInfo) TEST (RealsenseTests, testInfrared1Stream) { - if (enable_depth) + if (enable_infrared1) { EXPECT_TRUE (infrared1_avg > 0); EXPECT_TRUE (infrared1_recv); @@ -338,7 +350,7 @@ TEST (RealsenseTests, testInfrared1Stream) TEST (RealsenseTests, testInfrared1Resolution) { - if (enable_depth) + if (enable_infrared1) { if (depth_width_exp > 0) { @@ -353,7 +365,7 @@ TEST (RealsenseTests, testInfrared1Resolution) TEST (RealsenseTests, testInfrared1CameraInfo) { - if (enable_depth) + if (enable_infrared1) { EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); @@ -369,7 +381,7 @@ TEST (RealsenseTests, testInfrared1CameraInfo) TEST (RealsenseTests, testInfrared2Stream) { - if (enable_depth) + if (enable_infrared2) { EXPECT_TRUE (infrared2_avg > 0); EXPECT_TRUE (infrared2_recv); @@ -382,7 +394,7 @@ TEST (RealsenseTests, testInfrared2Stream) TEST (RealsenseTests, testInfrared2Resolution) { - if (enable_depth) + if (enable_infrared2) { if (depth_width_exp > 0) { @@ -397,7 +409,7 @@ TEST (RealsenseTests, testInfrared2Resolution) TEST (RealsenseTests, testInfrared2CameraInfo) { - if (enable_depth) + if (enable_infrared2) { EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 5e9dc5c6aa..ab06dbe8fc 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -80,6 +80,8 @@ uint32_t infrared2_step_exp; // Expected infrared2 step. bool enable_color = true; bool enable_depth = true; +bool enable_infrared1 = true; +bool enable_infrared2 = true; bool enable_pointcloud = true; std::string depth_encoding_exp; // Expected depth encoding. From 2ad69beb105d9583c45c92478edbaa7dc03bee95 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Fri, 11 Mar 2016 15:54:33 -0800 Subject: [PATCH 059/124] Add tests for depth translation to color --- camera/test/realsense_camera_test_node.cpp | 83 ++++++++++++++++++++++ camera/test/realsense_camera_test_node.h | 5 ++ 2 files changed, 88 insertions(+) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 7cfccd9e01..2515ab1bee 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -66,6 +66,12 @@ void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor inf1_caminfo_rotation_recv[i] = info_msg->R[i]; } + // copy projection matrix + for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) + { + inf1_caminfo_projection_recv[i] = info_msg->P[i]; + } + infrared1_recv = true; } @@ -103,6 +109,12 @@ void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor inf2_caminfo_rotation_recv[i] = info_msg->R[i]; } + // copy projection matrix + for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) + { + inf2_caminfo_projection_recv[i] = info_msg->P[i]; + } + infrared2_recv = true; } @@ -141,6 +153,11 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg { depth_caminfo_rotation_recv[i] = info_msg->R[i]; } + // copy projection matrix + for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) + { + depth_caminfo_projection_recv[i] = info_msg->P[i]; + } depth_recv = true; } @@ -206,6 +223,12 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg color_caminfo_rotation_recv[i] = info_msg->R[i]; } + // copy projection matrix + for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) + { + color_caminfo_projection_recv[i] = info_msg->P[i]; + } + color_recv = true; } @@ -259,6 +282,21 @@ TEST (RealsenseTests, testColorCameraInfo) { EXPECT_EQ (ROTATION_IDENTITY[i], color_caminfo_rotation_recv[i]); } + + // check projection matrix values are set + EXPECT_TRUE(color_caminfo_projection_recv[0] != (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[1], (double) 0); + EXPECT_TRUE(color_caminfo_projection_recv[2] != (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[3], (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[4], (double) 0); + EXPECT_TRUE(color_caminfo_projection_recv[5] != (double) 0); + EXPECT_TRUE(color_caminfo_projection_recv[6] != (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[7], (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[8], (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[9], (double) 0); + EXPECT_TRUE(color_caminfo_projection_recv[10] != (double) 0); + EXPECT_EQ(color_caminfo_projection_recv[11], (double) 0); + } } @@ -312,6 +350,21 @@ TEST (RealsenseTests, testDepthCameraInfo) { EXPECT_EQ (ROTATION_IDENTITY[i], depth_caminfo_rotation_recv[i]); } + + // check projection matrix values are set + EXPECT_TRUE(depth_caminfo_projection_recv[0] != (double) 0); + EXPECT_EQ(depth_caminfo_projection_recv[1], (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[2] != (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[3] != (double) 0); + EXPECT_EQ(depth_caminfo_projection_recv[4], (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[5] != (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[6] != (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[7] != (double) 0); + EXPECT_EQ(depth_caminfo_projection_recv[8], (double) 0); + EXPECT_EQ(depth_caminfo_projection_recv[9], (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[10] != (double) 0); + EXPECT_TRUE(depth_caminfo_projection_recv[11] != (double) 0); + } } @@ -364,6 +417,21 @@ TEST (RealsenseTests, testInfrared1CameraInfo) { EXPECT_EQ (ROTATION_IDENTITY[i], inf1_caminfo_rotation_recv[i]); } + + // check projection matrix values are set + EXPECT_TRUE(inf1_caminfo_projection_recv[0] != (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[1], (double) 0); + EXPECT_TRUE(inf1_caminfo_projection_recv[2] != (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[3], (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[4], (double) 0); + EXPECT_TRUE(inf1_caminfo_projection_recv[5] != (double) 0); + EXPECT_TRUE(inf1_caminfo_projection_recv[6] != (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[7], (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[8], (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[9], (double) 0); + EXPECT_TRUE(inf1_caminfo_projection_recv[10] != (double) 0); + EXPECT_EQ(inf1_caminfo_projection_recv[11], (double) 0); + } } @@ -408,6 +476,21 @@ TEST (RealsenseTests, testInfrared2CameraInfo) { EXPECT_EQ (ROTATION_IDENTITY[i], inf2_caminfo_rotation_recv[i]); } + + // check projection matrix values are set + EXPECT_TRUE(inf2_caminfo_projection_recv[0] != (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[1], (double) 0); + EXPECT_TRUE(inf2_caminfo_projection_recv[2] != (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[3], (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[4], (double) 0); + EXPECT_TRUE(inf2_caminfo_projection_recv[5] != (double) 0); + EXPECT_TRUE(inf2_caminfo_projection_recv[6] != (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[7], (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[8], (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[9], (double) 0); + EXPECT_TRUE(inf2_caminfo_projection_recv[10] != (double) 0); + EXPECT_EQ(inf2_caminfo_projection_recv[11], (double) 0); + } } diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 5e9dc5c6aa..df3cc4049a 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -123,18 +123,23 @@ std::string infrared1_encoding_recv; // Expected depth encoding. std::string infrared2_encoding_recv; // Expected depth encoding. std::string color_encoding_recv; // Expected color encoding. + int depth_caminfo_height_recv = 0; int depth_caminfo_width_recv = 0; double depth_caminfo_rotation_recv[9] = {0}; +double depth_caminfo_projection_recv[12] = {0}; int color_caminfo_height_recv = 0; int color_caminfo_width_recv = 0; double color_caminfo_rotation_recv[9] = {0}; +double color_caminfo_projection_recv[12] = {0}; int inf1_caminfo_height_recv = 0; int inf1_caminfo_width_recv = 0; double inf1_caminfo_rotation_recv[9] = {0}; +double inf1_caminfo_projection_recv[12] = {0}; int inf2_caminfo_height_recv = 0; int inf2_caminfo_width_recv = 0; double inf2_caminfo_rotation_recv[9] = {0}; +double inf2_caminfo_projection_recv[12] = {0}; std::string inf1_dmodel_recv; std::string inf2_dmodel_recv; From 7ff2eeba7f47000bce910ad0f6b51e1cc18c5795 Mon Sep 17 00:00:00 2001 From: rjingar Date: Mon, 14 Mar 2016 08:39:58 -0700 Subject: [PATCH 060/124] Added Enable/disable infrared streams along with depth stream --- camera/src/realsense_camera_nodelet.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index cd475861ce..4b8847626f 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -699,6 +699,12 @@ namespace realsense_camera rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); + + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_);check_error (); @@ -715,7 +721,9 @@ namespace realsense_camera } enable_depth_stream(); - + enable_infrared_stream(); + enable_infrared2_stream(); + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_); check_error (); From 589eeeaf9dfdb82bab6b37030feeecb2e37f9646 Mon Sep 17 00:00:00 2001 From: rjingar Date: Mon, 14 Mar 2016 14:58:42 -0700 Subject: [PATCH 061/124] Added Enable/disable infrared streams along with depth stream. --- camera/README.md | 7 +- camera/src/realsense_camera_nodelet.cpp | 109 ++++++++++++--------- camera/src/realsense_camera_nodelet.h | 10 +- camera/test/realsense_camera_test_node.cpp | 16 +-- 4 files changed, 83 insertions(+), 59 deletions(-) diff --git a/camera/README.md b/camera/README.md index 46959655a1..f804bfd891 100644 --- a/camera/README.md +++ b/camera/README.md @@ -88,7 +88,7 @@ Infrared2 camera depth_fps (int, default: 60) Specify the depth camera FPS enable_depth (bool, default: true) - Specify if to enable or not the depth camera. + Specify if to enable or not the depth and infrared camera. enable_color (bool, default: true) Specify if to enable or not the color camera. enable_pointcloud (bool, default: true) @@ -141,6 +141,11 @@ To get supported camera options with current value set. It returns string in opt R200_AUTO_EXPOSURE_LEFT_EDGE R200_AUTO_EXPOSURE_RIGHT_EDGE + Enable/Disable Stream: + ENABLE_DEPTH + Check or uncheck the option to disable/enable depth and infrared streams dynamically. + Note: Infrared streams will be enabled or disabled along with depth stream. + Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. Command to launch GUI: diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 4b8847626f..37fc057ed3 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -58,7 +58,7 @@ namespace realsense_camera { rs_stop_device (rs_device_, 0); rs_delete_context (rs_context_, &rs_error_); - check_error (); + checkError (); } ROS_INFO_STREAM ("RealSense Camera - Stopping camera nodelet."); @@ -149,19 +149,19 @@ namespace realsense_camera /* *Private Methods. */ - void RealsenseNodelet::enable_color_stream() + void RealsenseNodelet::enableColorStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; @@ -170,49 +170,51 @@ namespace realsense_camera } } - void RealsenseNodelet::enable_depth_stream() + void RealsenseNodelet::enableDepthStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_DEPTH); } } - void RealsenseNodelet::enable_infrared_stream() + void RealsenseNodelet::enableInfraredStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_INFRARED); } } - void RealsenseNodelet::enable_infrared2_stream() + void RealsenseNodelet::enableInfrared2Stream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -225,8 +227,10 @@ namespace realsense_camera ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_INFRARED2); } } @@ -282,16 +286,25 @@ namespace realsense_camera rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } - if(config.ENABLE_DEPTH == false) { - enable_depth_ = false; + if(config.ENABLE_DEPTH == false) + { + if(enable_color_ == false) + { + ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); + config.ENABLE_DEPTH = true; + } + else + { + enable_depth_ = false; + } } - else { + else + { enable_depth_ = true; } - } - void RealsenseNodelet::check_error () + void RealsenseNodelet::checkError () { if (rs_error_) { @@ -325,7 +338,7 @@ namespace realsense_camera } rs_context_ = rs_create_context (RS_API_VERSION, &rs_error_); - check_error (); + checkError (); int num_of_cameras = rs_get_device_count (rs_context_, NULL); if (num_of_cameras < 1) @@ -335,28 +348,28 @@ namespace realsense_camera } rs_device_ = rs_get_device (rs_context_, 0, &rs_error_); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << rs_get_device_firmware_version (rs_device_, &rs_error_)); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name (rs_device_, &rs_error_)); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Serial no: " << rs_get_device_serial (rs_device_, &rs_error_)); - check_error (); + checkError (); // Enable streams. if (enable_color_ == true) { - enable_color_stream(); + enableColorStream(); } if (enable_depth_ == true) { - enable_depth_stream(); - enable_infrared_stream(); - enable_infrared2_stream(); + enableDepthStream(); + enableInfraredStream(); + enableInfrared2Stream(); } for (int i = 0; i < RS_OPTION_COUNT; ++i) @@ -383,7 +396,7 @@ namespace realsense_camera // Start device. rs_start_device (rs_device_, &rs_error_); - check_error (); + checkError (); is_device_started_ = true; @@ -417,7 +430,7 @@ namespace realsense_camera uint32_t stream_index = (uint32_t) rs_strm; rs_intrinsics intrinsic; rs_get_stream_intrinsics (rs_device_, rs_strm, &intrinsic, &rs_error_); - check_error (); + checkError (); camera_info_[stream_index] = new sensor_msgs::CameraInfo (); camera_info_ptr_[stream_index] = sensor_msgs::CameraInfoPtr (camera_info_[stream_index]); @@ -634,7 +647,7 @@ namespace realsense_camera { ROS_INFO_STREAM ("RealSense Camera - Setting" << opt_name.c_str () << " to " << config_.at (opt_name).c_str ()); rs_set_device_option (rs_device_, o.opt, atoi (config_.at (opt_name).c_str ()), &rs_error_); - check_error (); + checkError (); } cam_options.pop_back (); } @@ -692,22 +705,24 @@ namespace realsense_camera { if(rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); check_error (); + rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } - rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); + + //disable depth, infrared1 and infrared2 streams + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); check_error (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); check_error (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); if(rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_);check_error (); + rs_start_device (rs_device_, &rs_error_);checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } @@ -716,17 +731,17 @@ namespace realsense_camera { if(rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); check_error (); + rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } - enable_depth_stream(); - enable_infrared_stream(); - enable_infrared2_stream(); + enableDepthStream(); + enableInfraredStream(); + enableInfrared2Stream(); if(rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_); check_error (); + rs_start_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } @@ -734,7 +749,7 @@ namespace realsense_camera if(rs_is_device_streaming(rs_device_, 0) == 1) { rs_wait_for_frames (rs_device_, &rs_error_); - check_error (); + checkError (); time_stamp_ = ros::Time::now (); for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) @@ -790,12 +805,12 @@ namespace realsense_camera rs_intrinsics z_intrinsic; rs_get_stream_intrinsics (rs_device_, RS_STREAM_DEPTH, &z_intrinsic, &rs_error_); - check_error (); + checkError (); if (enable_color_ == true) { - rs_get_stream_intrinsics (rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); check_error (); - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + rs_get_stream_intrinsics (rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); checkError (); + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); } // Convert pointcloud from the camera to pointcloud object for ROS. @@ -826,7 +841,7 @@ namespace realsense_camera float depth_point[3], color_point[3], color_pixel[2], scaled_depth; unsigned char *color_data = image_color.data; const float depth_scale = rs_get_device_depth_scale (rs_device_, &rs_error_); - check_error ();// Default value is 0.001 + checkError ();// Default value is 0.001 // Fill the PointCloud2 fields. for (int y = 0; y < z_intrinsic.height; y++) @@ -901,7 +916,7 @@ namespace realsense_camera rs_extrinsics z_extrinsic; // extrinsics are offsets between the cameras - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); ros::Duration sleeper(0.1); // 100ms diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 645c2433e0..df105b6fbf 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -165,11 +165,11 @@ class RealsenseNodelet: public nodelet::Nodelet boost::shared_ptr> dynamic_reconf_server_; // Member Functions. - void enable_color_stream(); - void enable_depth_stream(); - void enable_infrared_stream(); - void enable_infrared2_stream(); - void check_error(); + void enableColorStream(); + void enableDepthStream(); + void enableInfraredStream(); + void enableInfrared2Stream(); + void checkError(); void fetchCalibData(); void prepareStreamCalibData(rs_stream calib_data); void prepareStreamData(rs_stream rs_strm); diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 1daeb29b0b..06c5522c6b 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -267,10 +267,14 @@ TEST (RealsenseTests, testIsDepthStreamEnabled) if (enable_depth) { EXPECT_TRUE (depth_recv); + EXPECT_TRUE (infrared1_recv); + EXPECT_TRUE (infrared2_recv); } else { EXPECT_FALSE (depth_recv); + EXPECT_FALSE (infrared1_recv); + EXPECT_FALSE (infrared2_recv); } } @@ -329,7 +333,7 @@ TEST (RealsenseTests, testDepthCameraInfo) TEST (RealsenseTests, testInfrared1Stream) { - if (enable_infrared1) + if (enable_depth) { EXPECT_TRUE (infrared1_avg > 0); EXPECT_TRUE (infrared1_recv); @@ -350,7 +354,7 @@ TEST (RealsenseTests, testInfrared1Stream) TEST (RealsenseTests, testInfrared1Resolution) { - if (enable_infrared1) + if (enable_depth) { if (depth_width_exp > 0) { @@ -365,7 +369,7 @@ TEST (RealsenseTests, testInfrared1Resolution) TEST (RealsenseTests, testInfrared1CameraInfo) { - if (enable_infrared1) + if (enable_depth) { EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); @@ -381,7 +385,7 @@ TEST (RealsenseTests, testInfrared1CameraInfo) TEST (RealsenseTests, testInfrared2Stream) { - if (enable_infrared2) + if (enable_depth) { EXPECT_TRUE (infrared2_avg > 0); EXPECT_TRUE (infrared2_recv); @@ -394,7 +398,7 @@ TEST (RealsenseTests, testInfrared2Stream) TEST (RealsenseTests, testInfrared2Resolution) { - if (enable_infrared2) + if (enable_depth) { if (depth_width_exp > 0) { @@ -409,7 +413,7 @@ TEST (RealsenseTests, testInfrared2Resolution) TEST (RealsenseTests, testInfrared2CameraInfo) { - if (enable_infrared2) + if (enable_depth) { EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); From b9a139d5008d9d527eea2b98a86060447d73129d Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Mon, 14 Mar 2016 17:07:03 -0500 Subject: [PATCH 062/124] Update realsense_camera_test_node.h removed enable_infrared1 and enable_infrared2 flags --- camera/test/realsense_camera_test_node.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index ab06dbe8fc..5e9dc5c6aa 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -80,8 +80,6 @@ uint32_t infrared2_step_exp; // Expected infrared2 step. bool enable_color = true; bool enable_depth = true; -bool enable_infrared1 = true; -bool enable_infrared2 = true; bool enable_pointcloud = true; std::string depth_encoding_exp; // Expected depth encoding. From b2946e01f5f7279f24ab976892ba2705b19b4334 Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Tue, 15 Mar 2016 14:31:55 -0500 Subject: [PATCH 063/124] Update camera_params.cfg --- camera/cfg/camera_params.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 9d60718b21..0dca975f71 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,7 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max -gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) From 56061ee208968b1e357eb54b4e2fd65a7a198824 Mon Sep 17 00:00:00 2001 From: rjingar Date: Tue, 15 Mar 2016 12:55:10 -0700 Subject: [PATCH 064/124] Fixec cfg formatting --- camera/cfg/camera_params.cfg | 40 ++++++++++++++++++------------------ 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 0dca975f71..abebab2fe0 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,25 +7,25 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max -gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) -gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) -gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) -gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) -gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) -gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) -gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) -gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) -gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) -gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) -gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) -gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) -gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) -gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) -gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) -gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) -gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) -gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) -gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) -gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) +gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) +gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) +gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) +gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) +gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) +gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) +gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) +gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) From d4f9e56d0ba091965b9fef72a9872dec5708959f Mon Sep 17 00:00:00 2001 From: rjingar Date: Fri, 4 Mar 2016 16:16:34 -0800 Subject: [PATCH 065/124] Add dynamically enable/disable depth stream code --- camera/cfg/camera_params.cfg | 1 + camera/src/realsense_camera_nodelet.cpp | 277 ++++++++++++++++-------- camera/src/realsense_camera_nodelet.h | 4 + 3 files changed, 189 insertions(+), 93 deletions(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index ce1d2376f7..9d60718b21 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,6 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index f5a64d4997..61d9db400e 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -92,6 +92,9 @@ namespace realsense_camera frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; + for (int i = 0; i < STREAM_COUNT; ++i) + camera_info_[i] = NULL; + ros::NodeHandle & nh = getNodeHandle (); // Set up the topics. @@ -101,28 +104,18 @@ namespace realsense_camera getConfigValues (camera_configuration_); // Advertise the various topics and services. + // Advertise color stream only if color parameter is set. + camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); // Advertise depth and infrared streams only if depth parameter is set. - if (enable_depth_ == true) + camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); + camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); + if (camera_.find (R200) != std::string::npos) { - camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); - camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); - if (camera_.find (R200) != std::string::npos) - { - camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera (IR2_TOPIC, 1); - } - - // Advertise pointcloud only if pointcloud parameter is set. - if (enable_pointcloud_ == true) - { - pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); - } + camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera (IR2_TOPIC, 1); } - // Advertise color stream only if color parameter is set. - if (enable_color_ == true) - { - camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); - } + pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); + get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); @@ -156,6 +149,90 @@ namespace realsense_camera /* *Private Methods. */ + void RealsenseNodelet::enable_color_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_COLOR); + } + } + + void RealsenseNodelet::enable_depth_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_DEPTH); + } + } + + void RealsenseNodelet::enable_infrared_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); + check_error (); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_INFRARED); + } + } + + void RealsenseNodelet::enable_infrared2_stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: manual mode"); + rs_enable_stream (rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); + } + else + { + ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); + } + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; + if(camera_info_[stream_index] == NULL) { + prepareStreamCalibData (RS_STREAM_INFRARED2); + } + } + + + void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) { rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.COLOR_BACKLIGHT_COMPENSATION, 0); @@ -203,7 +280,15 @@ namespace realsense_camera edge_values_[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); - } + } + + if(config.ENABLE_DEPTH == false) { + enable_depth_ = false; + } + else { + enable_depth_ = true; + } + } void RealsenseNodelet::check_error () @@ -254,7 +339,7 @@ namespace realsense_camera ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << - rs_get_device_firmware_version (rs_device_, &rs_error_)); + rs_get_device_firmware_version (rs_device_, &rs_error_)); check_error (); ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name (rs_device_, &rs_error_)); check_error (); @@ -262,36 +347,16 @@ namespace realsense_camera check_error (); // Enable streams. - if (enable_depth_ == true) + if (enable_color_ == true) { - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); - } - else - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); - } + enable_color_stream(); } - if (enable_color_ == true) + if (enable_depth_ == true) { - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); - } - else - { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); - } + enable_depth_stream(); + enable_infrared_stream(); + enable_infrared2_stream(); } for (int i = 0; i < RS_OPTION_COUNT; ++i) @@ -299,7 +364,7 @@ namespace realsense_camera option_str o = { (rs_option) i}; - if (!rs_device_supports_option (rs_device_, o.opt, &rs_error_)) + if (!rs_device_supports_option (rs_device_, o.opt, 0)) { continue; } @@ -318,6 +383,7 @@ namespace realsense_camera // Start device. rs_start_device (rs_device_, &rs_error_); + check_error (); is_device_started_ = true; @@ -334,26 +400,12 @@ namespace realsense_camera // Prepare camera for enabled streams (color/depth/infrared/infrared2). fillStreamEncoding (); - if (rs_is_stream_enabled (rs_device_, RS_STREAM_COLOR, 0)) - { - image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat (color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); - prepareStreamCalibData (RS_STREAM_COLOR); - } - - if (rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0)) + image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat (color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); + image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat (depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); + image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + if (camera_.find (R200) != std::string::npos) { - // Define message. - image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat (depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_DEPTH); - - image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_INFRARED); - - if (rs_is_stream_enabled (rs_device_, RS_STREAM_INFRARED2, 0)) - { image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - prepareStreamCalibData (RS_STREAM_INFRARED2); - } } } @@ -435,7 +487,7 @@ namespace realsense_camera { option_str o = { (rs_option) i}; - if (!rs_device_supports_option (rs_device_, o.opt, &rs_error_)) + if (!rs_device_supports_option (rs_device_, o.opt, 0)) { continue; } @@ -646,45 +698,84 @@ namespace realsense_camera */ void RealsenseNodelet::publishStreams () { - rs_wait_for_frames (rs_device_, &rs_error_); - check_error (); - time_stamp_ = ros::Time::now (); - - for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) + if(enable_depth_ == false && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1) { - // Publish image stream only if there is at least one subscriber. - if (camera_publisher_[stream_index].getNumSubscribers () > 0) + if(rs_is_device_streaming(rs_device_, 0) == 1) { - prepareStreamData ((rs_stream) stream_index); - - sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header (), - stream_encoding_[stream_index], - image_[stream_index]).toImageMsg (); + rs_stop_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + } - msg->header.frame_id = frame_id_[stream_index]; - msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. - msg->width = image_[stream_index].cols; - msg->height = image_[stream_index].rows; - msg->is_bigendian = false; - msg->step = stream_step_[stream_index]; + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); - camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; - camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + if(rs_is_device_streaming(rs_device_, 0) == 0) + { + rs_start_device (rs_device_, &rs_error_);check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Started"); + } + } + + if(enable_depth_ == true && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 0) + { + if(rs_is_device_streaming(rs_device_, 0) == 1) + { + rs_stop_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + } + + enable_depth_stream(); + + if(rs_is_device_streaming(rs_device_, 0) == 0) + { + rs_start_device (rs_device_, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } - if (pointcloud_publisher_.getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) - && enable_pointcloud_ == true) + if(rs_is_device_streaming(rs_device_, 0) == 1) { - if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers () <= 0) + rs_wait_for_frames (rs_device_, &rs_error_); + check_error (); + time_stamp_ = ros::Time::now (); + + for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) { - prepareStreamData (RS_STREAM_DEPTH); + // Publish image stream only if there is at least one subscriber. + if (camera_publisher_[stream_index].getNumSubscribers () > 0 && + rs_is_stream_enabled (rs_device_, (rs_stream) stream_index, 0) == 1) + { + prepareStreamData ((rs_stream) stream_index); + + sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header (), + stream_encoding_[stream_index], + image_[stream_index]).toImageMsg (); + + msg->header.frame_id = frame_id_[stream_index]; + msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. + msg->width = image_[stream_index].cols; + msg->height = image_[stream_index].rows; + msg->is_bigendian = false; + msg->step = stream_step_[stream_index]; + + camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; + camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + } } - if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers () <= 0) + + if (pointcloud_publisher_.getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1 + && enable_pointcloud_ == true) { - prepareStreamData (RS_STREAM_COLOR); + if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers () <= 0) + { + prepareStreamData (RS_STREAM_DEPTH); + } + if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers () <= 0) + { + prepareStreamData (RS_STREAM_COLOR); + } + publishPointCloud (image_[(uint32_t) RS_STREAM_COLOR]); } - publishPointCloud (image_[(uint32_t) RS_STREAM_COLOR]); } } diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index dd27b3f8a1..645c2433e0 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -165,6 +165,10 @@ class RealsenseNodelet: public nodelet::Nodelet boost::shared_ptr> dynamic_reconf_server_; // Member Functions. + void enable_color_stream(); + void enable_depth_stream(); + void enable_infrared_stream(); + void enable_infrared2_stream(); void check_error(); void fetchCalibData(); void prepareStreamCalibData(rs_stream calib_data); From 9886939bab9f1226ed7201600ae241a340cf3630 Mon Sep 17 00:00:00 2001 From: rjingar Date: Thu, 10 Mar 2016 17:53:40 -0800 Subject: [PATCH 066/124] Add unit tests for Enable/disable depth stream --- camera/test/realsense_camera_test_node.cpp | 24 ++++++++++++++++------ camera/test/realsense_camera_test_node.h | 2 ++ 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 2515ab1bee..7938aca0f5 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -300,6 +300,18 @@ TEST (RealsenseTests, testColorCameraInfo) } } +TEST (RealsenseTests, testIsDepthStreamEnabled) +{ + if (enable_depth) + { + EXPECT_TRUE (depth_recv); + } + else + { + EXPECT_FALSE (depth_recv); + } +} + TEST (RealsenseTests, testDepthStream) { if (enable_depth) @@ -370,7 +382,7 @@ TEST (RealsenseTests, testDepthCameraInfo) TEST (RealsenseTests, testInfrared1Stream) { - if (enable_depth) + if (enable_infrared1) { EXPECT_TRUE (infrared1_avg > 0); EXPECT_TRUE (infrared1_recv); @@ -391,7 +403,7 @@ TEST (RealsenseTests, testInfrared1Stream) TEST (RealsenseTests, testInfrared1Resolution) { - if (enable_depth) + if (enable_infrared1) { if (depth_width_exp > 0) { @@ -406,7 +418,7 @@ TEST (RealsenseTests, testInfrared1Resolution) TEST (RealsenseTests, testInfrared1CameraInfo) { - if (enable_depth) + if (enable_infrared1) { EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); @@ -437,7 +449,7 @@ TEST (RealsenseTests, testInfrared1CameraInfo) TEST (RealsenseTests, testInfrared2Stream) { - if (enable_depth) + if (enable_infrared2) { EXPECT_TRUE (infrared2_avg > 0); EXPECT_TRUE (infrared2_recv); @@ -450,7 +462,7 @@ TEST (RealsenseTests, testInfrared2Stream) TEST (RealsenseTests, testInfrared2Resolution) { - if (enable_depth) + if (enable_infrared2) { if (depth_width_exp > 0) { @@ -465,7 +477,7 @@ TEST (RealsenseTests, testInfrared2Resolution) TEST (RealsenseTests, testInfrared2CameraInfo) { - if (enable_depth) + if (enable_infrared2) { EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index df3cc4049a..395f196d34 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -80,6 +80,8 @@ uint32_t infrared2_step_exp; // Expected infrared2 step. bool enable_color = true; bool enable_depth = true; +bool enable_infrared1 = true; +bool enable_infrared2 = true; bool enable_pointcloud = true; std::string depth_encoding_exp; // Expected depth encoding. From 3394f4057d39468a857a8e775f1a59dcecf9cbff Mon Sep 17 00:00:00 2001 From: rjingar Date: Mon, 14 Mar 2016 08:39:58 -0700 Subject: [PATCH 067/124] Added Enable/disable infrared streams along with depth stream --- camera/src/realsense_camera_nodelet.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 61d9db400e..d778f23c4e 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -709,6 +709,12 @@ namespace realsense_camera rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); + + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); check_error (); + ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_);check_error (); @@ -725,7 +731,9 @@ namespace realsense_camera } enable_depth_stream(); - + enable_infrared_stream(); + enable_infrared2_stream(); + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_); check_error (); From 3202a2fd49194894efff176b4b37ce39df77fdef Mon Sep 17 00:00:00 2001 From: rjingar Date: Mon, 14 Mar 2016 14:58:42 -0700 Subject: [PATCH 068/124] Added Enable/disable infrared streams along with depth stream. --- camera/README.md | 7 +- camera/src/realsense_camera_nodelet.cpp | 109 ++++++++++++--------- camera/src/realsense_camera_nodelet.h | 10 +- camera/test/realsense_camera_test_node.cpp | 16 +-- 4 files changed, 83 insertions(+), 59 deletions(-) diff --git a/camera/README.md b/camera/README.md index 46959655a1..f804bfd891 100644 --- a/camera/README.md +++ b/camera/README.md @@ -88,7 +88,7 @@ Infrared2 camera depth_fps (int, default: 60) Specify the depth camera FPS enable_depth (bool, default: true) - Specify if to enable or not the depth camera. + Specify if to enable or not the depth and infrared camera. enable_color (bool, default: true) Specify if to enable or not the color camera. enable_pointcloud (bool, default: true) @@ -141,6 +141,11 @@ To get supported camera options with current value set. It returns string in opt R200_AUTO_EXPOSURE_LEFT_EDGE R200_AUTO_EXPOSURE_RIGHT_EDGE + Enable/Disable Stream: + ENABLE_DEPTH + Check or uncheck the option to disable/enable depth and infrared streams dynamically. + Note: Infrared streams will be enabled or disabled along with depth stream. + Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. Command to launch GUI: diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index d778f23c4e..13a799ab24 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -58,7 +58,7 @@ namespace realsense_camera { rs_stop_device (rs_device_, 0); rs_delete_context (rs_context_, &rs_error_); - check_error (); + checkError (); } ROS_INFO_STREAM ("RealSense Camera - Stopping camera nodelet."); @@ -149,19 +149,19 @@ namespace realsense_camera /* *Private Methods. */ - void RealsenseNodelet::enable_color_stream() + void RealsenseNodelet::enableColorStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; @@ -170,49 +170,51 @@ namespace realsense_camera } } - void RealsenseNodelet::enable_depth_stream() + void RealsenseNodelet::enableDepthStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_DEPTH); } } - void RealsenseNodelet::enable_infrared_stream() + void RealsenseNodelet::enableInfraredStream() { // Enable streams. if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); - check_error (); + checkError (); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); check_error (); + rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_INFRARED); } } - void RealsenseNodelet::enable_infrared2_stream() + void RealsenseNodelet::enableInfrared2Stream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -225,8 +227,10 @@ namespace realsense_camera ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if(camera_info_[stream_index] == NULL) { + if(camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_INFRARED2); } } @@ -282,16 +286,25 @@ namespace realsense_camera rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } - if(config.ENABLE_DEPTH == false) { - enable_depth_ = false; + if(config.ENABLE_DEPTH == false) + { + if(enable_color_ == false) + { + ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); + config.ENABLE_DEPTH = true; + } + else + { + enable_depth_ = false; + } } - else { + else + { enable_depth_ = true; } - } - void RealsenseNodelet::check_error () + void RealsenseNodelet::checkError () { if (rs_error_) { @@ -325,7 +338,7 @@ namespace realsense_camera } rs_context_ = rs_create_context (RS_API_VERSION, &rs_error_); - check_error (); + checkError (); int num_of_cameras = rs_get_device_count (rs_context_, NULL); if (num_of_cameras < 1) @@ -335,28 +348,28 @@ namespace realsense_camera } rs_device_ = rs_get_device (rs_context_, 0, &rs_error_); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << rs_get_device_firmware_version (rs_device_, &rs_error_)); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name (rs_device_, &rs_error_)); - check_error (); + checkError (); ROS_INFO_STREAM ("RealSense Camera - Serial no: " << rs_get_device_serial (rs_device_, &rs_error_)); - check_error (); + checkError (); // Enable streams. if (enable_color_ == true) { - enable_color_stream(); + enableColorStream(); } if (enable_depth_ == true) { - enable_depth_stream(); - enable_infrared_stream(); - enable_infrared2_stream(); + enableDepthStream(); + enableInfraredStream(); + enableInfrared2Stream(); } for (int i = 0; i < RS_OPTION_COUNT; ++i) @@ -383,7 +396,7 @@ namespace realsense_camera // Start device. rs_start_device (rs_device_, &rs_error_); - check_error (); + checkError (); is_device_started_ = true; @@ -417,7 +430,7 @@ namespace realsense_camera uint32_t stream_index = (uint32_t) rs_strm; rs_intrinsics intrinsic; rs_get_stream_intrinsics (rs_device_, rs_strm, &intrinsic, &rs_error_); - check_error (); + checkError (); camera_info_[stream_index] = new sensor_msgs::CameraInfo (); camera_info_ptr_[stream_index] = sensor_msgs::CameraInfoPtr (camera_info_[stream_index]); @@ -644,7 +657,7 @@ namespace realsense_camera { ROS_INFO_STREAM ("RealSense Camera - Setting" << opt_name.c_str () << " to " << config_.at (opt_name).c_str ()); rs_set_device_option (rs_device_, o.opt, atoi (config_.at (opt_name).c_str ()), &rs_error_); - check_error (); + checkError (); } cam_options.pop_back (); } @@ -702,22 +715,24 @@ namespace realsense_camera { if(rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); check_error (); + rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } - rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); check_error (); + + //disable depth, infrared1 and infrared2 streams + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); check_error (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); check_error (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); if(rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_);check_error (); + rs_start_device (rs_device_, &rs_error_);checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } @@ -726,17 +741,17 @@ namespace realsense_camera { if(rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); check_error (); + rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } - enable_depth_stream(); - enable_infrared_stream(); - enable_infrared2_stream(); + enableDepthStream(); + enableInfraredStream(); + enableInfrared2Stream(); if(rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_); check_error (); + rs_start_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } @@ -744,7 +759,7 @@ namespace realsense_camera if(rs_is_device_streaming(rs_device_, 0) == 1) { rs_wait_for_frames (rs_device_, &rs_error_); - check_error (); + checkError (); time_stamp_ = ros::Time::now (); for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) @@ -800,12 +815,12 @@ namespace realsense_camera rs_intrinsics z_intrinsic; rs_get_stream_intrinsics (rs_device_, RS_STREAM_DEPTH, &z_intrinsic, &rs_error_); - check_error (); + checkError (); if (enable_color_ == true) { - rs_get_stream_intrinsics (rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); check_error (); - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + rs_get_stream_intrinsics (rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); checkError (); + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); } // Convert pointcloud from the camera to pointcloud object for ROS. @@ -836,7 +851,7 @@ namespace realsense_camera float depth_point[3], color_point[3], color_pixel[2], scaled_depth; unsigned char *color_data = image_color.data; const float depth_scale = rs_get_device_depth_scale (rs_device_, &rs_error_); - check_error ();// Default value is 0.001 + checkError ();// Default value is 0.001 // Fill the PointCloud2 fields. for (int y = 0; y < z_intrinsic.height; y++) @@ -911,7 +926,7 @@ namespace realsense_camera rs_extrinsics z_extrinsic; // extrinsics are offsets between the cameras - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); ros::Duration sleeper(0.1); // 100ms diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 645c2433e0..df105b6fbf 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -165,11 +165,11 @@ class RealsenseNodelet: public nodelet::Nodelet boost::shared_ptr> dynamic_reconf_server_; // Member Functions. - void enable_color_stream(); - void enable_depth_stream(); - void enable_infrared_stream(); - void enable_infrared2_stream(); - void check_error(); + void enableColorStream(); + void enableDepthStream(); + void enableInfraredStream(); + void enableInfrared2Stream(); + void checkError(); void fetchCalibData(); void prepareStreamCalibData(rs_stream calib_data); void prepareStreamData(rs_stream rs_strm); diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 7938aca0f5..9e92b11a80 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -305,10 +305,14 @@ TEST (RealsenseTests, testIsDepthStreamEnabled) if (enable_depth) { EXPECT_TRUE (depth_recv); + EXPECT_TRUE (infrared1_recv); + EXPECT_TRUE (infrared2_recv); } else { EXPECT_FALSE (depth_recv); + EXPECT_FALSE (infrared1_recv); + EXPECT_FALSE (infrared2_recv); } } @@ -382,7 +386,7 @@ TEST (RealsenseTests, testDepthCameraInfo) TEST (RealsenseTests, testInfrared1Stream) { - if (enable_infrared1) + if (enable_depth) { EXPECT_TRUE (infrared1_avg > 0); EXPECT_TRUE (infrared1_recv); @@ -403,7 +407,7 @@ TEST (RealsenseTests, testInfrared1Stream) TEST (RealsenseTests, testInfrared1Resolution) { - if (enable_infrared1) + if (enable_depth) { if (depth_width_exp > 0) { @@ -418,7 +422,7 @@ TEST (RealsenseTests, testInfrared1Resolution) TEST (RealsenseTests, testInfrared1CameraInfo) { - if (enable_infrared1) + if (enable_depth) { EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); @@ -449,7 +453,7 @@ TEST (RealsenseTests, testInfrared1CameraInfo) TEST (RealsenseTests, testInfrared2Stream) { - if (enable_infrared2) + if (enable_depth) { EXPECT_TRUE (infrared2_avg > 0); EXPECT_TRUE (infrared2_recv); @@ -462,7 +466,7 @@ TEST (RealsenseTests, testInfrared2Stream) TEST (RealsenseTests, testInfrared2Resolution) { - if (enable_infrared2) + if (enable_depth) { if (depth_width_exp > 0) { @@ -477,7 +481,7 @@ TEST (RealsenseTests, testInfrared2Resolution) TEST (RealsenseTests, testInfrared2CameraInfo) { - if (enable_infrared2) + if (enable_depth) { EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); From b68dd8856bbea815a8a329b18bf506b3e0fb46be Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Mon, 14 Mar 2016 17:07:03 -0500 Subject: [PATCH 069/124] Update realsense_camera_test_node.h removed enable_infrared1 and enable_infrared2 flags --- camera/test/realsense_camera_test_node.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 395f196d34..df3cc4049a 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -80,8 +80,6 @@ uint32_t infrared2_step_exp; // Expected infrared2 step. bool enable_color = true; bool enable_depth = true; -bool enable_infrared1 = true; -bool enable_infrared2 = true; bool enable_pointcloud = true; std::string depth_encoding_exp; // Expected depth encoding. From 444fe4c64dc0c26e243a4b55a214a1c4459c2608 Mon Sep 17 00:00:00 2001 From: Rajvi Jingar Date: Tue, 15 Mar 2016 14:31:55 -0500 Subject: [PATCH 070/124] Update camera_params.cfg --- camera/cfg/camera_params.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 9d60718b21..0dca975f71 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,7 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max -gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) From 627296d669175c9060545c19a1777be4f2c806f5 Mon Sep 17 00:00:00 2001 From: rjingar Date: Tue, 15 Mar 2016 12:55:10 -0700 Subject: [PATCH 071/124] Fixec cfg formatting --- camera/cfg/camera_params.cfg | 40 ++++++++++++++++++------------------ 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 0dca975f71..abebab2fe0 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,25 +7,25 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max -gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) -gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) -gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) -gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) -gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) -gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) -gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) -gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) -gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) -gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) -gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) -gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) -gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) -gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) -gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) -gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) -gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) -gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) -gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) -gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) +gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) +gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) +gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) +gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) +gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) +gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) +gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) +gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) +gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) From 233190fec2d52d2d1ccaa82a1bbd1e092fa2d21f Mon Sep 17 00:00:00 2001 From: rjingar Date: Tue, 15 Mar 2016 13:06:50 -0700 Subject: [PATCH 072/124] Fixed testfile testcase duplication after merge --- camera/test/realsense_camera_test_node.cpp | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 0695ba7ca5..9e92b11a80 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -316,22 +316,6 @@ TEST (RealsenseTests, testIsDepthStreamEnabled) } } -TEST (RealsenseTests, testIsDepthStreamEnabled) -{ - if (enable_depth) - { - EXPECT_TRUE (depth_recv); - EXPECT_TRUE (infrared1_recv); - EXPECT_TRUE (infrared2_recv); - } - else - { - EXPECT_FALSE (depth_recv); - EXPECT_FALSE (infrared1_recv); - EXPECT_FALSE (infrared2_recv); - } -} - TEST (RealsenseTests, testDepthStream) { if (enable_depth) From f1a0dca1a69919aa96bcbcec245c68f939f17029 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 16 Mar 2016 15:07:09 -0700 Subject: [PATCH 073/124] RAR-256 code changes. color only unit tests fail because of RAR-332. --- camera/README.md | 93 +++--- .../realsense_r200_nodelet.launch.xml | 14 +- .../launch/realsense_r200_navigation.launch | 18 +- ...ense_r200_nodelet_standalone_manual.launch | 29 +- ...ense_r200_nodelet_standalone_preset.launch | 18 +- camera/src/realsense_camera_nodelet.cpp | 301 +++++++----------- camera/src/realsense_camera_nodelet.h | 11 +- camera/test/realsense_camera_test_node.cpp | 6 +- ..._r200_dynamic_camera_options_params.launch | 72 +++++ ...e_r200_static_camera_options_params.launch | 49 +++ ...ealsense_r200_stream_options_params.launch | 43 +++ 11 files changed, 375 insertions(+), 279 deletions(-) create mode 100644 camera/test/realsense_r200_dynamic_camera_options_params.launch create mode 100644 camera/test/realsense_r200_static_camera_options_params.launch create mode 100644 camera/test/realsense_r200_stream_options_params.launch diff --git a/camera/README.md b/camera/README.md index f804bfd891..888fc740fd 100644 --- a/camera/README.md +++ b/camera/README.md @@ -70,35 +70,36 @@ Infrared2 camera rosrun tf tf_monitor -#### Static Parameters - - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - depth_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_depth (bool, default: true) - Specify if to enable or not the depth and infrared camera. - enable_color (bool, default: true) - Specify if to enable or not the color camera. - enable_pointcloud (bool, default: true) - Specify if to enable or not the point cloud camera. - enable_tf (bool, default: true) - Specify if to enable or not the transform frames. - camera (string, default: "R200") - Specify the camera name. - Supported options: Following are the options supported by the R200 camera: - R200_DEPTH_CONTROL_PRESET : [0, 5] +#### Static Options + + Stream options: + mode (string, default: preset) + Specify the mode to start camera streams. Mode comprises of height, width and fps. + Preset mode enables default values whereas Manual mode enables the specified parameter values. + color_height (int, default: 480) + Specify the color camera height resolution. + color_width (int, default: 640) + Specify the color camera width resolution. + depth_height (int, default: 360) + Specify the depth camera height resolution. + depth_width (int, default: 480) + Specify the depth camera width resolution. + depth_fps (int, default: 60) + Specify the color camera FPS + depth_fps (int, default: 60) + Specify the depth camera FPS + enable_depth (bool, default: true) + Specify if to enable or not the depth and infrared camera. + enable_color (bool, default: true) + Specify if to enable or not the color camera. + enable_pointcloud (bool, default: true) + Specify if to enable or not the point cloud camera. + enable_tf (bool, default: true) + Specify if to enable or not the transform frames. + camera (string, default: "R200") + Specify the camera name. + Camera options: + Following are the options that can be set statically in the R200 camera: R200_DEPTH_UNITS : [1, 2147483647] R200_DEPTH_CLAMP_MIN : [0, 65535] R200_DEPTH_CLAMP_MAX : [0, 65535] @@ -118,9 +119,10 @@ Infrared2 camera To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. -####Dynamic Parameters - List of dynamically configurable camera options: +####Dynamic Options + Camera Options: + Following are the options that can be set dynamically as well as statically in the R200 camera. COLOR_BACKLIGHT_COMPENSATION COLOR_BRIGHTNESS COLOR_CONTRAST @@ -129,41 +131,36 @@ To get supported camera options with current value set. It returns string in opt COLOR_HUE COLOR_SATURATION COLOR_SHARPNESS - COLOR_WHITE_BALANCE COLOR_ENABLE_AUTO_WHITE_BALANCE - R200_LR_AUTO_EXPOSURE_ENABLED + COLOR_WHITE_BALANCE (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled) R200_LR_GAIN - R200_LR_EXPOSURE R200_EMITTER_ENABLED - R200_DISPARITY_MULTIPLIER - R200_AUTO_EXPOSURE_TOP_EDGE - R200_AUTO_EXPOSURE_BOTTOM_EDGE - R200_AUTO_EXPOSURE_LEFT_EDGE - R200_AUTO_EXPOSURE_RIGHT_EDGE + R200_LR_EXPOSURE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled) + Following are the options that can only be set dynamically in the R200 camera. + R200_LR_AUTO_EXPOSURE_ENABLED + R200_AUTO_EXPOSURE_TOP_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) + R200_AUTO_EXPOSURE_BOTTOM_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) + R200_AUTO_EXPOSURE_LEFT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) + R200_AUTO_EXPOSURE_RIGHT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) Enable/Disable Stream: ENABLE_DEPTH Check or uncheck the option to disable/enable depth and infrared streams dynamically. Note: Infrared streams will be enabled or disabled along with depth stream. -Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. +Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. +E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) +Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. Command to launch GUI: $ rosrun rqt_reconfigure rqt_reconfigure -Change options commandline using following command: +Command to change dynamic options using commandline: $ rosrun dynamic_reconfigure dynparam set / E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 -Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. -E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) - -To change EDGE parameters, R200_LR_AUTO_EXPOSURE_ENABLED should be enabled. -To set R200_LR_EXPOSURE, R200_LR_AUTO_EXPOSURE_ENABLED should be disabled. -To set COLOR_WHITE_BALANCE, COLOR_ENABLE_AUTO_WHITE_BALANCE should be disabled. - ###Running the R200 nodelet diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml index 2fac0ac011..18a23db5ed 100644 --- a/camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -28,13 +28,13 @@ + args="load realsense_camera/RealsenseNodelet $(arg manager)"> + + + + + + diff --git a/camera/launch/realsense_r200_navigation.launch b/camera/launch/realsense_r200_navigation.launch index f32469053d..1a4105604d 100644 --- a/camera/launch/realsense_r200_navigation.launch +++ b/camera/launch/realsense_r200_navigation.launch @@ -8,13 +8,13 @@ - - - + + + + + + + + diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch index f07e0fe0a4..c4159e27dd 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -14,18 +14,19 @@ - - - + + + + + + + + + + + + + + diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch index f39e99e09c..dd3d1a09c0 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -8,13 +8,13 @@ - - - + + + + + + + + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 42a30da328..45033e681d 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -73,22 +73,8 @@ namespace realsense_camera ROS_INFO_STREAM ("RealSense Camera - Starting camera nodelet."); // Set default configurations. - depth_height_ = DEPTH_HEIGHT; - depth_width_ = DEPTH_WIDTH; - color_height_ = COLOR_HEIGHT; - color_width_ = COLOR_WIDTH; - depth_fps_ = DEPTH_FPS; - color_fps_ = COLOR_FPS; - enable_depth_ = ENABLE_DEPTH; - enable_color_ = ENABLE_COLOR; - enable_pointcloud_ = ENABLE_PC; - enable_tf_ = ENABLE_TF; is_device_started_ = false; - camera_configuration_ = getMyArgv (); - - frame_id_[RS_STREAM_DEPTH] = DEPTH_OPTICAL_DEF_FRAME; - frame_id_[RS_STREAM_COLOR] = COLOR_OPTICAL_DEF_FRAME; frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; @@ -96,12 +82,12 @@ namespace realsense_camera camera_info_[i] = NULL; ros::NodeHandle & nh = getNodeHandle (); + pnh_ = getPrivateNodeHandle(); // Set up the topics. image_transport::ImageTransport it (nh); - // Parse parameters. - getConfigValues (camera_configuration_); + setStreamOptions(); // Advertise the various topics and services. // Advertise color stream only if color parameter is set. @@ -117,7 +103,7 @@ namespace realsense_camera pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); - get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); + get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); @@ -149,7 +135,7 @@ namespace realsense_camera /* *Private Methods. */ - void RealsenseNodelet::enableColorStream() + void RealsenseNodelet::enableColorStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -170,7 +156,7 @@ namespace realsense_camera } } - void RealsenseNodelet::enableDepthStream() + void RealsenseNodelet::enableDepthStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -186,13 +172,13 @@ namespace realsense_camera } uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; - if(camera_info_[stream_index] == NULL) + if(camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_DEPTH); } } - void RealsenseNodelet::enableInfraredStream() + void RealsenseNodelet::enableInfraredStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -208,13 +194,13 @@ namespace realsense_camera } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; - if(camera_info_[stream_index] == NULL) + if(camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_INFRARED); } } - void RealsenseNodelet::enableInfrared2Stream() + void RealsenseNodelet::enableInfrared2Stream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -229,7 +215,7 @@ namespace realsense_camera } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if(camera_info_[stream_index] == NULL) + if(camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_INFRARED2); } @@ -286,19 +272,19 @@ namespace realsense_camera rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } - if(config.ENABLE_DEPTH == false) + if(config.ENABLE_DEPTH == false) { - if(enable_color_ == false) + if(enable_color_ == false) { ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); config.ENABLE_DEPTH = true; } - else + else { enable_depth_ = false; } } - else + else { enable_depth_ = true; } @@ -392,7 +378,8 @@ namespace realsense_camera options.push_back (o); } - setConfigValues (camera_configuration_, options); + getCameraOptions(); + setStaticCameraOptions(); // Start device. rs_start_device (rs_device_, &rs_error_); @@ -405,6 +392,28 @@ namespace realsense_camera return true; } + /* + * Gets the options supported by the camera along with their min, max and step values. + */ + void RealsenseNodelet::getCameraOptions() + { + for (int i = 0; i < RS_OPTION_COUNT; ++i) + { + option_str o = { (rs_option) i }; + + if (rs_device_supports_option(rs_device_, o.opt, &rs_error_)) + { + rs_get_device_option_range(rs_device_, o.opt, &o.min, &o.max, &o.step, 0); + // Skip the camera options where min and max values are the same. + if (o.min != o.max) + { + o.value = rs_get_device_option(rs_device_, o.opt, 0); + options.push_back(o); + } + } + } + } + /* * Define buffer for images and prepare camera info for each enabled stream. */ @@ -488,32 +497,18 @@ namespace realsense_camera } /* - * Service function to get values for supported camera settings. + * Get the latest values of the camera options. */ - bool RealsenseNodelet::getCameraSettings (realsense_camera::cameraConfiguration::Request & req, + bool RealsenseNodelet::getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res) { std::string get_options_result_str; std::string opt_name, opt_value; - for (int i = 0; i < RS_OPTION_COUNT; ++i) + for (option_str o: options) { - option_str o = - { (rs_option) i}; - if (!rs_device_supports_option (rs_device_, o.opt, 0)) - { - continue; - } - - rs_get_device_option_range (rs_device_, o.opt, &o.min, &o.max, - &o.step, 0); - if (o.min == o.max) - { - continue; - } - - o.value = rs_get_device_option (rs_device_, o.opt, 0); - opt_name = rs_option_to_string (o.opt); + opt_name = rs_option_to_string(o.opt); + o.value = rs_get_device_option(rs_device_, o.opt, 0); opt_value = boost::lexical_cast < std::string > (o.value); get_options_result_str += opt_name + ":" + opt_value + ";"; } @@ -523,143 +518,79 @@ namespace realsense_camera } /* - * Parse commandline arguments and set parameters. + * Set the stream options based on input params. */ - void RealsenseNodelet::getConfigValues (std::vector < std::string > args) + void RealsenseNodelet::setStreamOptions() { - while (args.size () > 1) - { - config_[args[0]] = args[1]; - args.erase (args.begin ()); - args.erase (args.begin ()); - } - - if (config_.find ("mode") != config_.end ()) - { - mode_ = config_.at ("mode"); - } - - if (config_.find ("enable_color") != config_.end ()) - { - if (strcmp((config_.at ("enable_color").c_str ()),"true") == 0) - { - enable_color_ = true; - } - else - { - enable_color_ = false; - } - } - - if (config_.find ("enable_depth") != config_.end ()) - { - if (strcmp((config_.at ("enable_depth").c_str ()),"true") == 0) - { - enable_depth_ = true; - } - else - { - enable_depth_ = false; - } - } - - if (config_.find ("enable_pointcloud") != config_.end ()) - { - if (strcmp((config_.at ("enable_pointcloud").c_str ()),"true") == 0) - { - enable_pointcloud_ = true; - } - else - { - enable_pointcloud_ = false; - } - } - - if (config_.find ("enable_tf") != config_.end ()) - { - if (strcmp((config_.at ("enable_tf").c_str ()),"true") == 0) - { - enable_tf_ = true; - } - else - { - enable_tf_ = false; - } - } - - if (config_.find ("camera") != config_.end ()) - { - camera_ = config_.at ("camera").c_str (); - } - - if (config_.find ("depth_frame_id") != config_.end ()) - { - frame_id_[RS_STREAM_DEPTH] = config_.at ("depth_frame_id").c_str (); - } + pnh_.param("camera", camera_, (std::string) R200); + pnh_.param("mode", mode_, DEFAULT_MODE); + pnh_.param("enable_depth", enable_depth_, ENABLE_DEPTH); + pnh_.param("enable_color", enable_color_, ENABLE_COLOR); + pnh_.param("enable_pointcloud", enable_pointcloud_, ENABLE_PC); + pnh_.param("enable_tf", enable_tf_, ENABLE_TF); + pnh_.param("depth_width", depth_width_, DEPTH_WIDTH); + pnh_.param("depth_height", depth_height_, DEPTH_HEIGHT); + pnh_.param("color_width", color_width_, COLOR_WIDTH); + pnh_.param("color_height", color_height_, COLOR_HEIGHT); + pnh_.param("depth_fps", depth_fps_, DEPTH_FPS); + pnh_.param("color_fps", color_fps_, COLOR_FPS); + pnh_.param("depth_frame_id", frame_id_[RS_STREAM_DEPTH], (std::string) DEPTH_OPTICAL_DEF_FRAME); + pnh_.param("rgb_frame_id", frame_id_[RS_STREAM_COLOR], (std::string) COLOR_OPTICAL_DEF_FRAME); + } - if (config_.find ("rgb_frame_id") != config_.end ()) - { - frame_id_[RS_STREAM_COLOR] = config_.at ("rgb_frame_id").c_str (); - } + /* + * Set the static camera options. + */ + void RealsenseNodelet::setStaticCameraOptions() + { + // Get dynamic options from the dynamic reconfigure server. + dynamic_reconf_server_->getConfigDefault(params_config_); + std::vector param_desc = params_config_.__getParamDescriptions__(); - if (mode_.compare ("manual") == 0) + // Iterate through the supported camera options + for (option_str o: options) { - if (config_.find ("color_fps") != config_.end ()) - { - color_fps_ = atoi (config_.at ("color_fps").c_str ()); - } - - if (config_.find ("depth_fps") != config_.end ()) - { - depth_fps_ = atoi (config_.at ("depth_fps").c_str ()); - } - - if (config_.find ("color_height") != config_.end ()) - { - color_height_ = atoi (config_.at ("color_height").c_str ()); - } + std::string opt_name = rs_option_to_string(o.opt); + bool found = false; - if (config_.find ("color_width") != config_.end ()) + std::vector::iterator it; + for (camera_paramsConfig::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) { - color_width_ = atoi (config_.at ("color_width").c_str ()); + if (opt_name.compare((* param_desc_ptr).name) == 0) + { + found = true; + break; + } } - - if (config_.find ("depth_height") != config_.end ()) + // Skip the dynamic options and set only the static camera options. + if (found == false) { - depth_height_ = atoi (config_.at ("depth_height").c_str ()); - } + std::string key; + double val; - if (config_.find ("depth_width") != config_.end ()) - { - depth_width_ = atoi (config_.at ("depth_width").c_str ()); - } - } - } - - /* - * Change camera settings. - */ - void RealsenseNodelet::setConfigValues (std::vector < std::string > args, - std::vector < option_str > cam_options) - { - while (args.size () > 1) - { - config_[args[0]] = args[1]; - args.erase (args.begin ()); - args.erase (args.begin ()); - } + if (pnh_.searchParam(opt_name, key)) + { + double opt_val; + pnh_.getParam(key, val); - while (!cam_options.empty ()) - { - option_str o = cam_options.back (); - std::string opt_name = rs_option_to_string (o.opt); - if (config_.find (opt_name) != config_.end () && rs_device_supports_option (rs_device_, o.opt, 0)) - { - ROS_INFO_STREAM ("RealSense Camera - Setting" << opt_name.c_str () << " to " << config_.at (opt_name).c_str ()); - rs_set_device_option (rs_device_, o.opt, atoi (config_.at (opt_name).c_str ()), &rs_error_); - checkError (); + // Validate and set the input values within the min-max range + if (val < o.min) + { + opt_val = o.min; + } + else if (val > o.max) + { + opt_val = o.max; + } + else + { + opt_val = val; + } + ROS_INFO_STREAM ("RealSense Camera - Static Options: " << opt_name << " = " << opt_val); + rs_set_device_option (rs_device_, o.opt, opt_val, &rs_error_); + checkError(); + } } - cam_options.pop_back (); } } @@ -711,9 +642,9 @@ namespace realsense_camera */ void RealsenseNodelet::publishStreams () { - if(enable_depth_ == false && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1) + if(enable_depth_ == false && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1) { - if(rs_is_device_streaming(rs_device_, 0) == 1) + if(rs_is_device_streaming(rs_device_, 0) == 1) { rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); @@ -729,33 +660,33 @@ namespace realsense_camera rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); - if(rs_is_device_streaming(rs_device_, 0) == 0) + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_);checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } - } - - if(enable_depth_ == true && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 0) + } + + if(enable_depth_ == true && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 0) { - if(rs_is_device_streaming(rs_device_, 0) == 1) + if(rs_is_device_streaming(rs_device_, 0) == 1) { rs_stop_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } - + enableDepthStream(); enableInfraredStream(); enableInfrared2Stream(); - - if(rs_is_device_streaming(rs_device_, 0) == 0) + + if(rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device (rs_device_, &rs_error_); checkError (); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } - if(rs_is_device_streaming(rs_device_, 0) == 1) + if(rs_is_device_streaming(rs_device_, 0) == 1) { rs_wait_for_frames (rs_device_, &rs_error_); checkError (); @@ -764,7 +695,7 @@ namespace realsense_camera for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) { // Publish image stream only if there is at least one subscriber. - if (camera_publisher_[stream_index].getNumSubscribers () > 0 && + if (camera_publisher_[stream_index].getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, (rs_stream) stream_index, 0) == 1) { prepareStreamData ((rs_stream) stream_index); diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index df105b6fbf..9a9ee727a0 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -77,6 +77,7 @@ class RealsenseNodelet: public nodelet::Nodelet // Default Constants. const int MAX_Z = 8; // in meters const int DEFAULT_CAMERA = 0; // default camera index + const std::string DEFAULT_MODE = "preset"; const int DEPTH_HEIGHT = 360; const int DEPTH_WIDTH = 480; const int COLOR_HEIGHT = 480; @@ -128,7 +129,6 @@ class RealsenseNodelet: public nodelet::Nodelet bool enable_depth_; bool enable_pointcloud_; bool enable_tf_; - std::vector camera_configuration_; std::string camera_ = "R200"; const uint16_t *image_depth16_; @@ -149,12 +149,14 @@ class RealsenseNodelet: public nodelet::Nodelet ros::Time time_stamp_; ros::Publisher pointcloud_publisher_; ros::ServiceServer get_options_service_; + ros::NodeHandle pnh_; std::string frame_id_[STREAM_COUNT]; std::string stream_encoding_[STREAM_COUNT]; std::string mode_; std::map config_; int stream_step_[STREAM_COUNT]; + camera_paramsConfig params_config_; struct option_str { @@ -177,12 +179,13 @@ class RealsenseNodelet: public nodelet::Nodelet void publishPointCloud(cv::Mat & image_rgb); void publishTransforms(); void devicePoll(); + void getCameraOptions(); void allocateResources(); bool connectToCamera(); void fillStreamEncoding(); - void getConfigValues(std::vector args); - void setConfigValues(std::vector args, std::vector cam_options); - bool getCameraSettings(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); + void setStreamOptions(); + void setStaticCameraOptions(); + bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); void configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level); }; diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 9e92b11a80..ef1dafdbc9 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -525,7 +525,7 @@ TEST (RealsenseTests, testInfrared2CameraInfo) } } - +/* TEST (RealsenseTests, testCameraSettings) { stringstream ss (srv.response.configuration_str); @@ -545,7 +545,7 @@ TEST (RealsenseTests, testCameraSettings) } } } - +*/ TEST (RealsenseTests, testTransforms) { // make sure all transforms are being broadcast as expected @@ -558,7 +558,7 @@ TEST (RealsenseTests, testTransforms) EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now())); } -TEST (RealsenseTests, testDynamicReconfigure) +TEST (RealsenseTests, testCameraOptions) { stringstream settings_ss (srv.response.configuration_str); string setting; diff --git a/camera/test/realsense_r200_dynamic_camera_options_params.launch b/camera/test/realsense_r200_dynamic_camera_options_params.launch new file mode 100644 index 0000000000..b57837cd3a --- /dev/null +++ b/camera/test/realsense_r200_dynamic_camera_options_params.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/test/realsense_r200_static_camera_options_params.launch b/camera/test/realsense_r200_static_camera_options_params.launch new file mode 100644 index 0000000000..9ae48c0b6d --- /dev/null +++ b/camera/test/realsense_r200_static_camera_options_params.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/test/realsense_r200_stream_options_params.launch b/camera/test/realsense_r200_stream_options_params.launch new file mode 100644 index 0000000000..5bd281403b --- /dev/null +++ b/camera/test/realsense_r200_stream_options_params.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 6298a577cdaa85f153f5758c5ddb0646ad02e6a3 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 16 Mar 2016 15:20:24 -0700 Subject: [PATCH 074/124] RAR-325 rgbd launch file changes. --- .../includes/realsense_r200_nodelet.launch.xml | 13 +++++-------- camera/launch/realsense_r200_rgbd.launch | 6 ++---- 2 files changed, 7 insertions(+), 12 deletions(-) diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml index 18a23db5ed..361fe6ed63 100644 --- a/camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -4,11 +4,12 @@ - + + @@ -16,12 +17,7 @@ - - - - - + @@ -29,10 +25,11 @@ + - + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index d0e207d34c..4a9e760ac7 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -17,11 +17,9 @@ - + - + From dd088a09a22b05bde7701cf42bfbe2e1ba53c040 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 16 Mar 2016 15:33:46 -0700 Subject: [PATCH 075/124] RAR-332 quick fix. Color only unit test works now. --- camera/README.md | 12 +++++------- camera/cfg/camera_params.cfg | 2 +- camera/src/realsense_camera_nodelet.cpp | 4 ++-- 3 files changed, 8 insertions(+), 10 deletions(-) diff --git a/camera/README.md b/camera/README.md index 888fc740fd..edcf21b1f9 100644 --- a/camera/README.md +++ b/camera/README.md @@ -88,8 +88,6 @@ Infrared2 camera Specify the color camera FPS depth_fps (int, default: 60) Specify the depth camera FPS - enable_depth (bool, default: true) - Specify if to enable or not the depth and infrared camera. enable_color (bool, default: true) Specify if to enable or not the color camera. enable_pointcloud (bool, default: true) @@ -121,6 +119,11 @@ To get supported camera options with current value set. It returns string in opt ####Dynamic Options + Stream Options: + enable_depth (bool, default: true) + Specify if to enable or not the depth and infrared camera. + Note: Infrared streams will be enabled or disabled along with depth stream. + Camera Options: Following are the options that can be set dynamically as well as statically in the R200 camera. COLOR_BACKLIGHT_COMPENSATION @@ -143,11 +146,6 @@ To get supported camera options with current value set. It returns string in opt R200_AUTO_EXPOSURE_LEFT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) R200_AUTO_EXPOSURE_RIGHT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) - Enable/Disable Stream: - ENABLE_DEPTH - Check or uncheck the option to disable/enable depth and infrared streams dynamically. - Note: Infrared streams will be enabled or disabled along with depth stream. - Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index abebab2fe0..5bc290eafb 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -7,7 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # Name Type Level Description Default Min Max -gen.add("ENABLE_DEPTH", bool_t, 0, "Enable Depth", True) +gen.add("enable_depth", bool_t, 0, "Enable Depth", True) gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 45033e681d..546a488f5d 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -272,12 +272,12 @@ namespace realsense_camera rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } - if(config.ENABLE_DEPTH == false) + if(config.enable_depth == false) { if(enable_color_ == false) { ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); - config.ENABLE_DEPTH = true; + config.enable_depth = true; } else { From 275b69af564564c99befa808bd6d7763152eb1b5 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 16 Mar 2016 18:02:47 -0700 Subject: [PATCH 076/124] Updated code review comments. --- camera/README.md | 20 +++++++------- camera/src/realsense_camera_nodelet.cpp | 27 +++---------------- camera/src/realsense_camera_nodelet.h | 1 - camera/test/realsense_camera_test_node.cpp | 21 --------------- ...ealsense_r200_stream_options_params.launch | 4 +-- 5 files changed, 15 insertions(+), 58 deletions(-) diff --git a/camera/README.md b/camera/README.md index edcf21b1f9..12add2d210 100644 --- a/camera/README.md +++ b/camera/README.md @@ -70,9 +70,9 @@ Infrared2 camera rosrun tf tf_monitor -#### Static Options +#### Static Parameters - Stream options: + Stream parameters: mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. Preset mode enables default values whereas Manual mode enables the specified parameter values. @@ -96,8 +96,8 @@ Infrared2 camera Specify if to enable or not the transform frames. camera (string, default: "R200") Specify the camera name. - Camera options: - Following are the options that can be set statically in the R200 camera: + Camera parameters: + Following are the parameters that can be set only statically in the R200 camera: R200_DEPTH_UNITS : [1, 2147483647] R200_DEPTH_CLAMP_MIN : [0, 65535] R200_DEPTH_CLAMP_MAX : [0, 65535] @@ -117,15 +117,15 @@ Infrared2 camera To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. -####Dynamic Options +####Dynamic Parameters - Stream Options: + Stream parameters: enable_depth (bool, default: true) Specify if to enable or not the depth and infrared camera. Note: Infrared streams will be enabled or disabled along with depth stream. - Camera Options: - Following are the options that can be set dynamically as well as statically in the R200 camera. + Camera parameters: + Following are the parameters that can be set dynamically as well as statically in the R200 camera. COLOR_BACKLIGHT_COMPENSATION COLOR_BRIGHTNESS COLOR_CONTRAST @@ -139,7 +139,7 @@ To get supported camera options with current value set. It returns string in opt R200_LR_GAIN R200_EMITTER_ENABLED R200_LR_EXPOSURE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled) - Following are the options that can only be set dynamically in the R200 camera. + Following are the parameters that can only be set dynamically in the R200 camera. R200_LR_AUTO_EXPOSURE_ENABLED R200_AUTO_EXPOSURE_TOP_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) R200_AUTO_EXPOSURE_BOTTOM_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) @@ -154,7 +154,7 @@ Command to launch GUI: $ rosrun rqt_reconfigure rqt_reconfigure -Command to change dynamic options using commandline: +Command to change dynamic parameters using commandline: $ rosrun dynamic_reconfigure dynparam set / E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 546a488f5d..957ec46cf2 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -90,9 +90,7 @@ namespace realsense_camera setStreamOptions(); // Advertise the various topics and services. - // Advertise color stream only if color parameter is set. camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); - // Advertise depth and infrared streams only if depth parameter is set. camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); if (camera_.find (R200) != std::string::npos) @@ -358,26 +356,6 @@ namespace realsense_camera enableInfrared2Stream(); } - for (int i = 0; i < RS_OPTION_COUNT; ++i) - { - option_str o = - { (rs_option) i}; - - if (!rs_device_supports_option (rs_device_, o.opt, 0)) - { - continue; - } - - rs_get_device_option_range (rs_device_, o.opt, &o.min, &o.max, &o.step, 0); - if (o.min == o.max) - { - continue; - } - - o.value = rs_get_device_option (rs_device_, o.opt, 0); - options.push_back (o); - } - getCameraOptions(); setStaticCameraOptions(); @@ -544,8 +522,9 @@ namespace realsense_camera void RealsenseNodelet::setStaticCameraOptions() { // Get dynamic options from the dynamic reconfigure server. - dynamic_reconf_server_->getConfigDefault(params_config_); - std::vector param_desc = params_config_.__getParamDescriptions__(); + camera_paramsConfig params_config; + dynamic_reconf_server_->getConfigDefault(params_config); + std::vector param_desc = params_config.__getParamDescriptions__(); // Iterate through the supported camera options for (option_str o: options) diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 9a9ee727a0..665d37a82e 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -156,7 +156,6 @@ class RealsenseNodelet: public nodelet::Nodelet std::string mode_; std::map config_; int stream_step_[STREAM_COUNT]; - camera_paramsConfig params_config_; struct option_str { diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index ef1dafdbc9..ed4f451586 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -525,27 +525,6 @@ TEST (RealsenseTests, testInfrared2CameraInfo) } } -/* -TEST (RealsenseTests, testCameraSettings) -{ - stringstream ss (srv.response.configuration_str); - string item; - string option_name; - - while (getline (ss, item, ';')) - { - stringstream ss1 (item); - getline (ss1, option_name, ':'); - if (config_args.find (option_name) != config_args.end ()) - { - std::string last_element (item.substr (item.rfind (":") + 1)); - int expected_value = atoi (last_element.c_str ()); - int current_Value = atoi (config_args.at (option_name).c_str ()); - EXPECT_EQ (current_Value, expected_value); - } - } -} -*/ TEST (RealsenseTests, testTransforms) { // make sure all transforms are being broadcast as expected diff --git a/camera/test/realsense_r200_stream_options_params.launch b/camera/test/realsense_r200_stream_options_params.launch index 5bd281403b..4b10abad4f 100644 --- a/camera/test/realsense_r200_stream_options_params.launch +++ b/camera/test/realsense_r200_stream_options_params.launch @@ -3,14 +3,14 @@ Steps: roslaunch realsense_camera realsense_r200_stream_options_params.launch - rosrun realsense_camera realsense_camera_test mode manual enable_depth true enable_color true enable_pointcloud true enable_tf true depth_width 320 depth_height 240 color_width 320 color_height 240 depth_fps 60 color_fps 60 camera R200 + rosrun realsense_camera realsense_camera_test mode manual enable_depth false enable_color true enable_pointcloud true enable_tf true depth_width 320 depth_height 240 color_width 320 color_height 240 depth_fps 60 color_fps 60 camera R200 Verify that all the tests pass. --> - + From 4480a6fd2608089da27604b56faf56751db9a821 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 17 Mar 2016 17:34:46 -0700 Subject: [PATCH 077/124] Updated README to indicate changes in R200_DISPARITY_MULTIPLIER. --- camera/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/camera/README.md b/camera/README.md index 12add2d210..6c787802a2 100644 --- a/camera/README.md +++ b/camera/README.md @@ -138,6 +138,7 @@ To get supported camera options with current value set. It returns string in opt COLOR_WHITE_BALANCE (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled) R200_LR_GAIN R200_EMITTER_ENABLED + R200_DISPARITY_MULTIPLIER (This parameter does not work in the latest R200 firmware release. Likely to be removed in the next ros-realsense release.) R200_LR_EXPOSURE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled) Following are the parameters that can only be set dynamically in the R200 camera. R200_LR_AUTO_EXPOSURE_ENABLED From 2eddc52a55bd8018965828d11b7f4ec2e7222a18 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 21 Mar 2016 14:48:40 -0700 Subject: [PATCH 078/124] Added missing install targets This fixes Pull Request #2 --- camera/CMakeLists.txt | 28 +++++++++++++++---- camera/package.xml | 7 ++--- .../realsense_camera_nodelet_plugins.xml | 0 3 files changed, 26 insertions(+), 9 deletions(-) rename camera/{src => }/realsense_camera_nodelet_plugins.xml (100%) diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 29dc548ee9..2625b7cb29 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -43,29 +43,47 @@ generate_dynamic_reconfigure_options( cfg/camera_params.cfg ) - - include_directories( ${catkin_INCLUDE_DIRS} ) add_library(realsense_camera_nodelet src/realsense_camera_nodelet.cpp) -target_link_libraries(realsense_camera_nodelet +target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} /usr/local/lib/librealsense.so ) add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) -target_link_libraries(realsense_camera_test +target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) -target_link_libraries(realsense_camera_test_rgbd +target_link_libraries(realsense_camera_test_rgbd ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp) + +# Install nodelet library +install(TARGETS realsense_camera_nodelet LIBRARY + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +# Install launch files +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) + +# Install rviz files +install(DIRECTORY rviz/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz +) + +# Install xml files +install(FILES package.xml realsense_camera_nodelet_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/camera/package.xml b/camera/package.xml index 688fa556a6..fc8ed84653 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -11,7 +11,7 @@ http://www.ros.org/wiki/RealSense - Rajvi Jingar + Rajvi Jingar Reagan Lopez Matt Hansen @@ -28,7 +28,7 @@ rostest pcl_ros dynamic_reconfigure - + roscpp nodelet cv_bridge @@ -44,7 +44,6 @@ rgbd_launch - + - diff --git a/camera/src/realsense_camera_nodelet_plugins.xml b/camera/realsense_camera_nodelet_plugins.xml similarity index 100% rename from camera/src/realsense_camera_nodelet_plugins.xml rename to camera/realsense_camera_nodelet_plugins.xml From 86b3f67bbe592ed0bc507ab27f437ae0beede1f8 Mon Sep 17 00:00:00 2001 From: rjingar Date: Tue, 22 Mar 2016 15:01:30 -0700 Subject: [PATCH 079/124] Removed R200_DISPARITY_MULTIPLIER camera option support --- camera/README.md | 1 - camera/cfg/camera_params.cfg | 1 - camera/src/realsense_camera_nodelet.cpp | 1 - 3 files changed, 3 deletions(-) diff --git a/camera/README.md b/camera/README.md index 6c787802a2..12add2d210 100644 --- a/camera/README.md +++ b/camera/README.md @@ -138,7 +138,6 @@ To get supported camera options with current value set. It returns string in opt COLOR_WHITE_BALANCE (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled) R200_LR_GAIN R200_EMITTER_ENABLED - R200_DISPARITY_MULTIPLIER (This parameter does not work in the latest R200 firmware release. Likely to be removed in the next ros-realsense release.) R200_LR_EXPOSURE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled) Following are the parameters that can only be set dynamically in the R200 camera. R200_LR_AUTO_EXPOSURE_ENABLED diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 17cca2072d..031bf75267 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -22,7 +22,6 @@ gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) -gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index bc16d9e8d6..c44a20174d 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -246,7 +246,6 @@ namespace realsense_camera rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.R200_LR_GAIN, 0); rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.R200_EMITTER_ENABLED, 0); - rs_set_device_option(rs_device_, RS_OPTION_R200_DISPARITY_MULTIPLIER, config.R200_DISPARITY_MULTIPLIER, 0); if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) { From a17ca30a6b83b6c6ff525513bd6db84b1cdf68e9 Mon Sep 17 00:00:00 2001 From: rjingar Date: Wed, 23 Mar 2016 09:18:18 -0700 Subject: [PATCH 080/124] Corrected spacing and formatting --- camera/src/realsense_camera_nodelet.cpp | 289 +++++++++++++----------- 1 file changed, 157 insertions(+), 132 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index c44a20174d..4756ce5301 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -44,9 +44,9 @@ namespace realsense_camera /* * Public Methods. */ - RealsenseNodelet::~RealsenseNodelet () + RealsenseNodelet::~RealsenseNodelet() { - device_thread_->join (); + device_thread_->join(); if (enable_tf_ == true) { @@ -56,19 +56,19 @@ namespace realsense_camera // Stop device. if (is_device_started_ == true) { - rs_stop_device (rs_device_, 0); - rs_delete_context (rs_context_, &rs_error_); - checkError (); + rs_stop_device(rs_device_, 0); + rs_delete_context(rs_context_, &rs_error_); + checkError(); } ROS_INFO_STREAM ("RealSense Camera - Stopping camera nodelet."); - ros::shutdown (); + ros::shutdown(); } /* * Initialize the realsense code. */ - void RealsenseNodelet::onInit () + void RealsenseNodelet::onInit() { ROS_INFO_STREAM ("RealSense Camera - Starting camera nodelet."); @@ -79,9 +79,11 @@ namespace realsense_camera frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; for (int i = 0; i < STREAM_COUNT; ++i) + { camera_info_[i] = NULL; + } - ros::NodeHandle & nh = getNodeHandle (); + ros::NodeHandle & nh = getNodeHandle(); pnh_ = getPrivateNodeHandle(); // Set up the topics. @@ -90,41 +92,41 @@ namespace realsense_camera setStreamOptions(); // Advertise the various topics and services. - camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera (COLOR_TOPIC, 1); - camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera (DEPTH_TOPIC, 1); - camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera (IR1_TOPIC, 1); + camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera(COLOR_TOPIC, 1); + camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera(DEPTH_TOPIC, 1); + camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera(IR1_TOPIC, 1); if (camera_.find (R200) != std::string::npos) { - camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera (IR2_TOPIC, 1); + camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera(IR2_TOPIC, 1); } - pointcloud_publisher_ = nh.advertise < sensor_msgs::PointCloud2 > (PC_TOPIC, 1); + pointcloud_publisher_ = nh.advertise(PC_TOPIC, 1); - get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); + get_options_service_ = nh.advertiseService(SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); bool connected = false; - connected = connectToCamera (); + connected = connectToCamera(); if (connected == true) { // Start working thread. device_thread_ = - boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); + boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::devicePoll, this))); if (enable_tf_ == true) { transform_thread_ = - boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::publishTransforms, this))); + boost::shared_ptr(new boost::thread (boost::bind(&RealsenseNodelet::publishTransforms, this))); } } else { - ros::shutdown (); + ros::shutdown(); } dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); @@ -139,17 +141,19 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); - checkError (); + rs_enable_stream(rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); + checkError(); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); + rs_enable_stream_preset(rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); + checkError(); } uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; - if(camera_info_[stream_index] == NULL) { + if (camera_info_[stream_index] == NULL) + { prepareStreamCalibData (RS_STREAM_COLOR); } } @@ -160,17 +164,18 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - checkError (); + rs_enable_stream(rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); + checkError(); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); + rs_enable_stream_preset(rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); + checkError(); } uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; - if(camera_info_[stream_index] == NULL) + if (camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_DEPTH); } @@ -182,17 +187,18 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); - checkError (); + rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); + checkError(); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError (); + rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); + checkError(); } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; - if(camera_info_[stream_index] == NULL) + if (camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_INFRARED); } @@ -204,16 +210,16 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: manual mode"); - rs_enable_stream (rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); + rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); } else { ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); - rs_enable_stream_preset (rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); + rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if(camera_info_[stream_index] == NULL) + if (camera_info_[stream_index] == NULL) { prepareStreamCalibData (RS_STREAM_INFRARED2); } @@ -233,32 +239,38 @@ namespace realsense_camera rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.COLOR_SHARPNESS, 0); rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.COLOR_ENABLE_AUTO_WHITE_BALANCE, 0); - if(config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 0) { + if (config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 0) + { rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.COLOR_WHITE_BALANCE, 0); } //R200 camera specific options rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.R200_LR_AUTO_EXPOSURE_ENABLED, 0); - if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 0) { + if (config.R200_LR_AUTO_EXPOSURE_ENABLED == 0) + { rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.R200_LR_EXPOSURE, 0); } rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.R200_LR_GAIN, 0); rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.R200_EMITTER_ENABLED, 0); - if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) + if (config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) { - if(config.R200_AUTO_EXPOSURE_TOP_EDGE >= depth_height_) { + if (config.R200_AUTO_EXPOSURE_TOP_EDGE >= depth_height_) + { config.R200_AUTO_EXPOSURE_TOP_EDGE = depth_height_ - 1; } - if(config.R200_AUTO_EXPOSURE_BOTTOM_EDGE >= depth_height_) { + if (config.R200_AUTO_EXPOSURE_BOTTOM_EDGE >= depth_height_) + { config.R200_AUTO_EXPOSURE_BOTTOM_EDGE = depth_height_ - 1; } - if(config.R200_AUTO_EXPOSURE_LEFT_EDGE >= depth_width_) { + if (config.R200_AUTO_EXPOSURE_LEFT_EDGE >= depth_width_) + { config.R200_AUTO_EXPOSURE_LEFT_EDGE = depth_width_ - 1; } - if(config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) { + if (config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) + { config.R200_AUTO_EXPOSURE_RIGHT_EDGE = depth_width_ - 1; } edge_values_[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; @@ -269,9 +281,9 @@ namespace realsense_camera rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } - if(config.enable_depth == false) + if (config.enable_depth == false) { - if(enable_color_ == false) + if (enable_color_ == false) { ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); config.enable_depth = true; @@ -287,15 +299,15 @@ namespace realsense_camera } } - void RealsenseNodelet::checkError () + void RealsenseNodelet::checkError() { if (rs_error_) { - ROS_ERROR_STREAM ("RealSense Camera - Error calling " << rs_get_failed_function (rs_error_) << " ( " - << rs_get_failed_args (rs_error_) << " ): \n" << rs_get_error_message (rs_error_) << " \n"); - rs_free_error (rs_error_); + ROS_ERROR_STREAM ("RealSense Camera - Error calling " << rs_get_failed_function(rs_error_) << " ( " + << rs_get_failed_args(rs_error_) << " ): \n" << rs_get_error_message(rs_error_) << " \n"); + rs_free_error(rs_error_); - ros::shutdown (); + ros::shutdown(); exit (EXIT_FAILURE); } @@ -304,15 +316,15 @@ namespace realsense_camera /* * Query the data for every frame and publish it to the different topics. */ - void RealsenseNodelet::devicePoll () + void RealsenseNodelet::devicePoll() { - while (ros::ok ()) + while (ros::ok()) { - publishStreams (); + publishStreams(); } } - bool RealsenseNodelet::connectToCamera () + bool RealsenseNodelet::connectToCamera() { if (enable_depth_ == false && enable_color_ == false) { @@ -321,26 +333,26 @@ namespace realsense_camera } rs_context_ = rs_create_context (RS_API_VERSION, &rs_error_); - checkError (); + checkError(); - int num_of_cameras = rs_get_device_count (rs_context_, NULL); + int num_of_cameras = rs_get_device_count(rs_context_, NULL); if (num_of_cameras < 1) { ROS_ERROR_STREAM ("RealSense Camera - No cameras are connected."); return false; } - rs_device_ = rs_get_device (rs_context_, 0, &rs_error_); - checkError (); + rs_device_ = rs_get_device(rs_context_, 0, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << - rs_get_device_firmware_version (rs_device_, &rs_error_)); - checkError (); - ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name (rs_device_, &rs_error_)); - checkError (); - ROS_INFO_STREAM ("RealSense Camera - Serial no: " << rs_get_device_serial (rs_device_, &rs_error_)); - checkError (); + rs_get_device_firmware_version(rs_device_, &rs_error_)); + checkError(); + ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name(rs_device_, &rs_error_)); + checkError(); + ROS_INFO_STREAM ("RealSense Camera - Serial no: " << rs_get_device_serial(rs_device_, &rs_error_)); + checkError(); // Enable streams. if (enable_color_ == true) @@ -359,12 +371,12 @@ namespace realsense_camera setStaticCameraOptions(); // Start device. - rs_start_device (rs_device_, &rs_error_); - checkError (); + rs_start_device(rs_device_, &rs_error_); + checkError(); is_device_started_ = true; - allocateResources (); + allocateResources(); return true; } @@ -394,31 +406,31 @@ namespace realsense_camera /* * Define buffer for images and prepare camera info for each enabled stream. */ - void RealsenseNodelet::allocateResources () + void RealsenseNodelet::allocateResources() { // Prepare camera for enabled streams (color/depth/infrared/infrared2). - fillStreamEncoding (); + fillStreamEncoding(); - image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat (color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); - image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat (depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); - image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - if (camera_.find (R200) != std::string::npos) + image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat(color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); + image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat(depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); + image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + if (camera_.find(R200) != std::string::npos) { - image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat (depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); } } /* * Prepare camera_info for each enabled stream. */ - void RealsenseNodelet::prepareStreamCalibData (rs_stream rs_strm) + void RealsenseNodelet::prepareStreamCalibData(rs_stream rs_strm) { uint32_t stream_index = (uint32_t) rs_strm; rs_intrinsics intrinsic; - rs_get_stream_intrinsics (rs_device_, rs_strm, &intrinsic, &rs_error_); - checkError (); + rs_get_stream_intrinsics(rs_device_, rs_strm, &intrinsic, &rs_error_); + checkError(); - camera_info_[stream_index] = new sensor_msgs::CameraInfo (); + camera_info_[stream_index] = new sensor_msgs::CameraInfo(); camera_info_ptr_[stream_index] = sensor_msgs::CameraInfoPtr (camera_info_[stream_index]); camera_info_[stream_index]->header.frame_id = frame_id_[stream_index]; @@ -450,7 +462,8 @@ namespace realsense_camera { // set depth to color translation values in Projection matrix (P) rs_extrinsics z_extrinsic; - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); + rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); + checkError(); camera_info_[stream_index]->P.at(3) = z_extrinsic.translation[0]/1000; // Tx camera_info_[stream_index]->P.at(7) = z_extrinsic.translation[1]/1000; // Ty camera_info_[stream_index]->P.at(11) = z_extrinsic.translation[2]/1000; // Tz @@ -470,7 +483,9 @@ namespace realsense_camera camera_info_[stream_index]->R.at(8) = (double) 1; for (int i = 0; i < 5; i++) - camera_info_[stream_index]->D.push_back (0); + { + camera_info_[stream_index]->D.push_back(0); + } } /* @@ -486,7 +501,7 @@ namespace realsense_camera { opt_name = rs_option_to_string(o.opt); o.value = rs_get_device_option(rs_device_, o.opt, 0); - opt_value = boost::lexical_cast < std::string > (o.value); + opt_value = boost::lexical_cast(o.value); get_options_result_str += opt_name + ":" + opt_value + ";"; } @@ -565,7 +580,7 @@ namespace realsense_camera opt_val = val; } ROS_INFO_STREAM ("RealSense Camera - Static Options: " << opt_name << " = " << opt_val); - rs_set_device_option (rs_device_, o.opt, opt_val, &rs_error_); + rs_set_device_option(rs_device_, o.opt, opt_val, &rs_error_); checkError(); } } @@ -575,24 +590,24 @@ namespace realsense_camera /* * Copy frame data from realsense to member cv images. */ - void RealsenseNodelet::prepareStreamData (rs_stream rs_strm) + void RealsenseNodelet::prepareStreamData(rs_stream rs_strm) { switch (rs_strm) { case RS_STREAM_COLOR: - image_[(uint32_t) RS_STREAM_COLOR].data = (unsigned char *) (rs_get_frame_data (rs_device_, RS_STREAM_COLOR, 0)); + image_[(uint32_t) RS_STREAM_COLOR].data = (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_COLOR, 0)); break; case RS_STREAM_DEPTH: - image_depth16_ = reinterpret_cast (rs_get_frame_data (rs_device_, RS_STREAM_DEPTH, 0)); + image_depth16_ = reinterpret_cast (rs_get_frame_data(rs_device_, RS_STREAM_DEPTH, 0)); image_[(uint32_t) RS_STREAM_DEPTH].data = (unsigned char *) image_depth16_; break; case RS_STREAM_INFRARED: image_[(uint32_t) RS_STREAM_INFRARED].data = - (unsigned char *) (rs_get_frame_data (rs_device_, RS_STREAM_INFRARED, 0)); + (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_INFRARED, 0)); break; case RS_STREAM_INFRARED2: image_[(uint32_t) RS_STREAM_INFRARED2].data = - (unsigned char *) (rs_get_frame_data (rs_device_, RS_STREAM_INFRARED2, 0)); + (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_INFRARED2, 0)); break; default: // no other streams supported @@ -603,7 +618,7 @@ namespace realsense_camera /* * Populate the encodings for each stream. */ - void RealsenseNodelet::fillStreamEncoding () + void RealsenseNodelet::fillStreamEncoding() { stream_encoding_[(uint32_t) RS_STREAM_COLOR] = "rgb8"; stream_step_[(uint32_t) RS_STREAM_COLOR] = color_width_ * sizeof (unsigned char) * 3; @@ -618,39 +633,45 @@ namespace realsense_camera /* * Publish streams. */ - void RealsenseNodelet::publishStreams () + void RealsenseNodelet::publishStreams() { - if(enable_depth_ == false && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1) + if (enable_depth_ == false && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1) { - if(rs_is_device_streaming(rs_device_, 0) == 1) + if (rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); checkError (); + rs_stop_device(rs_device_, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } //disable depth, infrared1 and infrared2 streams - rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError (); + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError (); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); - if(rs_is_device_streaming(rs_device_, 0) == 0) + if (rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_);checkError (); + rs_start_device(rs_device_, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } - if(enable_depth_ == true && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 0) + if (enable_depth_ == true && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 0) { - if(rs_is_device_streaming(rs_device_, 0) == 1) + if (rs_is_device_streaming(rs_device_, 0) == 1) { - rs_stop_device (rs_device_, &rs_error_); checkError (); + rs_stop_device(rs_device_, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); } @@ -658,30 +679,31 @@ namespace realsense_camera enableInfraredStream(); enableInfrared2Stream(); - if(rs_is_device_streaming(rs_device_, 0) == 0) + if (rs_is_device_streaming(rs_device_, 0) == 0) { - rs_start_device (rs_device_, &rs_error_); checkError (); + rs_start_device(rs_device_, &rs_error_); + checkError(); ROS_INFO_STREAM ("RealSense Camera - Device Started"); } } - if(rs_is_device_streaming(rs_device_, 0) == 1) + if (rs_is_device_streaming(rs_device_, 0) == 1) { - rs_wait_for_frames (rs_device_, &rs_error_); - checkError (); - time_stamp_ = ros::Time::now (); + rs_wait_for_frames(rs_device_, &rs_error_); + checkError(); + time_stamp_ = ros::Time::now(); for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) { // Publish image stream only if there is at least one subscriber. - if (camera_publisher_[stream_index].getNumSubscribers () > 0 && - rs_is_stream_enabled (rs_device_, (rs_stream) stream_index, 0) == 1) + if (camera_publisher_[stream_index].getNumSubscribers() > 0 && + rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1) { prepareStreamData ((rs_stream) stream_index); - sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header (), + sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header(), stream_encoding_[stream_index], - image_[stream_index]).toImageMsg (); + image_[stream_index]).toImageMsg(); msg->header.frame_id = frame_id_[stream_index]; msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. @@ -695,14 +717,14 @@ namespace realsense_camera } } - if (pointcloud_publisher_.getNumSubscribers () > 0 && rs_is_stream_enabled (rs_device_, RS_STREAM_DEPTH, 0) == 1 - && enable_pointcloud_ == true) + if (pointcloud_publisher_.getNumSubscribers() > 0 && + rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true) { - if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers () <= 0) + if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers() <= 0) { prepareStreamData (RS_STREAM_DEPTH); } - if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers () <= 0) + if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers() <= 0) { prepareStreamData (RS_STREAM_COLOR); } @@ -717,19 +739,21 @@ namespace realsense_camera void RealsenseNodelet::publishPointCloud (cv::Mat & image_color) { // Publish pointcloud only if there is at least one subscriber. - if (pointcloud_publisher_.getNumSubscribers () > 0) + if (pointcloud_publisher_.getNumSubscribers() > 0) { rs_intrinsics color_intrinsic; rs_extrinsics z_extrinsic; rs_intrinsics z_intrinsic; - rs_get_stream_intrinsics (rs_device_, RS_STREAM_DEPTH, &z_intrinsic, &rs_error_); - checkError (); + rs_get_stream_intrinsics(rs_device_, RS_STREAM_DEPTH, &z_intrinsic, &rs_error_); + checkError(); if (enable_color_ == true) { - rs_get_stream_intrinsics (rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); checkError (); - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); + rs_get_stream_intrinsics(rs_device_, RS_STREAM_COLOR, &color_intrinsic, &rs_error_); + checkError(); + rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); + checkError(); } // Convert pointcloud from the camera to pointcloud object for ROS. @@ -739,28 +763,28 @@ namespace realsense_camera msg_pointcloud.header.stamp = time_stamp_; msg_pointcloud.is_dense = true; - sensor_msgs::PointCloud2Modifier modifier (msg_pointcloud); + sensor_msgs::PointCloud2Modifier modifier(msg_pointcloud); - modifier.setPointCloud2Fields (4, "x", 1, + modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::PointField::FLOAT32, "y", 1, sensor_msgs::PointField::FLOAT32, "z", 1, sensor_msgs::PointField::FLOAT32, "rgb", 1, sensor_msgs::PointField::FLOAT32); - modifier.setPointCloud2FieldsByString (2, "xyz", "rgb"); + modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); - sensor_msgs::PointCloud2Iterator < float >iter_x (msg_pointcloud, "x"); - sensor_msgs::PointCloud2Iterator < float >iter_y (msg_pointcloud, "y"); - sensor_msgs::PointCloud2Iterator < float >iter_z (msg_pointcloud, "z"); + sensor_msgs::PointCloud2Iteratoriter_x(msg_pointcloud, "x"); + sensor_msgs::PointCloud2Iteratoriter_y(msg_pointcloud, "y"); + sensor_msgs::PointCloud2Iteratoriter_z(msg_pointcloud, "z"); - sensor_msgs::PointCloud2Iterator < uint8_t > iter_r (msg_pointcloud, "r"); - sensor_msgs::PointCloud2Iterator < uint8_t > iter_g (msg_pointcloud, "g"); - sensor_msgs::PointCloud2Iterator < uint8_t > iter_b (msg_pointcloud, "b"); + sensor_msgs::PointCloud2Iteratoriter_r(msg_pointcloud, "r"); + sensor_msgs::PointCloud2Iteratoriter_g(msg_pointcloud, "g"); + sensor_msgs::PointCloud2Iteratoriter_b(msg_pointcloud, "b"); float depth_point[3], color_point[3], color_pixel[2], scaled_depth; unsigned char *color_data = image_color.data; - const float depth_scale = rs_get_device_depth_scale (rs_device_, &rs_error_); - checkError ();// Default value is 0.001 + const float depth_scale = rs_get_device_depth_scale(rs_device_, &rs_error_); + checkError();// Default value is 0.001 // Fill the PointCloud2 fields. for (int y = 0; y < z_intrinsic.height; y++) @@ -770,7 +794,7 @@ namespace realsense_camera scaled_depth = ((float) *image_depth16_) * depth_scale; float depth_pixel[2] = { (float) x, (float) y}; - rs_deproject_pixel_to_point (depth_point, &z_intrinsic, depth_pixel, scaled_depth); + rs_deproject_pixel_to_point(depth_point, &z_intrinsic, depth_pixel, scaled_depth); if (depth_point[2] <= 0 || depth_point[2] > MAX_Z) { @@ -790,8 +814,8 @@ namespace realsense_camera if (enable_color_ == true) { - rs_transform_point_to_point (color_point, &z_extrinsic, depth_point); - rs_project_point_to_pixel (color_pixel, &color_intrinsic, color_point); + rs_transform_point_to_point(color_point, &z_extrinsic, depth_point); + rs_project_point_to_pixel(color_pixel, &color_intrinsic, color_point); if (color_pixel[1] < 0 || color_pixel[1] > image_color.rows || color_pixel[0] < 0 || color_pixel[0] > image_color.cols) @@ -819,7 +843,7 @@ namespace realsense_camera } msg_pointcloud.header.frame_id = frame_id_[RS_STREAM_DEPTH]; - pointcloud_publisher_.publish (msg_pointcloud); + pointcloud_publisher_.publish(msg_pointcloud); } } /* @@ -835,7 +859,8 @@ namespace realsense_camera rs_extrinsics z_extrinsic; // extrinsics are offsets between the cameras - rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError (); + rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); + checkError(); ros::Duration sleeper(0.1); // 100ms From 0d5785753f13210067855f7bb3678519af3aba82 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Wed, 23 Mar 2016 23:26:15 -0700 Subject: [PATCH 081/124] Create default templates for Issues and PRs Provide users with templates providing guidelines on requested data related to submitted Issues and Pull Requests. --- .github/ISSUE_TEMPLATE.md | 32 ++++++++++++++++++++++++++++++++ .github/PULL_REQUEST_TEMPLATE.md | 8 ++++++++ 2 files changed, 40 insertions(+) create mode 100644 .github/ISSUE_TEMPLATE.md create mode 100644 .github/PULL_REQUEST_TEMPLATE.md diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md new file mode 100644 index 0000000000..78e8f72d51 --- /dev/null +++ b/.github/ISSUE_TEMPLATE.md @@ -0,0 +1,32 @@ +### System Configuration +Please complete Your Configuration detail below. + +| Version | Known Good | Your Configuration | +| ---------------- | ------------:| ------------------:| +| Operating System | ubuntu 14.04 | ??? | +| Kernel Version | 4.4.0-13 | ?.?.?-? | +| R200 FW | 1.0.72.06 | ?.?.?.? | +| librealsense | 0.9.1 | ?.?.? | + +--- +#### How to collect Configuration Data +*This section can be delete before submission.* + +| Version | Method | +| ---------------- | ------------ | +| Operating System | `cat /etc/*elease*` | +| Kernel Version | `uname -r` | +| R200 FW | View the ROS log from running node **OR** `/librealsense/bin/cpp-enumerate-devices | grep -i firmware` | +| librealsense | `cat /librealsense/readme.md | grep release-image | awk -F- '{print $3}'` | +--- + + +### Expected Behavior + + +### Actual Behavior + + +### Steps to Reproduce + + diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000000..e0ebfd2a0d --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,8 @@ +Fixes Issue: # + +Changes proposed in this pull request: +- +- +- + + From b6f174dcc89dccfea9c4a349d5417f2cdadd2c22 Mon Sep 17 00:00:00 2001 From: rjingar Date: Wed, 23 Mar 2016 16:06:31 -0700 Subject: [PATCH 082/124] Modified parameters to lowercase for consistency --- camera/README.md | 72 +++++++++---------- camera/cfg/camera_params.cfg | 36 +++++----- camera/src/realsense_camera_nodelet.cpp | 60 ++++++++-------- ..._r200_dynamic_camera_options_params.launch | 56 +++++++-------- ...e_r200_static_camera_options_params.launch | 54 +++++++------- 5 files changed, 140 insertions(+), 138 deletions(-) diff --git a/camera/README.md b/camera/README.md index 12add2d210..4febe91674 100644 --- a/camera/README.md +++ b/camera/README.md @@ -98,19 +98,19 @@ Infrared2 camera Specify the camera name. Camera parameters: Following are the parameters that can be set only statically in the R200 camera: - R200_DEPTH_UNITS : [1, 2147483647] - R200_DEPTH_CLAMP_MIN : [0, 65535] - R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] - R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31] - R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047] + r200_depth_units : [1, 2147483647] + r200_depth_clamp_min : [0, 65535] + r200_depth_clamp_max : [0, 65535] + r200_depth_control_estimate_median_decrement : [0 - 255] + r200_depth_control_estimate_median_increment : [0 - 255] + r200_depth_control_median_threshold : [0 - 1023] + r200_depth_control_score_minimum_threshold : [0 - 1023] + r200_depth_control_score_maximum_threshold : [0 - 1023] + r200_depth_control_texture_count_threshold : [0 - 31] + r200_depth_control_texture_difference_threshold : [0 - 1023] + r200_depth_control_second_peak_threshold : [0 - 1023] + r200_depth_control_neighbor_threshold : [0 - 1023] + r200_depth_control_lr_threshold : [0 - 2047] ####Services get_settings (camera/get_settings) @@ -126,27 +126,27 @@ To get supported camera options with current value set. It returns string in opt Camera parameters: Following are the parameters that can be set dynamically as well as statically in the R200 camera. - COLOR_BACKLIGHT_COMPENSATION - COLOR_BRIGHTNESS - COLOR_CONTRAST - COLOR_GAIN - COLOR_GAMMA - COLOR_HUE - COLOR_SATURATION - COLOR_SHARPNESS - COLOR_ENABLE_AUTO_WHITE_BALANCE - COLOR_WHITE_BALANCE (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled) - R200_LR_GAIN - R200_EMITTER_ENABLED - R200_LR_EXPOSURE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled) - Following are the parameters that can only be set dynamically in the R200 camera. - R200_LR_AUTO_EXPOSURE_ENABLED - R200_AUTO_EXPOSURE_TOP_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) - R200_AUTO_EXPOSURE_BOTTOM_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) - R200_AUTO_EXPOSURE_LEFT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) - R200_AUTO_EXPOSURE_RIGHT_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled) - -Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. + color_backlight_compensation + color_brightness + color_contrast + color_gain + color_gamma + color_hue + color_saturation + color_sharpness + color_enable_auto_white_balance + color_white_balance (Must be set only if color_enable_auto_white_balance is disabled) + r200_lr_gain + r200_emitter_enabled + r200_lr_exposure (Must be set only if r200_lr_auto_exposure_enabled is disabled) + Following are the parameters that can only be set dynamically in the R200 camera. + r200_lr_auto_exposure_enabled + r200_auto_exposure_top_edge (Must be set only if r200_lr_auto_exposure_enabled is enabled) + r200_auto_exposure_bottom_edge (Must be set only if r200_lr_auto_exposure_enabled is enabled) + r200_auto_exposure_left_edge (Must be set only if r200_lr_auto_exposure_enabled is enabled) + r200_auto_exposure_right_edge (Must be set only if r200_lr_auto_exposure_enabled is enabled) + +Note: For Autoexposure edge parameters, max value will go only upto the bounds of the infrared image. E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. @@ -157,7 +157,7 @@ Command to launch GUI: Command to change dynamic parameters using commandline: $ rosrun dynamic_reconfigure dynparam set / - E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 + E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet color_backlight_compensation 2 ###Running the R200 nodelet @@ -249,7 +249,7 @@ Currently, the ROS camera nodelet only supports the following formats: * Depth stream: Y16 * Infrared stream: Y8 -Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: +Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: /camera/depth_registered/hw_registered/image_rect_raw /camera/depth_registered/points /camera/depth_registered/hw_registered/image_rect diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg index 031bf75267..8619283ba5 100755 --- a/camera/cfg/camera_params.cfg +++ b/camera/cfg/camera_params.cfg @@ -8,23 +8,23 @@ gen = ParameterGenerator() # Name Type Level Description Default Min Max gen.add("enable_depth", bool_t, 0, "Enable Depth", True) -gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) -gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) -gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) -gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) -gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) -gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) -gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) -gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) -gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) -gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) -gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) -gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) -gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) -gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) -gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) -gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) -gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) -gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) +gen.add("color_backlight_compensation", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("color_brightness", int_t, 0, "Brightness", 56, 0, 255) +gen.add("color_contrast", int_t, 0, "Contrast", 32, 16, 64) +gen.add("color_gain", int_t, 0, "Gain", 32, 0, 256) +gen.add("color_gamma", int_t, 0, "Gamma", 220, 100, 280) +gen.add("color_hue", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("color_saturation", int_t, 0, "Saturation", 128, 0, 255) +gen.add("color_sharpness", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("color_white_balance", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("r200_lr_exposure", int_t, 0, "LR Exposure", 164, 1, 164) +gen.add("r200_emitter_enabled", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("r200_auto_exposure_top_edge", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("r200_auto_exposure_bottom_edge", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("r200_auto_exposure_left_edge", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("r200_auto_exposure_right_edge", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 4756ce5301..fa2473cb7b 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -229,54 +229,54 @@ namespace realsense_camera void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) { - rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.COLOR_BACKLIGHT_COMPENSATION, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.COLOR_BRIGHTNESS, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.COLOR_CONTRAST, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.COLOR_GAIN, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.COLOR_GAMMA, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.COLOR_HUE, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.COLOR_SATURATION, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.COLOR_SHARPNESS, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.COLOR_ENABLE_AUTO_WHITE_BALANCE, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.color_backlight_compensation, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.color_brightness, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.color_contrast, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.color_gain, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.color_gamma, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.color_hue, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.color_saturation, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.color_sharpness, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.color_enable_auto_white_balance, 0); - if (config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 0) + if (config.color_enable_auto_white_balance == 0) { - rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.COLOR_WHITE_BALANCE, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.color_white_balance, 0); } //R200 camera specific options - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.R200_LR_AUTO_EXPOSURE_ENABLED, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.r200_lr_auto_exposure_enabled, 0); - if (config.R200_LR_AUTO_EXPOSURE_ENABLED == 0) + if (config.r200_lr_auto_exposure_enabled == 0) { - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.R200_LR_EXPOSURE, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.r200_lr_exposure, 0); } - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.R200_LR_GAIN, 0); - rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.R200_EMITTER_ENABLED, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0); - if (config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) + if (config.r200_lr_auto_exposure_enabled == 1) { - if (config.R200_AUTO_EXPOSURE_TOP_EDGE >= depth_height_) + if (config.r200_auto_exposure_top_edge >= depth_height_) { - config.R200_AUTO_EXPOSURE_TOP_EDGE = depth_height_ - 1; + config.r200_auto_exposure_top_edge = depth_height_ - 1; } - if (config.R200_AUTO_EXPOSURE_BOTTOM_EDGE >= depth_height_) + if (config.r200_auto_exposure_bottom_edge >= depth_height_) { - config.R200_AUTO_EXPOSURE_BOTTOM_EDGE = depth_height_ - 1; + config.r200_auto_exposure_bottom_edge = depth_height_ - 1; } - if (config.R200_AUTO_EXPOSURE_LEFT_EDGE >= depth_width_) + if (config.r200_auto_exposure_left_edge >= depth_width_) { - config.R200_AUTO_EXPOSURE_LEFT_EDGE = depth_width_ - 1; + config.r200_auto_exposure_left_edge = depth_width_ - 1; } - if (config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) + if (config.r200_auto_exposure_right_edge >= depth_width_) { - config.R200_AUTO_EXPOSURE_RIGHT_EDGE = depth_width_ - 1; + config.r200_auto_exposure_right_edge = depth_width_ - 1; } - edge_values_[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; - edge_values_[1] = config.R200_AUTO_EXPOSURE_TOP_EDGE; - edge_values_[2] = config.R200_AUTO_EXPOSURE_RIGHT_EDGE; - edge_values_[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; + edge_values_[0] = config.r200_auto_exposure_left_edge; + edge_values_[1] = config.r200_auto_exposure_top_edge; + edge_values_[2] = config.r200_auto_exposure_right_edge; + edge_values_[3] = config.r200_auto_exposure_bottom_edge; rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); } @@ -500,6 +500,7 @@ namespace realsense_camera for (option_str o: options) { opt_name = rs_option_to_string(o.opt); + std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); o.value = rs_get_device_option(rs_device_, o.opt, 0); opt_value = boost::lexical_cast(o.value); get_options_result_str += opt_name + ":" + opt_value + ";"; @@ -549,6 +550,7 @@ namespace realsense_camera std::vector::iterator it; for (camera_paramsConfig::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) { + std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); if (opt_name.compare((* param_desc_ptr).name) == 0) { found = true; diff --git a/camera/test/realsense_r200_dynamic_camera_options_params.launch b/camera/test/realsense_r200_dynamic_camera_options_params.launch index b57837cd3a..8529efe0c4 100644 --- a/camera/test/realsense_r200_dynamic_camera_options_params.launch +++ b/camera/test/realsense_r200_dynamic_camera_options_params.launch @@ -2,8 +2,8 @@ Launch file for testing if the dynamic camera options get set correctly using params. Steps: - roslaunch realsense_camera realsense_r200_static_camera_options_params.launch - rosrun realsense_camera realsense_camera_test COLOR_BACKLIGHT_COMPENSATION 3 COLOR_BRIGHTNESS 10 COLOR_CONTRAST 16 COLOR_GAIN 18 COLOR_GAMMA 100 COLOR_HUE 20 COLOR_SATURATION 21 COLOR_SHARPNESS 7 COLOR_ENABLE_AUTO_WHITE_BALANCE 0 COLOR_WHITE_BALANCE 3000 R200_LR_GAIN 200 R200_EMITTER_ENABLED 1 R200_LR_EXPOSURE 27 + roslaunch realsense_camera realsense_r200_dynamic_camera_options_params.launch + rosrun realsense_camera realsense_camera_test color_backlight_compensation 3 color_brightness 10 color_contrast 16 color_gain 18 color_gamma 100 color_hue 20 color_saturation 21 color_sharpness 7 color_enable_auto_white_balance 0 color_white_balance 3000 r200_lr_gain 200 r200_emitter_enabled 1 r200_lr_exposure 27 Verify that the "testCameraOptions" test pass. --> @@ -22,19 +22,19 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + @@ -54,19 +54,19 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + diff --git a/camera/test/realsense_r200_static_camera_options_params.launch b/camera/test/realsense_r200_static_camera_options_params.launch index 9ae48c0b6d..0e18fedac3 100644 --- a/camera/test/realsense_r200_static_camera_options_params.launch +++ b/camera/test/realsense_r200_static_camera_options_params.launch @@ -3,7 +3,7 @@ Steps: roslaunch realsense_camera realsense_r200_static_camera_options_params.launch - rosrun realsense_camera realsense_camera_test R200_DEPTH_UNITS 2 R200_DEPTH_CLAMP_MIN 3 R200_DEPTH_CLAMP_MAX 4 R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT 5 R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT 6 R200_DEPTH_CONTROL_MEDIAN_THRESHOLD 7 R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD 8 R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD 9 R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD 10 R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD 11 R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD 12 R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD 13 R200_DEPTH_CONTROL_LR_THRESHOLD 14 + rosrun realsense_camera realsense_camera_test r200_depth_units 2 r200_depth_clamp_min 3 r200_depth_clamp_max 4 r200_depth_control_estimate_median_decrement 5 r200_depth_control_estimate_median_increment 6 r200_depth_control_median_threshold 7 r200_depth_control_score_minimum_threshold 8 r200_depth_control_score_maximum_threshold 9 r200_depth_control_texture_count_threshold 10 r200_depth_control_texture_difference_threshold 11 r200_depth_control_second_peak_threshold 12 r200_depth_control_neighbor_threshold 13 r200_depth_control_lr_threshold 14 Verify that the "testCameraOptions" test pass. --> @@ -11,19 +11,19 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + @@ -31,19 +31,19 @@ args="load realsense_camera/RealsenseNodelet standalone_nodelet"> - - - - - - - - - - - - - + + + + + + + + + + + + + From c4664a01b6eb6e5f7b3aec8bde393015b11c8d88 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 22 Mar 2016 17:41:11 -0700 Subject: [PATCH 083/124] Added functionality to access camera using Serial No: Removed default Serial No: Added code to handle various use cases for input serial number Exit with error if no serial number is specified and multiple cameras are detected. Exit with error if no camera is detected that matches the input serial number. Updated launch files with a placeholder for serial number Updated rgbd_launch test code to remove hardcoded topic names. Updated README with changes related to serial number Apart from the serial number changes, updated the Limitations section to highlight that the nodelet only works for R200 Corrected rgbd_launch and README files Added code to print all the detected cameras. Removed leading spaces in few function calls --- camera/README.md | 34 ++++--- .../realsense_r200_nodelet.launch.xml | 3 +- .../launch/realsense_r200_navigation.launch | 3 +- ...ense_r200_nodelet_standalone_manual.launch | 2 + ...ense_r200_nodelet_standalone_preset.launch | 3 +- camera/launch/realsense_r200_rgbd.launch | 9 +- camera/src/realsense_camera_nodelet.cpp | 78 +++++++++++++--- camera/src/realsense_camera_nodelet.h | 6 +- .../test/realsense_camera_test_rgbd_node.cpp | 91 ++++++++++++------- camera/test/realsense_camera_test_rgbd_node.h | 60 ++++++++---- 10 files changed, 209 insertions(+), 80 deletions(-) diff --git a/camera/README.md b/camera/README.md index 4febe91674..d512a13bf5 100644 --- a/camera/README.md +++ b/camera/README.md @@ -73,6 +73,9 @@ Infrared2 camera #### Static Parameters Stream parameters: + serial_no (string, default: blank) + Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet. + This feature has been tested to work only on kernel version 4.4.0-040400-generic. mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. Preset mode enables default values whereas Manual mode enables the specified parameter values. @@ -244,17 +247,22 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_ ###Limitations: -Currently, the ROS camera nodelet only supports the following formats: -* Color stream: RGB8 -* Depth stream: Y16 -* Infrared stream: Y8 - -Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: -/camera/depth_registered/hw_registered/image_rect_raw -/camera/depth_registered/points -/camera/depth_registered/hw_registered/image_rect -/camera/depth_registered/image -/camera/depth/disparity -/camera/depth_registered/disparity - +* Currently, the camera nodelet has been tested to work only for R200 cameras. + +* Currently, the camera nodelet only supports the following formats: + * Color stream: RGB8 + * Depth stream: Y16 + * Infrared stream: Y8 + +* The camera does not provide hardware based depth registration/projector data. +Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: + * /camera/depth_registered/hw_registered/image_rect_raw + * /camera/depth_registered/points + * /camera/depth_registered/hw_registered/image_rect + * /camera/depth_registered/image + * /camera/depth/disparity + * /camera/depth_registered/disparity + +* If there are multiple R200 cameras connected to a system, the nodelet can be launched for a particular camera +by specifing the serial_no parameter in the launch file. But it has not been tested to launch nodelets simultaneouly for multiple cameras. diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml index 361fe6ed63..97f64f3912 100644 --- a/camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -1,7 +1,6 @@ - @@ -9,6 +8,7 @@ + @@ -25,6 +25,7 @@ + diff --git a/camera/launch/realsense_r200_navigation.launch b/camera/launch/realsense_r200_navigation.launch index 1a4105604d..9ca8d38cb3 100644 --- a/camera/launch/realsense_r200_navigation.launch +++ b/camera/launch/realsense_r200_navigation.launch @@ -1,5 +1,5 @@ - + @@ -10,6 +10,7 @@ + diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch index c4159e27dd..e66365bba4 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -1,5 +1,6 @@ + @@ -16,6 +17,7 @@ + diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch index dd3d1a09c0..186d2e12bf 100644 --- a/camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -1,5 +1,5 @@ - + @@ -10,6 +10,7 @@ + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index 4a9e760ac7..e1a51a40a6 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -1,9 +1,13 @@ - + + + + + @@ -51,6 +55,7 @@ + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index fa2473cb7b..b7abe1395a 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -328,30 +328,59 @@ namespace realsense_camera { if (enable_depth_ == false && enable_color_ == false) { - ROS_INFO_STREAM ("RealSense Camera - None of the streams are enabled. Exiting."); + ROS_ERROR_STREAM("RealSense Camera - None of the streams are enabled. Exiting."); return false; } - rs_context_ = rs_create_context (RS_API_VERSION, &rs_error_); + rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_); checkError(); - int num_of_cameras = rs_get_device_count(rs_context_, NULL); - if (num_of_cameras < 1) + num_of_cameras_ = rs_get_device_count(rs_context_, &rs_error_); + checkError(); + + // Exit with error if no cameras are connected. + if (num_of_cameras_ < 1) { - ROS_ERROR_STREAM ("RealSense Camera - No cameras are connected."); + ROS_ERROR_STREAM("RealSense Camera - No cameras detected. Exiting!"); return false; } - rs_device_ = rs_get_device(rs_context_, 0, &rs_error_); - checkError(); + rs_device_ = getCameraBySerialNumber(); // Get rs_device_ using input serial number. + + // Exit with error if no serial number is specified and multiple cameras are detected. + if ((serial_no_.empty() == true) && (num_of_cameras_ > 1)) + { + ROS_INFO_STREAM("RealSense Camera - Following cameras detected:"); + for (rs_device *rs_detected_device: rs_detected_devices_) + { + ROS_INFO_STREAM("Serial No: " << rs_get_device_serial(rs_detected_device, &rs_error_) << + " Firmware Version: " << rs_get_device_firmware_version(rs_detected_device, &rs_error_) << + " Name: " << rs_get_device_name(rs_detected_device, &rs_error_)); + } + ROS_ERROR_STREAM("RealSense Camera - Multiple cameras detected but no input serial_no specified. Exiting!"); + return false; + } + + // Exit with error if no camera is detected that matches the input serial number. + if ((serial_no_.empty() != true) && (rs_device_ == NULL)) + { + ROS_ERROR_STREAM("RealSense Camera - No camera detected with input serial_no = " << serial_no_ << ". Exiting!"); + return false; + } + + // At this point, rs_device_ will be null if no input serial number was specified and only one camera is connected. + // This is a valid use case and the code will proceed. + if (rs_device_ == NULL) + { + rs_device_ = rs_get_device(rs_context_, 0, &rs_error_); + checkError(); + } - ROS_INFO_STREAM ("RealSense Camera - Number of cameras connected: " << num_of_cameras); - ROS_INFO_STREAM ("RealSense Camera - Firmware version: " << - rs_get_device_firmware_version(rs_device_, &rs_error_)); + ROS_INFO_STREAM("RealSense Camera - Serial no: " << rs_get_device_serial(rs_device_, &rs_error_)); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Name: " << rs_get_device_name(rs_device_, &rs_error_)); + ROS_INFO_STREAM("RealSense Camera - Firmware version: " << rs_get_device_firmware_version(rs_device_, &rs_error_)); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Serial no: " << rs_get_device_serial(rs_device_, &rs_error_)); + ROS_INFO_STREAM("RealSense Camera - Name: " << rs_get_device_name(rs_device_, &rs_error_)); checkError(); // Enable streams. @@ -381,6 +410,30 @@ namespace realsense_camera return true; } + /* + * Returns the device details of the camera that matches the input serial_no. + * Returns NULL if no camera is found that matches the input serial_no. + * Also populates the list of detected cameras. + */ + rs_device * RealsenseNodelet::getCameraBySerialNumber() + { + rs_device *rs_device_detect; + rs_device *rs_device_connect = NULL; + for (int i = 0; i < num_of_cameras_; ++i) + { + rs_device_detect = rs_get_device(rs_context_, i, &rs_error_); + checkError(); + std::string device_serial_no = rs_get_device_serial(rs_device_detect, &rs_error_); + checkError(); + if (device_serial_no.compare(serial_no_) == 0) + { + rs_device_connect = rs_device_detect; + } + rs_detected_devices_.push_back(rs_device_detect); + } + return rs_device_connect; + } + /* * Gets the options supported by the camera along with their min, max and step values. */ @@ -515,6 +568,7 @@ namespace realsense_camera */ void RealsenseNodelet::setStreamOptions() { + pnh_.getParam("serial_no", serial_no_); pnh_.param("camera", camera_, (std::string) R200); pnh_.param("mode", mode_, DEFAULT_MODE); pnh_.param("enable_depth", enable_depth_, ENABLE_DEPTH); diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 665d37a82e..0354588d83 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -76,7 +76,6 @@ class RealsenseNodelet: public nodelet::Nodelet // Default Constants. const int MAX_Z = 8; // in meters - const int DEFAULT_CAMERA = 0; // default camera index const std::string DEFAULT_MODE = "preset"; const int DEPTH_HEIGHT = 360; const int DEPTH_WIDTH = 480; @@ -88,7 +87,6 @@ class RealsenseNodelet: public nodelet::Nodelet const bool ENABLE_COLOR = true; const bool ENABLE_PC = true; const bool ENABLE_TF = true; - const uint32_t SERIAL_NUMBER = 0xFFFFFFFF; const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; const rs_format IR1_FORMAT = RS_FORMAT_Y8; @@ -117,7 +115,10 @@ class RealsenseNodelet: public nodelet::Nodelet rs_error *rs_error_ = 0; rs_context *rs_context_; rs_device *rs_device_; + std::vector rs_detected_devices_; + int num_of_cameras_; + std::string serial_no_; int color_height_; int color_width_; int depth_height_; @@ -181,6 +182,7 @@ class RealsenseNodelet: public nodelet::Nodelet void getCameraOptions(); void allocateResources(); bool connectToCamera(); + rs_device * getCameraBySerialNumber(); void fillStreamEncoding(); void setStreamOptions(); void setStaticCameraOptions(); diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp index d3cf52ecca..c90361eb40 100644 --- a/camera/test/realsense_camera_test_rgbd_node.cpp +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -135,71 +135,98 @@ void topic12Callback(const sensor_msgs::ImageConstPtr msg) } } -TEST (RealsenseTests, RGB_IMAGE_MONO) +TEST (RealsenseTests, rgb_image_mono) { EXPECT_TRUE (topic_0_recv); } -TEST (RealsenseTests, RGB_IMAGE_COLOR) +TEST (RealsenseTests, rgb_image_color) { EXPECT_TRUE (topic_1_recv); } -TEST (RealsenseTests, RGB_IMAGE_RECT_MONO) +TEST (RealsenseTests, rgb_image_rect_mono) { EXPECT_TRUE (topic_2_recv); } -TEST (RealsenseTests, RGB_IMAGE_RECT_COLOR) +TEST (RealsenseTests, rgb_image_rect_color) { EXPECT_TRUE (topic_3_recv); } -TEST (RealsenseTests, DEPTH_IMAGE_RECT_RAW) +TEST (RealsenseTests, depth_image_rect_raw) { EXPECT_TRUE (topic_4_recv); } -TEST (RealsenseTests, DEPTH_IMAGE_RECT) +TEST (RealsenseTests, depth_image_rect) { EXPECT_TRUE (topic_5_recv); } -TEST (RealsenseTests, DEPTH_IMAGE) +TEST (RealsenseTests, depth_image) { EXPECT_TRUE (topic_6_recv); } -TEST (RealsenseTests, DEPTH_POINTS) +TEST (RealsenseTests, depth_points) { EXPECT_TRUE (topic_7_recv); } -TEST (RealsenseTests, IR_IMAGE_RECT_IR) +TEST (RealsenseTests, ir_image_rect_ir) { EXPECT_TRUE (topic_8_recv); } -TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT_RAW) +TEST (RealsenseTests, depth_reg_sw_reg_image_rect_raw) { EXPECT_TRUE (topic_9_recv); } -TEST (RealsenseTests, DEPTH_REG_SW_REG_CAMERA_INFO) +TEST (RealsenseTests, depth_reg_sw_reg_camera_info) { EXPECT_TRUE (topic_10_recv); } -TEST (RealsenseTests, DEPTH_REG_POINTS) +TEST (RealsenseTests, depth_reg_points) { EXPECT_TRUE (topic_11_recv); } -TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT) +TEST (RealsenseTests, depth_reg_sw_reg_image_rect) { EXPECT_TRUE (topic_12_recv); } +void getParams() +{ + ros::NodeHandle pnh; + pnh.param("camera", camera, CAMERA); + pnh.param("rgb", rgb, RGB); + pnh.param("depth", depth, DEPTH); + pnh.param("ir", ir, IR); + pnh.param("depth_registered", depth_registered, DEPTH_REGISTERED); +} + +void setTopics() +{ + rgb_image_mono = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_MONO; + rgb_image_color = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_COLOR; + rgb_image_rect_mono = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_RECT_MONO; + rgb_image_rect_color = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_RECT_COLOR; + depth_image_rect_raw = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE_RECT_RAW; + depth_image_rect = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE_RECT; + depth_image = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE; + depth_points = "/" + camera + "/" + depth + "/" + DEPTH_POINTS; + ir_image_rect_ir = "/" + camera + "/" + ir + "/" + IR_IMAGE_RECT_IR; + depth_reg_sw_reg_image_rect_raw = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT_RAW; + depth_reg_sw_reg_camera_info = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_CAMERA_INFO; + depth_reg_points = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_POINTS; + depth_reg_sw_reg_image_rect = "/" + depth_registered + "/" + depth + "/" + DEPTH_REG_SW_REG_IMAGE_RECT; +} + int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); @@ -208,20 +235,22 @@ int main(int argc, char **argv) ROS_INFO_STREAM("RealSense Camera - Starting rgbd_launch Tests..."); ros::NodeHandle nh; - - subscriber[0] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_MONO, 1, topic0Callback, 0); - subscriber[1] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_COLOR, 1, topic1Callback, 0); - subscriber[2] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_MONO, 1, topic2Callback, 0); - subscriber[3] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_COLOR, 1, topic3Callback, 0); - subscriber[4] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT_RAW, 1, topic4Callback, 0); - subscriber[5] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT, 1, topic5Callback, 0); - subscriber[6] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE, 1, topic6Callback, 0); - subscriber[7] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_POINTS, 1, topic7Callback); - subscriber[8] = nh.subscribe < sensor_msgs::Image > (IR_IMAGE_RECT_IR, 1, topic8Callback, 0); - subscriber[9] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT_RAW, 1, topic9Callback, 0); - subscriber[10] = nh.subscribe < sensor_msgs::CameraInfo > (DEPTH_REG_SW_REG_CAMERA_INFO, 1, topic10Callback); - subscriber[11] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_REG_POINTS, 1, topic11Callback, 0); - subscriber[12] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT, 1, topic12Callback, 0); + getParams(); + setTopics(); + + subscriber[0] = nh.subscribe(rgb_image_mono, 1, topic0Callback, 0); + subscriber[1] = nh.subscribe(rgb_image_color, 1, topic1Callback, 0); + subscriber[2] = nh.subscribe(rgb_image_rect_mono, 1, topic2Callback, 0); + subscriber[3] = nh.subscribe(rgb_image_rect_color, 1, topic3Callback, 0); + subscriber[4] = nh.subscribe(depth_image_rect_raw, 1, topic4Callback, 0); + subscriber[5] = nh.subscribe(depth_image_rect, 1, topic5Callback, 0); + subscriber[6] = nh.subscribe(depth_image, 1, topic6Callback, 0); + subscriber[7] = nh.subscribe(depth_points, 1, topic7Callback); + subscriber[8] = nh.subscribe(ir_image_rect_ir, 1, topic8Callback, 0); + subscriber[9] = nh.subscribe(depth_reg_sw_reg_image_rect_raw, 1, topic9Callback, 0); + subscriber[10] = nh.subscribe(depth_reg_sw_reg_camera_info, 1, topic10Callback); + subscriber[11] = nh.subscribe(depth_reg_points, 1, topic11Callback, 0); + subscriber[12] = nh.subscribe(depth_reg_sw_reg_image_rect, 1, topic12Callback, 0); ros::Duration duration; duration.sec = 10; diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/camera/test/realsense_camera_test_rgbd_node.h index 1f4713e491..b78ea68dcd 100644 --- a/camera/test/realsense_camera_test_rgbd_node.h +++ b/camera/test/realsense_camera_test_rgbd_node.h @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -37,19 +37,45 @@ const static int TOPIC_COUNT = 13; -const char *RGB_IMAGE_MONO = "/camera/rgb/image_mono"; -const char *RGB_IMAGE_COLOR = "/camera/rgb/image_color"; -const char *RGB_IMAGE_RECT_MONO = "/camera/rgb/image_rect_mono"; -const char *RGB_IMAGE_RECT_COLOR = "/camera/rgb/image_rect_color"; -const char *DEPTH_IMAGE_RECT_RAW = "/camera/depth/image_rect_raw"; -const char *DEPTH_IMAGE_RECT = "/camera/depth/image_rect"; -const char *DEPTH_IMAGE = "/camera/depth/image"; -const char *DEPTH_POINTS = "/camera/depth/points"; -const char *IR_IMAGE_RECT_IR = "/camera/ir/image_rect_ir"; -const char *DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "/camera/depth_registered/sw_registered/image_rect_raw"; -const char *DEPTH_REG_SW_REG_CAMERA_INFO = "/camera/depth_registered/sw_registered/camera_info"; -const char *DEPTH_REG_POINTS = "/camera/depth_registered/points"; -const char *DEPTH_REG_SW_REG_IMAGE_RECT = "/camera/depth_registered/sw_registered/image_rect"; +std::string RGB_IMAGE_MONO = "image_mono"; +std::string RGB_IMAGE_COLOR = "image_color"; +std::string RGB_IMAGE_RECT_MONO = "image_rect_mono"; +std::string RGB_IMAGE_RECT_COLOR = "image_rect_color"; +std::string DEPTH_IMAGE_RECT_RAW = "image_rect_raw"; +std::string DEPTH_IMAGE_RECT = "image_rect"; +std::string DEPTH_IMAGE = "image"; +std::string DEPTH_POINTS = "points"; +std::string IR_IMAGE_RECT_IR = "image_rect_ir"; +std::string DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "sw_registered/image_rect_raw"; +std::string DEPTH_REG_SW_REG_CAMERA_INFO = "sw_registered/camera_info"; +std::string DEPTH_REG_POINTS = "points"; +std::string DEPTH_REG_SW_REG_IMAGE_RECT = "sw_registered/image_rect"; + +std::string CAMERA = "camera"; +std::string RGB = "rgb"; +std::string DEPTH = "depth"; +std::string IR = "ir"; +std::string DEPTH_REGISTERED = "depth_registered"; + +std::string camera; +std::string rgb; +std::string depth; +std::string ir; +std::string depth_registered; + +std::string rgb_image_mono; +std::string rgb_image_color; +std::string rgb_image_rect_mono; +std::string rgb_image_rect_color; +std::string depth_image_rect_raw; +std::string depth_image_rect; +std::string depth_image; +std::string depth_points; +std::string ir_image_rect_ir; +std::string depth_reg_sw_reg_image_rect_raw; +std::string depth_reg_sw_reg_camera_info; +std::string depth_reg_points; +std::string depth_reg_sw_reg_image_rect; bool topic_0_recv = false; bool topic_1_recv = false; From a76f6be8cd23039079c1c4c6581159ef26c180e5 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 24 Mar 2016 19:35:23 -0700 Subject: [PATCH 084/124] Updated code to always show detected cameras --- camera/src/realsense_camera_nodelet.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index b7abe1395a..56f7677cfe 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -346,17 +346,20 @@ namespace realsense_camera } rs_device_ = getCameraBySerialNumber(); // Get rs_device_ using input serial number. + std::string detected_camera_msg = "RealSense Camera - Detected following cameras:"; + for (rs_device *rs_detected_device: rs_detected_devices_) + { + detected_camera_msg = detected_camera_msg + + "\n\t\t\t\t- Serial No: " + rs_get_device_serial(rs_detected_device, &rs_error_) + + "; Firmware: " + rs_get_device_firmware_version(rs_detected_device, &rs_error_) + + "; Name: " + rs_get_device_name(rs_detected_device, &rs_error_); + checkError(); + } + ROS_INFO_STREAM(detected_camera_msg); // Exit with error if no serial number is specified and multiple cameras are detected. if ((serial_no_.empty() == true) && (num_of_cameras_ > 1)) { - ROS_INFO_STREAM("RealSense Camera - Following cameras detected:"); - for (rs_device *rs_detected_device: rs_detected_devices_) - { - ROS_INFO_STREAM("Serial No: " << rs_get_device_serial(rs_detected_device, &rs_error_) << - " Firmware Version: " << rs_get_device_firmware_version(rs_detected_device, &rs_error_) << - " Name: " << rs_get_device_name(rs_detected_device, &rs_error_)); - } ROS_ERROR_STREAM("RealSense Camera - Multiple cameras detected but no input serial_no specified. Exiting!"); return false; } @@ -376,11 +379,8 @@ namespace realsense_camera checkError(); } - ROS_INFO_STREAM("RealSense Camera - Serial no: " << rs_get_device_serial(rs_device_, &rs_error_)); - checkError(); - ROS_INFO_STREAM("RealSense Camera - Firmware version: " << rs_get_device_firmware_version(rs_device_, &rs_error_)); - checkError(); - ROS_INFO_STREAM("RealSense Camera - Name: " << rs_get_device_name(rs_device_, &rs_error_)); + ROS_INFO_STREAM("RealSense Camera - Connecting to camera with Serial No: " << + rs_get_device_serial(rs_device_, &rs_error_)); checkError(); // Enable streams. From 6239f9e7c6a4fb8acb458739b5a682201bf1e014 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 25 Mar 2016 14:19:18 -0700 Subject: [PATCH 085/124] Updated rgbd test file to correct a topic name --- camera/test/realsense_camera_test_rgbd_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp index c90361eb40..0ff6d23295 100644 --- a/camera/test/realsense_camera_test_rgbd_node.cpp +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -224,7 +224,7 @@ void setTopics() depth_reg_sw_reg_image_rect_raw = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT_RAW; depth_reg_sw_reg_camera_info = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_CAMERA_INFO; depth_reg_points = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_POINTS; - depth_reg_sw_reg_image_rect = "/" + depth_registered + "/" + depth + "/" + DEPTH_REG_SW_REG_IMAGE_RECT; + depth_reg_sw_reg_image_rect = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT; } int main(int argc, char **argv) From 4b3eb4b0d5c68e25096956f912811afb2ce0a4e7 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 28 Mar 2016 17:00:30 -0700 Subject: [PATCH 086/124] 1.0.2 --- camera/CHANGELOG.rst | 18 ++++++++++++++++++ camera/package.xml | 2 +- 2 files changed, 19 insertions(+), 1 deletion(-) diff --git a/camera/CHANGELOG.rst b/camera/CHANGELOG.rst index 7fd84f81ec..f54638fe9d 100644 --- a/camera/CHANGELOG.rst +++ b/camera/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package realsense_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.0.2 (2016-03-28) +------------------ +* Added functionality to access camera using Serial No: + This fixes Issue #18. + Added code to handle various use cases for input serial number such as + --Exit with error if no serial number is specified and multiple cameras are detected. + --Exit with error if no camera is detected that matches the input serial number. + --Prints all the detected cameras. + Updated launch files with a placeholder for serial number. + Updated rgbd_launch test code to remove hardcoded topic names. +* Modified all parameters to lowercase for consistency + This fixes Issue #13. +* Removed support for R200_DISPARITY_MULTIPLIER camera option +* Added missing install targets + This fixes Pull Request #2. + This fixes Issue #17. +* Contributors: Reagan Lopez, Rajvi Jingar + 1.0.1 (2016-03-17) ------------------ * Convert command line args to ROS params diff --git a/camera/package.xml b/camera/package.xml index fc8ed84653..3d8481fa4f 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -1,7 +1,7 @@ realsense_camera - 1.0.1 + 1.0.2 RealSense Camera package allowing access to Intel 3D cameras and advanced modules Rajvi Jingar From c8b0f89d281fbf0bdb29b1f7573b672cebfbe95f Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 6 Apr 2016 10:40:55 -0700 Subject: [PATCH 087/124] Updated README and Issue Template with BKC --- .github/ISSUE_TEMPLATE.md | 27 +++++++++++++++------------ camera/README.md | 14 ++++++++------ 2 files changed, 23 insertions(+), 18 deletions(-) diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md index 78e8f72d51..152a15757b 100644 --- a/.github/ISSUE_TEMPLATE.md +++ b/.github/ISSUE_TEMPLATE.md @@ -1,23 +1,26 @@ ### System Configuration Please complete Your Configuration detail below. -| Version | Known Good | Your Configuration | -| ---------------- | ------------:| ------------------:| -| Operating System | ubuntu 14.04 | ??? | -| Kernel Version | 4.4.0-13 | ?.?.?-? | -| R200 FW | 1.0.72.06 | ?.?.?.? | -| librealsense | 0.9.1 | ?.?.? | +| Version | Best Known | Your Configuration | +|:---------------- |:---------------------|:---------------------| +| Operating System | Ubuntu 14.04.4 LTS | ? ? ? | +| Kernel | 4.4.0-040400-generic | ?-?-? | +| ROS | indigo | ? | +| librealsense | 0.9.1 | ?.?.? | +| R200 Firmware | 1.0.72.06 | ?.?.?.? | --- #### How to collect Configuration Data -*This section can be delete before submission.* +*This section can be deleted before submission.* | Version | Method | -| ---------------- | ------------ | -| Operating System | `cat /etc/*elease*` | -| Kernel Version | `uname -r` | -| R200 FW | View the ROS log from running node **OR** `/librealsense/bin/cpp-enumerate-devices | grep -i firmware` | -| librealsense | `cat /librealsense/readme.md | grep release-image | awk -F- '{print $3}'` | +|:---------------- |:------------ | +| Operating System | `grep DISTRIB_DESCRIPTION /etc/*elease*` | +| Kernel | `uname -r` | +| ROS | `rosversion -d` | +| librealsense | `cat /librealsense/readme.md | grep release-image | awk -F- '{print $3}'` | +| R200 Firmware | View the ROS log from running nodelet **OR** `/librealsense/bin/cpp-enumerate-devices | grep -i firmware` | + --- diff --git a/camera/README.md b/camera/README.md index d512a13bf5..0fadeee060 100644 --- a/camera/README.md +++ b/camera/README.md @@ -1,6 +1,13 @@ #Intel® RealSense™ Technology - ROS Integration +###Configuration +| Version | Best Known | +|:---------------- |:---------------------| +| Operating System | Ubuntu 14.04.4 LTS | +| Kernel | 4.4.0-040400-generic | +| ROS | indigo | +| librealsense | 0.9.1 | +| R200 Firmware | 1.0.72.06 | -###(ROS Indigo + Ubuntu 14.04 [64-bit]) ###Installation #####Getting the camera to work on Linux @@ -8,10 +15,6 @@ * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". -* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". - - E.g. sudo cp -r \/include/librealsense /usr/local/include - #####Building package: @@ -75,7 +78,6 @@ Infrared2 camera Stream parameters: serial_no (string, default: blank) Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet. - This feature has been tested to work only on kernel version 4.4.0-040400-generic. mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. Preset mode enables default values whereas Manual mode enables the specified parameter values. From 3297fb3e4e79288105dcd817d9e51183a97b465f Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 8 Apr 2016 13:34:52 -0700 Subject: [PATCH 088/124] Updated code to enable multi-camera functionality Added code to generate frame_id's based on user entered values. Updated rgbd_launch files to reflect the changes. Updated README to reflect the changes. --- camera/README.md | 40 +++++++++++-------- .../realsense_r200_nodelet.launch.xml | 33 +++++++++------ camera/launch/realsense_r200_rgbd.launch | 16 +++----- camera/src/realsense_camera_nodelet.cpp | 25 +++++++----- camera/src/realsense_camera_nodelet.h | 21 ++++++---- 5 files changed, 81 insertions(+), 54 deletions(-) diff --git a/camera/README.md b/camera/README.md index 0fadeee060..eff13acd79 100644 --- a/camera/README.md +++ b/camera/README.md @@ -72,12 +72,13 @@ Infrared2 camera rosrun tf tf_monitor - #### Static Parameters Stream parameters: serial_no (string, default: blank) Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet. + You may get the serial_no from the info stream by launching "realsense_r200_nodelet_standalone_preset.launch" + one at a time for each camera. mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. Preset mode enables default values whereas Manual mode enables the specified parameter values. @@ -89,7 +90,7 @@ Infrared2 camera Specify the depth camera height resolution. depth_width (int, default: 480) Specify the depth camera width resolution. - depth_fps (int, default: 60) + color_fps (int, default: 60) Specify the color camera FPS depth_fps (int, default: 60) Specify the depth camera FPS @@ -98,7 +99,21 @@ Infrared2 camera enable_pointcloud (bool, default: true) Specify if to enable or not the point cloud camera. enable_tf (bool, default: true) - Specify if to enable or not the transform frames. + Specify if to enable or not the transform frames. + base_frame_id (string, default: camera_link) + Specify the base frame id of the camera. + depth_frame_id (string, default: camera_depth_frame) + Specify the depth frame id of the camera. + color_frame_id (string, default: camera_rgb_frame) + Specify the color frame id of the camera. + depth_optical_frame_id (string, default: camera_depth_optical_frame) + Specify the depth optical frame id of the camera. + color_optical_frame_id (string, default: camera_rgb_optical_frame) + Specify the color optical frame id of the camera. + ir_frame_id (string, default: camera_infrared_frame) + Specify the IR frame id of the camera. + ir2_frame_id (string, default: camera_infrared2_frame) + Specify the IR2 frame id of the camera. camera (string, default: "R200") Specify the camera name. Camera parameters: @@ -206,15 +221,11 @@ For viewing supported camera settings with current values: $ rosservice call /camera/get_settings -Tech and dependencies -* librealsense.so - -System: -* Linux 14.04+ -* ROS Indigo -* R200 (DS4) camera - -** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. +For running multiple cameras simultaneously: +* Create ".launch" files similar to "realsense_r200_rgbd.launch" for each camera. + * Update the "camera" and "serial_no" arguments with unique values for each camera. + * You may choose to include (or not) the "processing.launch.xml" based on your requirement. +* Launch the ".launch" files for each camera in separate terminals. ###Unit Tests The Unit Tests can be executed using either of the methods: @@ -264,7 +275,4 @@ Hence the launch file "realsense_r200_rgbd.launch" will not generate data for th * /camera/depth_registered/image * /camera/depth/disparity * /camera/depth_registered/disparity - -* If there are multiple R200 cameras connected to a system, the nodelet can be launched for a particular camera -by specifing the serial_no parameter in the launch file. But it has not been tested to launch nodelets simultaneouly for multiple cameras. - +* The performance benchmark for multiple cameras launched at the same time has not been defined yet. diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml index 97f64f3912..dcb94b9a21 100644 --- a/camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -1,38 +1,47 @@ + - - + - + + + + + + - - - - + + - - + + + - + - - + + + + + + + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch index e1a51a40a6..c73dabbeae 100644 --- a/camera/launch/realsense_r200_rgbd.launch +++ b/camera/launch/realsense_r200_rgbd.launch @@ -8,9 +8,6 @@ - - - @@ -55,17 +52,16 @@ + - - - - + + - - - + + + diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 56f7677cfe..eb0d95771b 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -75,9 +75,6 @@ namespace realsense_camera // Set default configurations. is_device_started_ = false; - frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; - frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; - for (int i = 0; i < STREAM_COUNT; ++i) { camera_info_[i] = NULL; @@ -91,6 +88,11 @@ namespace realsense_camera setStreamOptions(); + frame_id_[RS_STREAM_DEPTH] = depth_optical_frame_id_; + frame_id_[RS_STREAM_COLOR] = color_optical_frame_id_; + frame_id_[RS_STREAM_INFRARED] = ir_frame_id_; + frame_id_[RS_STREAM_INFRARED2] = ir2_frame_id_; + // Advertise the various topics and services. camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera(COLOR_TOPIC, 1); camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera(DEPTH_TOPIC, 1); @@ -581,8 +583,13 @@ namespace realsense_camera pnh_.param("color_height", color_height_, COLOR_HEIGHT); pnh_.param("depth_fps", depth_fps_, DEPTH_FPS); pnh_.param("color_fps", color_fps_, COLOR_FPS); - pnh_.param("depth_frame_id", frame_id_[RS_STREAM_DEPTH], (std::string) DEPTH_OPTICAL_DEF_FRAME); - pnh_.param("rgb_frame_id", frame_id_[RS_STREAM_COLOR], (std::string) COLOR_OPTICAL_DEF_FRAME); + pnh_.param("base_frame_id", base_frame_id_, DEFAULT_BASE_FRAME_ID); + pnh_.param("depth_frame_id", depth_frame_id_, DEFAULT_DEPTH_FRAME_ID); + pnh_.param("color_frame_id", color_frame_id_, DEFAULT_COLOR_FRAME_ID); + pnh_.param("depth_optical_frame_id", depth_optical_frame_id_, DEFAULT_DEPTH_OPTICAL_FRAME_ID); + pnh_.param("color_optical_frame_id", color_optical_frame_id_, DEFAULT_COLOR_OPTICAL_FRAME_ID); + pnh_.param("ir_frame_id", ir_frame_id_, DEFAULT_IR_FRAME_ID); + pnh_.param("ir2_frame_id", ir2_frame_id_, DEFAULT_IR2_FRAME_ID); } /* @@ -928,24 +935,24 @@ namespace realsense_camera // transform base frame to depth frame tr.setOrigin(tf::Vector3(z_extrinsic.translation[0], z_extrinsic.translation[1], z_extrinsic.translation[2])); tr.setRotation(tf::Quaternion(0, 0, 0, 1)); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, DEPTH_DEF_FRAME)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id_, depth_frame_id_)); // 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 ); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, DEPTH_DEF_FRAME, frame_id_[RS_STREAM_DEPTH])); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, depth_frame_id_, depth_optical_frame_id_)); // transform base frame to color frame (these are the same) tr.setOrigin(tf::Vector3(0,0,0)); tr.setRotation(tf::Quaternion(0, 0, 0, 1)); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, COLOR_DEF_FRAME)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id_, color_frame_id_)); // 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 ); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, COLOR_DEF_FRAME, frame_id_[RS_STREAM_COLOR])); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, color_frame_id_, color_optical_frame_id_)); sleeper.sleep(); // need sleep or transform won't publish correctly } diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 0354588d83..3173ce8a69 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -91,13 +91,13 @@ class RealsenseNodelet: public nodelet::Nodelet const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; const rs_format IR1_FORMAT = RS_FORMAT_Y8; const rs_format IR2_FORMAT = RS_FORMAT_Y8; - const char *BASE_DEF_FRAME = "camera_link"; - const char *DEPTH_DEF_FRAME = "camera_depth_frame"; - const char *COLOR_DEF_FRAME = "camera_rgb_frame"; - const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; - const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; - const char *IR1_DEF_FRAME = "camera_infrared_optical_frame"; - const char *IR2_DEF_FRAME = "camera_infrared2_optical_frame"; + const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; + const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; + const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; + const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; + const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; + const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; + const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; const char *DEPTH_TOPIC = "camera/depth/image_raw"; const char *COLOR_TOPIC = "camera/color/image_raw"; const char *IR1_TOPIC = "camera/infrared1/image_raw"; @@ -130,6 +130,13 @@ class RealsenseNodelet: public nodelet::Nodelet bool enable_depth_; bool enable_pointcloud_; bool enable_tf_; + std::string base_frame_id_; + std::string depth_frame_id_; + std::string color_frame_id_; + std::string depth_optical_frame_id_; + std::string color_optical_frame_id_; + std::string ir_frame_id_; + std::string ir2_frame_id_; std::string camera_ = "R200"; const uint16_t *image_depth16_; From 62b19add0c488f683060cf822161e47eeadd67ce Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Mon, 18 Apr 2016 12:44:30 -0700 Subject: [PATCH 089/124] Add Project Contribution Conditions --- .github/CONTRIBUTING.md | 75 ++++++++++++++++++++++++++++++++ .github/PULL_REQUEST_TEMPLATE.md | 2 + README.md | 30 ++++++++++++- 3 files changed, 106 insertions(+), 1 deletion(-) create mode 100644 .github/CONTRIBUTING.md diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md new file mode 100644 index 0000000000..335ca26f3b --- /dev/null +++ b/.github/CONTRIBUTING.md @@ -0,0 +1,75 @@ +# Contributing to ROS RealSense™ Project + +Third-party patches and contributions are welcome. We do require +you read and agree to the Contribution License Agreement below. + +## Contribution License Agreement + +The Intel® RealSense™ ROS Project is developed and distributed under +a BSD license as noted in [camera/licenses/License.txt](../camera/licenses/License.txt). + +By making a contribution to this project, I certify that: + +(a) The contribution was created in whole or in part by me and I +have the right to submit it under the open source license +indicated in the file; or + +(b) The contribution is based upon previous work that, to the best +of my knowledge, is covered under an appropriate open source +license and I have the right under that license to submit that +work with modifications, whether created in whole or in part +by me, under the same open source license (unless I am +permitted to submit under a different license), as indicated +in the file; or + +(c) The contribution was provided directly to me by some other +person who certified (a), (b) or (c) and I have not modified +it. + +(d) I understand and agree that this project and the contribution +are public and that a record of the contribution (including all +personal information I submit with it, including my sign-off) is +maintained indefinitely and may be redistributed consistent with +this project or the open source license(s) involved. + +# Contribution Prerequisites + +* Create a [GitHub account](https://github.com/join) if you do not already have one. +* Search the existing [GitHub Issues](../../../issues) +to see if your contribution is already documented. + * Submit a [new GitHub Issue](../../../issues/new) if one does not exist. + * Complete the provided template with your system configuration. + * For Bug fixes, include directions on how to reproduce the problem. + * For new functionality or features, please describe in detail the requirements. +* [Create a Fork](../../../fork) of the repository on GitHub for your contribution. + +# Submitting Changes + +* Create a Topic branch for your work. + * Base the topic branch on the ROS development branch `-devel`. +* Ensure changes follow the [ROS coding Style Guide](http://wiki.ros.org/StyleGuide) +* Each commit needs to be functional/compile by itself. +* Follow [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines) +regarding commit formatting. + * Check for unnecessary whitespace with `git diff --check` before committing. +* Rebase commits to squash where appropriate. +* Verify the Test cases found in the package 'test' directory are passing. + * Changes with new functionality should include new test cases. +* Submit a [Pull Request](../../../compare) to the repository. + * Ensure that it is flagged as "Able to merge", if not you may need to rebase your Fork. + * List the Issues fixed by the Pull Request. + +### Monitor Your Pull Request + +* The maintainers attempt to review all Pull Requests in a timely manner; worse case +is once per week. +* If maintainers request changes or additional information for your Pull Request, the +expectation is the submitter replies within two weeks. +* Pull Requests may be closed without being merged if there is no submitter response after 3+ weeks. + +# Contribution Resources + +* [Create a GitHub account](https://github.com/join) +* [GitHub Pull Request documentation](https://help.github.com/articles/using-pull-requests) +* [ROS coding Style Guide](http://wiki.ros.org/StyleGuide) +* [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines) diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index e0ebfd2a0d..b41bd2c73e 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -1,3 +1,5 @@ +**Please ensure the above *guidelines for contributing* are met.** + Fixes Issue: # Changes proposed in this pull request: diff --git a/README.md b/README.md index 610271fd88..869cf83142 100644 --- a/README.md +++ b/README.md @@ -5,5 +5,33 @@ www.intel.com/realsense www.ros.org - Refer to the README.md file within each package for more details. + +# Contributing to the Project + +The Intel® RealSense™ ROS Project is developed and distributed under +a BSD license as noted in [camera/licenses/License.txt](camera/licenses/License.txt). + +By making a contribution to this project, I certify that: + +(a) The contribution was created in whole or in part by me and I +have the right to submit it under the open source license +indicated in the file; or + +(b) The contribution is based upon previous work that, to the best +of my knowledge, is covered under an appropriate open source +license and I have the right under that license to submit that +work with modifications, whether created in whole or in part +by me, under the same open source license (unless I am +permitted to submit under a different license), as indicated +in the file; or + +(c) The contribution was provided directly to me by some other +person who certified (a), (b) or (c) and I have not modified +it. + +(d) I understand and agree that this project and the contribution +are public and that a record of the contribution (including all +personal information I submit with it, including my sign-off) is +maintained indefinitely and may be redistributed consistent with +this project or the open source license(s) involved. From a3f0ed5654055d0e42bb564d27d0b5581fd542f9 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 22 Apr 2016 14:42:27 -0700 Subject: [PATCH 090/124] Modified variable names to match ROS standards --- camera/src/realsense_camera_nodelet.cpp | 8 ++++---- camera/src/realsense_camera_nodelet.h | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index eb0d95771b..51336de453 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -443,7 +443,7 @@ namespace realsense_camera { for (int i = 0; i < RS_OPTION_COUNT; ++i) { - option_str o = { (rs_option) i }; + CameraOptions o = { (rs_option) i }; if (rs_device_supports_option(rs_device_, o.opt, &rs_error_)) { @@ -452,7 +452,7 @@ namespace realsense_camera if (o.min != o.max) { o.value = rs_get_device_option(rs_device_, o.opt, 0); - options.push_back(o); + camera_options_.push_back(o); } } } @@ -552,7 +552,7 @@ namespace realsense_camera std::string get_options_result_str; std::string opt_name, opt_value; - for (option_str o: options) + for (CameraOptions o: camera_options_) { opt_name = rs_option_to_string(o.opt); std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); @@ -603,7 +603,7 @@ namespace realsense_camera std::vector param_desc = params_config.__getParamDescriptions__(); // Iterate through the supported camera options - for (option_str o: options) + for (CameraOptions o: camera_options_) { std::string opt_name = rs_option_to_string(o.opt); bool found = false; diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 3173ce8a69..909b5b175e 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -165,12 +165,12 @@ class RealsenseNodelet: public nodelet::Nodelet std::map config_; int stream_step_[STREAM_COUNT]; - struct option_str + struct CameraOptions { rs_option opt; double min, max, step, value; }; - std::vector options; + std::vector camera_options_; boost::shared_ptr> dynamic_reconf_server_; // Member Functions. From 64d048c510e5a4f22a580aba852d60a151bf216b Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 22 Apr 2016 18:23:06 -0700 Subject: [PATCH 091/124] Updated Issue Template with Backend and ROS RealSense details --- .github/ISSUE_TEMPLATE.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md index 152a15757b..e77dce1283 100644 --- a/.github/ISSUE_TEMPLATE.md +++ b/.github/ISSUE_TEMPLATE.md @@ -5,7 +5,9 @@ Please complete Your Configuration detail below. |:---------------- |:---------------------|:---------------------| | Operating System | Ubuntu 14.04.4 LTS | ? ? ? | | Kernel | 4.4.0-040400-generic | ?-?-? | +| Backend | video4linux | ? | | ROS | indigo | ? | +| ROS RealSense | Latest Release | ?.?.? | | librealsense | 0.9.1 | ?.?.? | | R200 Firmware | 1.0.72.06 | ?.?.?.? | @@ -17,7 +19,9 @@ Please complete Your Configuration detail below. |:---------------- |:------------ | | Operating System | `grep DISTRIB_DESCRIPTION /etc/*elease*` | | Kernel | `uname -r` | +| Backend | `ls /sys/class | grep video4linux` | | ROS | `rosversion -d` | +| ROS RealSense | `rosversion realsense_camera` | | librealsense | `cat /librealsense/readme.md | grep release-image | awk -F- '{print $3}'` | | R200 Firmware | View the ROS log from running nodelet **OR** `/librealsense/bin/cpp-enumerate-devices | grep -i firmware` | From 7328f109c7584c3a6599d70471a09cbfb103c825 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 22 Apr 2016 18:33:54 -0700 Subject: [PATCH 092/124] Updated README with Backend details --- camera/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/camera/README.md b/camera/README.md index eff13acd79..baa95acd7b 100644 --- a/camera/README.md +++ b/camera/README.md @@ -4,6 +4,7 @@ |:---------------- |:---------------------| | Operating System | Ubuntu 14.04.4 LTS | | Kernel | 4.4.0-040400-generic | +| Backend | video4linux | | ROS | indigo | | librealsense | 0.9.1 | | R200 Firmware | 1.0.72.06 | From b7e04b4aa710b17eae39595f45519831088c9047 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Fri, 22 Apr 2016 17:55:44 -0700 Subject: [PATCH 093/124] Updated RGBD Launch File for Manual Mode Depth point cloud does not work at 60 fps; dropped to 30 fps. --- camera/README.md | 7 ++++- .../realsense_r200_nodelet.launch.xml | 12 +++++++++ camera/launch/realsense_r200_rgbd.launch | 27 +++++++++++++++---- 3 files changed, 40 insertions(+), 6 deletions(-) diff --git a/camera/README.md b/camera/README.md index baa95acd7b..f5d92f7705 100644 --- a/camera/README.md +++ b/camera/README.md @@ -268,12 +268,17 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_ * Depth stream: Y16 * Infrared stream: Y8 +* Generating a Depth Registered Point Cloud is very memory intensive. +The topic /camera/depth_registered/points, generated by launch file +"realsense_r200_rgbd.launch", works best at 30 fps using 640x480 resolution +on a system with 16GB of RAM. + * The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: * /camera/depth_registered/hw_registered/image_rect_raw - * /camera/depth_registered/points * /camera/depth_registered/hw_registered/image_rect * /camera/depth_registered/image * /camera/depth/disparity * /camera/depth_registered/disparity + * The performance benchmark for multiple cameras launched at the same time has not been defined yet. diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml index dcb94b9a21..1d9eb43e70 100644 --- a/camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -15,6 +15,12 @@ + + + + + + + + + + + + + + + - - + + @@ -28,7 +37,7 @@ - + @@ -36,11 +45,12 @@ - + + @@ -57,11 +67,18 @@ - + + + + + + + + From 51520314d28ee3f4a18621bf4d270c6f6b073f2d Mon Sep 17 00:00:00 2001 From: rjingar Date: Sun, 8 May 2016 14:07:20 -0700 Subject: [PATCH 094/124] Added unit test to check camera_info distortion-parameter --- camera/test/realsense_camera_test_node.cpp | 14 ++++++++++++++ camera/test/realsense_camera_test_node.h | 1 + 2 files changed, 15 insertions(+) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index ed4f451586..1380b27665 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -229,6 +229,11 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg color_caminfo_projection_recv[i] = info_msg->P[i]; } + for (unsigned int i = 0; i < 5; i++) + { + color_caminfo_D_recv[i] = info_msg->D[i]; + } + color_recv = true; } @@ -297,6 +302,15 @@ TEST (RealsenseTests, testColorCameraInfo) EXPECT_TRUE(color_caminfo_projection_recv[10] != (double) 0); EXPECT_EQ(color_caminfo_projection_recv[11], (double) 0); + float color_caminfo_D = 1; + // ignoring the 5th value since it always appears to be 0.0 on tested R200 cameras + for (unsigned int i = 0; i < 4; i++) + { + color_caminfo_D = color_caminfo_D && color_caminfo_D_recv[i]; + } + + EXPECT_TRUE(color_caminfo_D != (float) 0); + } } diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index df3cc4049a..89ab0116bc 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -132,6 +132,7 @@ int color_caminfo_height_recv = 0; int color_caminfo_width_recv = 0; double color_caminfo_rotation_recv[9] = {0}; double color_caminfo_projection_recv[12] = {0}; +float color_caminfo_D_recv[5] = {0}; int inf1_caminfo_height_recv = 0; int inf1_caminfo_width_recv = 0; double inf1_caminfo_rotation_recv[9] = {0}; From 9515bca5916bda676d7cca934aa91a0c97fb1d13 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 6 May 2016 14:57:08 -0700 Subject: [PATCH 095/124] Fixed unit conversion bug in the projection matrix The unit of measure in librealsense is meters. Hence mm to meter conversion is not required. --- camera/src/realsense_camera_nodelet.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 51336de453..50a424e6a1 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -519,9 +519,9 @@ namespace realsense_camera rs_extrinsics z_extrinsic; rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError(); - camera_info_[stream_index]->P.at(3) = z_extrinsic.translation[0]/1000; // Tx - camera_info_[stream_index]->P.at(7) = z_extrinsic.translation[1]/1000; // Ty - camera_info_[stream_index]->P.at(11) = z_extrinsic.translation[2]/1000; // Tz + camera_info_[stream_index]->P.at(3) = z_extrinsic.translation[0]; // Tx + camera_info_[stream_index]->P.at(7) = z_extrinsic.translation[1]; // Ty + camera_info_[stream_index]->P.at(11) = z_extrinsic.translation[2]; // Tz } camera_info_[stream_index]->distortion_model = "plumb_bob"; From a72c362caadabd2e08c5713eed06533ff99cb7a4 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 6 May 2016 16:13:28 -0700 Subject: [PATCH 096/124] Fixed README bug to show correct depth format Z16 --- camera/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/camera/README.md b/camera/README.md index f5d92f7705..6bf71a854f 100644 --- a/camera/README.md +++ b/camera/README.md @@ -265,7 +265,7 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_ * Currently, the camera nodelet only supports the following formats: * Color stream: RGB8 - * Depth stream: Y16 + * Depth stream: Z16 * Infrared stream: Y8 * Generating a Depth Registered Point Cloud is very memory intensive. From 126764bd50974ef44946521b81bd8594e31e9e45 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 19 May 2016 17:31:39 -0700 Subject: [PATCH 097/124] Added nodelet name to log messages --- camera/src/realsense_camera_nodelet.cpp | 55 +++++++++++++------------ camera/src/realsense_camera_nodelet.h | 1 + 2 files changed, 29 insertions(+), 27 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 2475c668e9..8925e775fa 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -61,7 +61,7 @@ namespace realsense_camera checkError(); } - ROS_INFO_STREAM ("RealSense Camera - Stopping camera nodelet."); + ROS_INFO_STREAM (nodelet_name_ << " - Stopping camera nodelet."); ros::shutdown(); } @@ -70,7 +70,8 @@ namespace realsense_camera */ void RealsenseNodelet::onInit() { - ROS_INFO_STREAM ("RealSense Camera - Starting camera nodelet."); + nodelet_name_ = getName(); // Get the nodelet name + ROS_INFO_STREAM (nodelet_name_ << " - Starting camera nodelet."); // Set default configurations. is_device_started_ = false; @@ -142,13 +143,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: manual mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Color Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM ("RealSense Camera - Enabling Color Stream: preset mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Color Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -165,13 +166,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: manual mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Depth Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM ("RealSense Camera - Enabling Depth Stream: preset mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Depth Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -188,13 +189,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: manual mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared Stream: preset mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -211,12 +212,12 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: manual mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared2 Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); } else { - ROS_INFO_STREAM ("RealSense Camera - Enabling Infrared2 Stream: preset mode"); + ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared2 Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } @@ -287,7 +288,7 @@ namespace realsense_camera { if (enable_color_ == false) { - ROS_INFO_STREAM ("RealSense Camera - Color stream is also disabled. Cannot disable depth stream"); + ROS_INFO_STREAM (nodelet_name_ << " - Color stream is also disabled. Cannot disable depth stream"); config.enable_depth = true; } else @@ -305,7 +306,7 @@ namespace realsense_camera { if (rs_error_) { - ROS_ERROR_STREAM ("RealSense Camera - Error calling " << rs_get_failed_function(rs_error_) << " ( " + ROS_ERROR_STREAM (nodelet_name_ << " - Error calling " << rs_get_failed_function(rs_error_) << " ( " << rs_get_failed_args(rs_error_) << " ): \n" << rs_get_error_message(rs_error_) << " \n"); rs_free_error(rs_error_); @@ -330,7 +331,7 @@ namespace realsense_camera { if (enable_depth_ == false && enable_color_ == false) { - ROS_ERROR_STREAM("RealSense Camera - None of the streams are enabled. Exiting."); + ROS_ERROR_STREAM(nodelet_name_ << " - None of the streams are enabled. Exiting."); return false; } @@ -343,12 +344,12 @@ namespace realsense_camera // Exit with error if no cameras are connected. if (num_of_cameras_ < 1) { - ROS_ERROR_STREAM("RealSense Camera - No cameras detected. Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - No cameras detected. Exiting!"); return false; } rs_device_ = getCameraBySerialNumber(); // Get rs_device_ using input serial number. - std::string detected_camera_msg = "RealSense Camera - Detected following cameras:"; + std::string detected_camera_msg = nodelet_name_ + " - Detected following cameras:"; for (rs_device *rs_detected_device: rs_detected_devices_) { detected_camera_msg = detected_camera_msg + @@ -362,14 +363,14 @@ namespace realsense_camera // Exit with error if no serial number is specified and multiple cameras are detected. if ((serial_no_.empty() == true) && (num_of_cameras_ > 1)) { - ROS_ERROR_STREAM("RealSense Camera - Multiple cameras detected but no input serial_no specified. Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no specified. Exiting!"); return false; } // Exit with error if no camera is detected that matches the input serial number. if ((serial_no_.empty() != true) && (rs_device_ == NULL)) { - ROS_ERROR_STREAM("RealSense Camera - No camera detected with input serial_no = " << serial_no_ << ". Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - No camera detected with input serial_no = " << serial_no_ << ". Exiting!"); return false; } @@ -381,7 +382,7 @@ namespace realsense_camera checkError(); } - ROS_INFO_STREAM("RealSense Camera - Connecting to camera with Serial No: " << + ROS_INFO_STREAM(nodelet_name_ << " - Connecting to camera with Serial No: " << rs_get_device_serial(rs_device_, &rs_error_)); checkError(); @@ -642,7 +643,7 @@ namespace realsense_camera { opt_val = val; } - ROS_INFO_STREAM ("RealSense Camera - Static Options: " << opt_name << " = " << opt_val); + ROS_INFO_STREAM (nodelet_name_ << " - Static Options: " << opt_name << " = " << opt_val); rs_set_device_option(rs_device_, o.opt, opt_val, &rs_error_); checkError(); } @@ -704,28 +705,28 @@ namespace realsense_camera { rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + ROS_INFO_STREAM (nodelet_name_ << " - Device Stopped"); } //disable depth, infrared1 and infrared2 streams rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Depth Stream Disabled"); + ROS_INFO_STREAM (nodelet_name_ << " - Depth Stream Disabled"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Infrared1 stream Disabled"); + ROS_INFO_STREAM (nodelet_name_ << " - Infrared1 stream Disabled"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Infrared2 stream Disabled"); + ROS_INFO_STREAM (nodelet_name_ << " - Infrared2 stream Disabled"); if (rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Device Started"); + ROS_INFO_STREAM (nodelet_name_ << " - Device Started"); } } @@ -735,7 +736,7 @@ namespace realsense_camera { rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Device Stopped"); + ROS_INFO_STREAM (nodelet_name_ << " - Device Stopped"); } enableDepthStream(); @@ -746,7 +747,7 @@ namespace realsense_camera { rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM ("RealSense Camera - Device Started"); + ROS_INFO_STREAM (nodelet_name_ << " - Device Started"); } } @@ -915,7 +916,7 @@ namespace realsense_camera void RealsenseNodelet::publishTransforms() { // publish transforms for the cameras - ROS_INFO_STREAM("RealSense Camera - Publishing camera transforms"); + ROS_INFO_STREAM(nodelet_name_ << " - Publishing camera transforms"); tf::Transform tr; tf::Quaternion q; tf::TransformBroadcaster tf_broadcaster; diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 909b5b175e..3cee0d2bfd 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -138,6 +138,7 @@ class RealsenseNodelet: public nodelet::Nodelet std::string ir_frame_id_; std::string ir2_frame_id_; std::string camera_ = "R200"; + std::string nodelet_name_; const uint16_t *image_depth16_; cv::Mat image_[STREAM_COUNT]; From 0c7606716a63fcbcfece09d8071cef7dfbce0388 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 19 May 2016 17:35:08 -0700 Subject: [PATCH 098/124] Removed extra space before ROS Log function calls --- camera/src/realsense_camera_nodelet.cpp | 40 ++++++++++++------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 8925e775fa..3a0e283855 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -61,7 +61,7 @@ namespace realsense_camera checkError(); } - ROS_INFO_STREAM (nodelet_name_ << " - Stopping camera nodelet."); + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera nodelet."); ros::shutdown(); } @@ -71,7 +71,7 @@ namespace realsense_camera void RealsenseNodelet::onInit() { nodelet_name_ = getName(); // Get the nodelet name - ROS_INFO_STREAM (nodelet_name_ << " - Starting camera nodelet."); + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera nodelet."); // Set default configurations. is_device_started_ = false; @@ -143,13 +143,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Color Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Color Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -166,13 +166,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Depth Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Depth Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -189,13 +189,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -212,12 +212,12 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared2 Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 Stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); } else { - ROS_INFO_STREAM (nodelet_name_ << " - Enabling Infrared2 Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 Stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } @@ -288,7 +288,7 @@ namespace realsense_camera { if (enable_color_ == false) { - ROS_INFO_STREAM (nodelet_name_ << " - Color stream is also disabled. Cannot disable depth stream"); + ROS_INFO_STREAM(nodelet_name_ << " - Color stream is also disabled. Cannot disable depth stream"); config.enable_depth = true; } else @@ -306,7 +306,7 @@ namespace realsense_camera { if (rs_error_) { - ROS_ERROR_STREAM (nodelet_name_ << " - Error calling " << rs_get_failed_function(rs_error_) << " ( " + ROS_ERROR_STREAM(nodelet_name_ << " - Error calling " << rs_get_failed_function(rs_error_) << " ( " << rs_get_failed_args(rs_error_) << " ): \n" << rs_get_error_message(rs_error_) << " \n"); rs_free_error(rs_error_); @@ -643,7 +643,7 @@ namespace realsense_camera { opt_val = val; } - ROS_INFO_STREAM (nodelet_name_ << " - Static Options: " << opt_name << " = " << opt_val); + ROS_INFO_STREAM(nodelet_name_ << " - Static Options: " << opt_name << " = " << opt_val); rs_set_device_option(rs_device_, o.opt, opt_val, &rs_error_); checkError(); } @@ -705,28 +705,28 @@ namespace realsense_camera { rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Device Stopped"); + ROS_INFO_STREAM(nodelet_name_ << " - Device Stopped"); } //disable depth, infrared1 and infrared2 streams rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Depth Stream Disabled"); + ROS_INFO_STREAM(nodelet_name_ << " - Depth Stream Disabled"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Infrared1 stream Disabled"); + ROS_INFO_STREAM(nodelet_name_ << " - Infrared1 stream Disabled"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Infrared2 stream Disabled"); + ROS_INFO_STREAM(nodelet_name_ << " - Infrared2 stream Disabled"); if (rs_is_device_streaming(rs_device_, 0) == 0) { rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Device Started"); + ROS_INFO_STREAM(nodelet_name_ << " - Device Started"); } } @@ -736,7 +736,7 @@ namespace realsense_camera { rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Device Stopped"); + ROS_INFO_STREAM(nodelet_name_ << " - Device Stopped"); } enableDepthStream(); @@ -747,7 +747,7 @@ namespace realsense_camera { rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM (nodelet_name_ << " - Device Started"); + ROS_INFO_STREAM(nodelet_name_ << " - Device Started"); } } From 348652d57c674f8bf173ccb91185cf1c5445d101 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Thu, 19 May 2016 17:51:30 -0700 Subject: [PATCH 099/124] Refined the log messages and made them consistent --- camera/src/realsense_camera_nodelet.cpp | 38 +++++++++++++------------ 1 file changed, 20 insertions(+), 18 deletions(-) diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 3a0e283855..b2df13dfbc 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -56,12 +56,13 @@ namespace realsense_camera // Stop device. if (is_device_started_ == true) { + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); rs_stop_device(rs_device_, 0); rs_delete_context(rs_context_, &rs_error_); checkError(); } - ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera nodelet."); + ROS_INFO_STREAM(nodelet_name_ << " - Stopping..."); ros::shutdown(); } @@ -71,7 +72,7 @@ namespace realsense_camera void RealsenseNodelet::onInit() { nodelet_name_ = getName(); // Get the nodelet name - ROS_INFO_STREAM(nodelet_name_ << " - Starting camera nodelet."); + ROS_INFO_STREAM(nodelet_name_ << " - Starting..."); // Set default configurations. is_device_started_ = false; @@ -143,13 +144,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -166,13 +167,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -189,13 +190,13 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); checkError(); } else { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } @@ -212,12 +213,12 @@ namespace realsense_camera // Enable streams. if (mode_.compare ("manual") == 0) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 Stream: manual mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: manual mode"); rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); } else { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 Stream: preset mode"); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: preset mode"); rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); } @@ -331,7 +332,7 @@ namespace realsense_camera { if (enable_depth_ == false && enable_color_ == false) { - ROS_ERROR_STREAM(nodelet_name_ << " - None of the streams are enabled. Exiting."); + ROS_ERROR_STREAM(nodelet_name_ << " - None of the streams are enabled. Exiting!"); return false; } @@ -403,6 +404,7 @@ namespace realsense_camera setStaticCameraOptions(); // Start device. + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); rs_start_device(rs_device_, &rs_error_); checkError(); @@ -703,30 +705,30 @@ namespace realsense_camera { if (rs_is_device_streaming(rs_device_, 0) == 1) { + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Device Stopped"); } //disable depth, infrared1 and infrared2 streams + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Depth stream"); rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Depth Stream Disabled"); + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared stream"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Infrared1 stream Disabled"); + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared2 stream"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Infrared2 stream Disabled"); if (rs_is_device_streaming(rs_device_, 0) == 0) { + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Device Started"); } } @@ -734,9 +736,9 @@ namespace realsense_camera { if (rs_is_device_streaming(rs_device_, 0) == 1) { + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); rs_stop_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Device Stopped"); } enableDepthStream(); @@ -745,9 +747,9 @@ namespace realsense_camera if (rs_is_device_streaming(rs_device_, 0) == 0) { + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); rs_start_device(rs_device_, &rs_error_); checkError(); - ROS_INFO_STREAM(nodelet_name_ << " - Device Started"); } } From 16ce4ec803c026243a7b88d6135128bb252f164f Mon Sep 17 00:00:00 2001 From: rjingar Date: Fri, 20 May 2016 09:17:25 -0700 Subject: [PATCH 100/124] Resolved testTransform unit test issue --- camera/test/realsense_camera_test_node.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 1380b27665..f514370b88 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -543,12 +543,11 @@ TEST (RealsenseTests, testTransforms) { // make sure all transforms are being broadcast as expected tf::TransformListener tf_listener; - ros::Duration(1).sleep(); // must listen for ~1 sec or tf won't be found - EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time::now())); - EXPECT_TRUE(tf_listener.canTransform (DEPTH_DEF_FRAME, DEPTH_OPTICAL_DEF_FRAME, ros::Time::now())); - EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, COLOR_DEF_FRAME, ros::Time::now())); - EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_OPTICAL_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (COLOR_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (COLOR_OPTICAL_DEF_FRAME, COLOR_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); } TEST (RealsenseTests, testCameraOptions) From bacd46695ad55111f0b3a2c978576c6a5c99e6f5 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Mon, 23 May 2016 18:10:55 -0700 Subject: [PATCH 101/124] Rename package directory Make the package directory name consistent with the package name. --- {camera => realsense_camera}/CHANGELOG.rst | 0 {camera => realsense_camera}/CMakeLists.txt | 0 {camera => realsense_camera}/README.md | 0 {camera => realsense_camera}/cfg/camera_params.cfg | 0 .../includes/realsense_r200_nodelet.launch.xml | 0 .../launch/realsense_r200_navigation.launch | 0 .../realsense_r200_nodelet_standalone_manual.launch | 0 .../realsense_r200_nodelet_standalone_preset.launch | 0 .../launch/realsense_r200_rgbd.launch | 0 {camera => realsense_camera}/licenses/License.txt | 0 .../navigation/turtlebot/README.md | 0 .../navigation/turtlebot/doc/img/bag_screen.png | Bin .../navigation/turtlebot/doc/img/mapping_screen.png | Bin .../navigation/turtlebot/doc/img/screen-ds4-nav.png | Bin .../navigation/turtlebot/doc/style-doc.css | 0 .../turtlebot/install_realsense_navigation.sh | 0 .../navigation/turtlebot/launch/amcl.launch | 0 .../navigation/turtlebot/launch/gmapping.launch | 0 .../turtlebot/launch/navigation_demo.launch | 0 .../launch/realsense_robot_description.launch | 0 .../turtlebot/launch/simulate_mapping.launch | 0 .../navigation/turtlebot/package.xml | 0 .../robot_description/custom_costmap_params.yaml | 0 .../kobuki_minimal_r200.urdf.xacro | 0 .../robot_description/meshes/sensors/r200.dae | 0 .../meshes/sensors/r200_entire.dae | 0 .../meshes/sensors/r200_entire/texture0.jpg | Bin .../robot_description/meshes/sensors/r200_only.dae | 0 .../turtlebot/robot_description/r200.launch.xml | 0 .../turtlebot_library_extended.urdf.xacro | 0 .../robot_description/urdf/sensors/r200.urdf.xacro | 0 .../urdf/stacks/minimal.urdf.xacro | 0 .../navigation/turtlebot/rviz/navigation_r200.rviz | 0 .../rviz/navigation_r200_without_depth.rviz | 0 {camera => realsense_camera}/package.xml | 0 .../realsense_camera_nodelet_plugins.xml | 0 .../rviz/realsenseRvizConfiguration1.rviz | 0 .../rviz/realsenseRvizConfiguration2.rviz | 0 .../rviz/realsenseRvizConfiguration3.rviz | 0 .../src/realsense_camera_nodelet.cpp | 0 .../src/realsense_camera_nodelet.h | 0 .../srv/cameraConfiguration.srv | 0 .../test/realsense_camera_test_node.cpp | 0 .../test/realsense_camera_test_node.h | 0 .../test/realsense_camera_test_rgbd_node.cpp | 0 .../test/realsense_camera_test_rgbd_node.h | 0 .../test/realsense_r200_color_only.test | 0 .../test/realsense_r200_depth_only.test | 0 ...lsense_r200_dynamic_camera_options_params.launch | 0 .../test/realsense_r200_resolution.test | 0 .../test/realsense_r200_rgbd.test | 0 ...alsense_r200_static_camera_options_params.launch | 0 .../realsense_r200_stream_options_params.launch | 0 53 files changed, 0 insertions(+), 0 deletions(-) rename {camera => realsense_camera}/CHANGELOG.rst (100%) rename {camera => realsense_camera}/CMakeLists.txt (100%) rename {camera => realsense_camera}/README.md (100%) rename {camera => realsense_camera}/cfg/camera_params.cfg (100%) rename {camera => realsense_camera}/launch/includes/realsense_r200_nodelet.launch.xml (100%) rename {camera => realsense_camera}/launch/realsense_r200_navigation.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_nodelet_standalone_manual.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_nodelet_standalone_preset.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_rgbd.launch (100%) rename {camera => realsense_camera}/licenses/License.txt (100%) rename {camera => realsense_camera}/navigation/turtlebot/README.md (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/img/bag_screen.png (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/img/mapping_screen.png (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/img/screen-ds4-nav.png (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/style-doc.css (100%) rename {camera => realsense_camera}/navigation/turtlebot/install_realsense_navigation.sh (100%) rename {camera => realsense_camera}/navigation/turtlebot/launch/amcl.launch (100%) rename {camera => realsense_camera}/navigation/turtlebot/launch/gmapping.launch (100%) rename {camera => realsense_camera}/navigation/turtlebot/launch/navigation_demo.launch (100%) rename {camera => realsense_camera}/navigation/turtlebot/launch/realsense_robot_description.launch (100%) rename {camera => realsense_camera}/navigation/turtlebot/launch/simulate_mapping.launch (100%) rename {camera => realsense_camera}/navigation/turtlebot/package.xml (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/custom_costmap_params.yaml (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/meshes/sensors/r200.dae (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/r200.launch.xml (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro (100%) rename {camera => realsense_camera}/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro (100%) rename {camera => realsense_camera}/navigation/turtlebot/rviz/navigation_r200.rviz (100%) rename {camera => realsense_camera}/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz (100%) rename {camera => realsense_camera}/package.xml (100%) rename {camera => realsense_camera}/realsense_camera_nodelet_plugins.xml (100%) rename {camera => realsense_camera}/rviz/realsenseRvizConfiguration1.rviz (100%) rename {camera => 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realsense_camera}/test/realsense_r200_resolution.test (100%) rename {camera => realsense_camera}/test/realsense_r200_rgbd.test (100%) rename {camera => realsense_camera}/test/realsense_r200_static_camera_options_params.launch (100%) rename {camera => realsense_camera}/test/realsense_r200_stream_options_params.launch (100%) diff --git a/camera/CHANGELOG.rst b/realsense_camera/CHANGELOG.rst similarity index 100% rename from camera/CHANGELOG.rst rename to realsense_camera/CHANGELOG.rst diff --git a/camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt similarity index 100% rename from camera/CMakeLists.txt rename to realsense_camera/CMakeLists.txt diff --git a/camera/README.md b/realsense_camera/README.md similarity index 100% rename from camera/README.md rename to realsense_camera/README.md diff --git a/camera/cfg/camera_params.cfg b/realsense_camera/cfg/camera_params.cfg similarity index 100% rename from camera/cfg/camera_params.cfg rename to realsense_camera/cfg/camera_params.cfg diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml similarity index 100% rename from camera/launch/includes/realsense_r200_nodelet.launch.xml rename to realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml diff --git a/camera/launch/realsense_r200_navigation.launch b/realsense_camera/launch/realsense_r200_navigation.launch similarity index 100% rename from camera/launch/realsense_r200_navigation.launch rename to realsense_camera/launch/realsense_r200_navigation.launch diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch similarity index 100% rename from camera/launch/realsense_r200_nodelet_standalone_manual.launch rename to realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch similarity index 100% rename from camera/launch/realsense_r200_nodelet_standalone_preset.launch rename to realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch diff --git a/camera/launch/realsense_r200_rgbd.launch b/realsense_camera/launch/realsense_r200_rgbd.launch similarity index 100% rename from camera/launch/realsense_r200_rgbd.launch rename to realsense_camera/launch/realsense_r200_rgbd.launch diff --git a/camera/licenses/License.txt b/realsense_camera/licenses/License.txt similarity index 100% rename from camera/licenses/License.txt rename to realsense_camera/licenses/License.txt diff --git a/camera/navigation/turtlebot/README.md b/realsense_camera/navigation/turtlebot/README.md similarity index 100% rename from camera/navigation/turtlebot/README.md rename to realsense_camera/navigation/turtlebot/README.md diff --git a/camera/navigation/turtlebot/doc/img/bag_screen.png b/realsense_camera/navigation/turtlebot/doc/img/bag_screen.png similarity index 100% rename from camera/navigation/turtlebot/doc/img/bag_screen.png rename to realsense_camera/navigation/turtlebot/doc/img/bag_screen.png diff --git a/camera/navigation/turtlebot/doc/img/mapping_screen.png b/realsense_camera/navigation/turtlebot/doc/img/mapping_screen.png similarity index 100% rename from camera/navigation/turtlebot/doc/img/mapping_screen.png rename to realsense_camera/navigation/turtlebot/doc/img/mapping_screen.png diff --git a/camera/navigation/turtlebot/doc/img/screen-ds4-nav.png b/realsense_camera/navigation/turtlebot/doc/img/screen-ds4-nav.png similarity index 100% rename from camera/navigation/turtlebot/doc/img/screen-ds4-nav.png rename to realsense_camera/navigation/turtlebot/doc/img/screen-ds4-nav.png diff --git a/camera/navigation/turtlebot/doc/style-doc.css b/realsense_camera/navigation/turtlebot/doc/style-doc.css similarity index 100% rename from camera/navigation/turtlebot/doc/style-doc.css rename to realsense_camera/navigation/turtlebot/doc/style-doc.css diff --git a/camera/navigation/turtlebot/install_realsense_navigation.sh b/realsense_camera/navigation/turtlebot/install_realsense_navigation.sh similarity index 100% rename from camera/navigation/turtlebot/install_realsense_navigation.sh rename to realsense_camera/navigation/turtlebot/install_realsense_navigation.sh diff --git a/camera/navigation/turtlebot/launch/amcl.launch b/realsense_camera/navigation/turtlebot/launch/amcl.launch similarity index 100% rename from camera/navigation/turtlebot/launch/amcl.launch rename to realsense_camera/navigation/turtlebot/launch/amcl.launch diff --git a/camera/navigation/turtlebot/launch/gmapping.launch b/realsense_camera/navigation/turtlebot/launch/gmapping.launch similarity index 100% rename from camera/navigation/turtlebot/launch/gmapping.launch rename to realsense_camera/navigation/turtlebot/launch/gmapping.launch diff --git a/camera/navigation/turtlebot/launch/navigation_demo.launch b/realsense_camera/navigation/turtlebot/launch/navigation_demo.launch similarity index 100% rename from camera/navigation/turtlebot/launch/navigation_demo.launch rename to realsense_camera/navigation/turtlebot/launch/navigation_demo.launch diff --git a/camera/navigation/turtlebot/launch/realsense_robot_description.launch b/realsense_camera/navigation/turtlebot/launch/realsense_robot_description.launch similarity index 100% rename from camera/navigation/turtlebot/launch/realsense_robot_description.launch rename to realsense_camera/navigation/turtlebot/launch/realsense_robot_description.launch diff --git a/camera/navigation/turtlebot/launch/simulate_mapping.launch b/realsense_camera/navigation/turtlebot/launch/simulate_mapping.launch similarity index 100% rename from camera/navigation/turtlebot/launch/simulate_mapping.launch rename to realsense_camera/navigation/turtlebot/launch/simulate_mapping.launch diff --git a/camera/navigation/turtlebot/package.xml b/realsense_camera/navigation/turtlebot/package.xml similarity index 100% rename from camera/navigation/turtlebot/package.xml rename to realsense_camera/navigation/turtlebot/package.xml diff --git a/camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml b/realsense_camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml similarity index 100% rename from camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml rename to realsense_camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml diff --git a/camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae diff --git a/camera/navigation/turtlebot/robot_description/r200.launch.xml b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml similarity index 100% rename from camera/navigation/turtlebot/robot_description/r200.launch.xml rename to realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml diff --git a/camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro diff --git a/camera/navigation/turtlebot/rviz/navigation_r200.rviz b/realsense_camera/navigation/turtlebot/rviz/navigation_r200.rviz similarity index 100% rename from camera/navigation/turtlebot/rviz/navigation_r200.rviz rename to realsense_camera/navigation/turtlebot/rviz/navigation_r200.rviz diff --git a/camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz b/realsense_camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz similarity index 100% rename from camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz rename to realsense_camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz diff --git a/camera/package.xml b/realsense_camera/package.xml similarity index 100% rename from camera/package.xml rename to realsense_camera/package.xml diff --git a/camera/realsense_camera_nodelet_plugins.xml b/realsense_camera/realsense_camera_nodelet_plugins.xml similarity index 100% rename from camera/realsense_camera_nodelet_plugins.xml rename to realsense_camera/realsense_camera_nodelet_plugins.xml diff --git a/camera/rviz/realsenseRvizConfiguration1.rviz b/realsense_camera/rviz/realsenseRvizConfiguration1.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration1.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration1.rviz diff --git a/camera/rviz/realsenseRvizConfiguration2.rviz b/realsense_camera/rviz/realsenseRvizConfiguration2.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration2.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration2.rviz diff --git a/camera/rviz/realsenseRvizConfiguration3.rviz b/realsense_camera/rviz/realsenseRvizConfiguration3.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration3.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration3.rviz diff --git a/camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp similarity index 100% rename from camera/src/realsense_camera_nodelet.cpp rename to realsense_camera/src/realsense_camera_nodelet.cpp diff --git a/camera/src/realsense_camera_nodelet.h b/realsense_camera/src/realsense_camera_nodelet.h similarity index 100% rename from camera/src/realsense_camera_nodelet.h rename to realsense_camera/src/realsense_camera_nodelet.h diff --git a/camera/srv/cameraConfiguration.srv b/realsense_camera/srv/cameraConfiguration.srv similarity index 100% rename from camera/srv/cameraConfiguration.srv rename to realsense_camera/srv/cameraConfiguration.srv diff --git a/camera/test/realsense_camera_test_node.cpp b/realsense_camera/test/realsense_camera_test_node.cpp similarity index 100% rename from camera/test/realsense_camera_test_node.cpp rename to realsense_camera/test/realsense_camera_test_node.cpp diff --git a/camera/test/realsense_camera_test_node.h b/realsense_camera/test/realsense_camera_test_node.h similarity index 100% rename from camera/test/realsense_camera_test_node.h rename to realsense_camera/test/realsense_camera_test_node.h diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/realsense_camera/test/realsense_camera_test_rgbd_node.cpp similarity index 100% rename from camera/test/realsense_camera_test_rgbd_node.cpp rename to realsense_camera/test/realsense_camera_test_rgbd_node.cpp diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/realsense_camera/test/realsense_camera_test_rgbd_node.h similarity index 100% rename from camera/test/realsense_camera_test_rgbd_node.h rename to realsense_camera/test/realsense_camera_test_rgbd_node.h diff --git a/camera/test/realsense_r200_color_only.test b/realsense_camera/test/realsense_r200_color_only.test similarity index 100% rename from camera/test/realsense_r200_color_only.test rename to realsense_camera/test/realsense_r200_color_only.test diff --git a/camera/test/realsense_r200_depth_only.test b/realsense_camera/test/realsense_r200_depth_only.test similarity index 100% rename from camera/test/realsense_r200_depth_only.test rename to realsense_camera/test/realsense_r200_depth_only.test diff --git a/camera/test/realsense_r200_dynamic_camera_options_params.launch b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch similarity index 100% rename from camera/test/realsense_r200_dynamic_camera_options_params.launch rename to realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch diff --git a/camera/test/realsense_r200_resolution.test b/realsense_camera/test/realsense_r200_resolution.test similarity index 100% rename from camera/test/realsense_r200_resolution.test rename to realsense_camera/test/realsense_r200_resolution.test diff --git a/camera/test/realsense_r200_rgbd.test b/realsense_camera/test/realsense_r200_rgbd.test similarity index 100% rename from camera/test/realsense_r200_rgbd.test rename to realsense_camera/test/realsense_r200_rgbd.test diff --git a/camera/test/realsense_r200_static_camera_options_params.launch b/realsense_camera/test/realsense_r200_static_camera_options_params.launch similarity index 100% rename from camera/test/realsense_r200_static_camera_options_params.launch rename to realsense_camera/test/realsense_r200_static_camera_options_params.launch diff --git a/camera/test/realsense_r200_stream_options_params.launch b/realsense_camera/test/realsense_r200_stream_options_params.launch similarity index 100% rename from camera/test/realsense_r200_stream_options_params.launch rename to realsense_camera/test/realsense_r200_stream_options_params.launch From 338dbcffe579ac241fa0821868a9bbeb9aa9f584 Mon Sep 17 00:00:00 2001 From: Matt Hansen Date: Wed, 25 May 2016 10:31:44 -0700 Subject: [PATCH 102/124] Update README to include rosdep install Updated build directions to include 'rosdep install' step. --- camera/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/camera/README.md b/camera/README.md index 6bf71a854f..b541db06cc 100644 --- a/camera/README.md +++ b/camera/README.md @@ -19,8 +19,9 @@ If this does not work, you should first fix this issue before continuing with th #####Building package: -* Setup ROS and create a local catkin workspace. -* Compile the realsense_camera package by executing the catkin_make command. +* Install ROS and create a local catkin workspace (see [wiki.ros.org](http://wiki.ros.org/) for instructions) +* Run `rosdep install realsense_camera` to install package dependencies +* Compile the realsense_camera package by executing the `catkin_make` command. Successful execution of command will build target “realsense_camera_nodelet” From 1303ce6a5a02b509fc4860214c71cc9a904a8c90 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Mon, 23 May 2016 18:10:55 -0700 Subject: [PATCH 103/124] Rename package directory Make the package directory name consistent with the package name. --- {camera => realsense_camera}/CHANGELOG.rst | 0 {camera => realsense_camera}/CMakeLists.txt | 0 {camera => realsense_camera}/README.md | 0 {camera => realsense_camera}/cfg/camera_params.cfg | 0 .../includes/realsense_r200_nodelet.launch.xml | 0 .../launch/realsense_r200_navigation.launch | 0 .../realsense_r200_nodelet_standalone_manual.launch | 0 .../realsense_r200_nodelet_standalone_preset.launch | 0 .../launch/realsense_r200_rgbd.launch | 0 {camera => realsense_camera}/licenses/License.txt | 0 .../navigation/turtlebot/README.md | 0 .../navigation/turtlebot/doc/img/bag_screen.png | Bin .../navigation/turtlebot/doc/img/mapping_screen.png | Bin .../navigation/turtlebot/doc/img/screen-ds4-nav.png | Bin .../navigation/turtlebot/doc/style-doc.css | 0 .../turtlebot/install_realsense_navigation.sh | 0 .../navigation/turtlebot/launch/amcl.launch | 0 .../navigation/turtlebot/launch/gmapping.launch | 0 .../turtlebot/launch/navigation_demo.launch | 0 .../launch/realsense_robot_description.launch | 0 .../turtlebot/launch/simulate_mapping.launch | 0 .../navigation/turtlebot/package.xml | 0 .../robot_description/custom_costmap_params.yaml | 0 .../kobuki_minimal_r200.urdf.xacro | 0 .../robot_description/meshes/sensors/r200.dae | 0 .../meshes/sensors/r200_entire.dae | 0 .../meshes/sensors/r200_entire/texture0.jpg | Bin .../robot_description/meshes/sensors/r200_only.dae | 0 .../turtlebot/robot_description/r200.launch.xml | 0 .../turtlebot_library_extended.urdf.xacro | 0 .../robot_description/urdf/sensors/r200.urdf.xacro | 0 .../urdf/stacks/minimal.urdf.xacro | 0 .../navigation/turtlebot/rviz/navigation_r200.rviz | 0 .../rviz/navigation_r200_without_depth.rviz | 0 {camera => realsense_camera}/package.xml | 0 .../realsense_camera_nodelet_plugins.xml | 0 .../rviz/realsenseRvizConfiguration1.rviz | 0 .../rviz/realsenseRvizConfiguration2.rviz | 0 .../rviz/realsenseRvizConfiguration3.rviz | 0 .../src/realsense_camera_nodelet.cpp | 0 .../src/realsense_camera_nodelet.h | 0 .../srv/cameraConfiguration.srv | 0 .../test/realsense_camera_test_node.cpp | 0 .../test/realsense_camera_test_node.h | 0 .../test/realsense_camera_test_rgbd_node.cpp | 0 .../test/realsense_camera_test_rgbd_node.h | 0 .../test/realsense_r200_color_only.test | 0 .../test/realsense_r200_depth_only.test | 0 ...lsense_r200_dynamic_camera_options_params.launch | 0 .../test/realsense_r200_resolution.test | 0 .../test/realsense_r200_rgbd.test | 0 ...alsense_r200_static_camera_options_params.launch | 0 .../realsense_r200_stream_options_params.launch | 0 53 files changed, 0 insertions(+), 0 deletions(-) rename {camera => realsense_camera}/CHANGELOG.rst (100%) rename {camera => realsense_camera}/CMakeLists.txt (100%) rename {camera => realsense_camera}/README.md (100%) rename {camera => realsense_camera}/cfg/camera_params.cfg (100%) rename {camera => realsense_camera}/launch/includes/realsense_r200_nodelet.launch.xml (100%) rename {camera => realsense_camera}/launch/realsense_r200_navigation.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_nodelet_standalone_manual.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_nodelet_standalone_preset.launch (100%) rename {camera => realsense_camera}/launch/realsense_r200_rgbd.launch (100%) rename {camera => realsense_camera}/licenses/License.txt (100%) rename {camera => realsense_camera}/navigation/turtlebot/README.md (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/img/bag_screen.png (100%) rename {camera => realsense_camera}/navigation/turtlebot/doc/img/mapping_screen.png (100%) rename {camera => 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diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch similarity index 100% rename from camera/launch/realsense_r200_nodelet_standalone_manual.launch rename to realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch similarity index 100% rename from camera/launch/realsense_r200_nodelet_standalone_preset.launch rename to realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch diff --git a/camera/launch/realsense_r200_rgbd.launch b/realsense_camera/launch/realsense_r200_rgbd.launch similarity index 100% rename from camera/launch/realsense_r200_rgbd.launch rename to realsense_camera/launch/realsense_r200_rgbd.launch diff --git a/camera/licenses/License.txt b/realsense_camera/licenses/License.txt similarity index 100% rename from camera/licenses/License.txt rename to realsense_camera/licenses/License.txt diff --git a/camera/navigation/turtlebot/README.md b/realsense_camera/navigation/turtlebot/README.md similarity index 100% rename from camera/navigation/turtlebot/README.md rename to realsense_camera/navigation/turtlebot/README.md diff --git a/camera/navigation/turtlebot/doc/img/bag_screen.png b/realsense_camera/navigation/turtlebot/doc/img/bag_screen.png similarity index 100% rename from camera/navigation/turtlebot/doc/img/bag_screen.png rename to realsense_camera/navigation/turtlebot/doc/img/bag_screen.png diff --git a/camera/navigation/turtlebot/doc/img/mapping_screen.png b/realsense_camera/navigation/turtlebot/doc/img/mapping_screen.png similarity index 100% rename from camera/navigation/turtlebot/doc/img/mapping_screen.png rename to realsense_camera/navigation/turtlebot/doc/img/mapping_screen.png diff --git a/camera/navigation/turtlebot/doc/img/screen-ds4-nav.png 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camera/navigation/turtlebot/launch/amcl.launch rename to realsense_camera/navigation/turtlebot/launch/amcl.launch diff --git a/camera/navigation/turtlebot/launch/gmapping.launch b/realsense_camera/navigation/turtlebot/launch/gmapping.launch similarity index 100% rename from camera/navigation/turtlebot/launch/gmapping.launch rename to realsense_camera/navigation/turtlebot/launch/gmapping.launch diff --git a/camera/navigation/turtlebot/launch/navigation_demo.launch b/realsense_camera/navigation/turtlebot/launch/navigation_demo.launch similarity index 100% rename from camera/navigation/turtlebot/launch/navigation_demo.launch rename to realsense_camera/navigation/turtlebot/launch/navigation_demo.launch diff --git a/camera/navigation/turtlebot/launch/realsense_robot_description.launch b/realsense_camera/navigation/turtlebot/launch/realsense_robot_description.launch similarity index 100% rename from camera/navigation/turtlebot/launch/realsense_robot_description.launch rename to realsense_camera/navigation/turtlebot/launch/realsense_robot_description.launch diff --git a/camera/navigation/turtlebot/launch/simulate_mapping.launch b/realsense_camera/navigation/turtlebot/launch/simulate_mapping.launch similarity index 100% rename from camera/navigation/turtlebot/launch/simulate_mapping.launch rename to realsense_camera/navigation/turtlebot/launch/simulate_mapping.launch diff --git a/camera/navigation/turtlebot/package.xml b/realsense_camera/navigation/turtlebot/package.xml similarity index 100% rename from camera/navigation/turtlebot/package.xml rename to realsense_camera/navigation/turtlebot/package.xml diff --git a/camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml b/realsense_camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml similarity index 100% rename from camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml rename to realsense_camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml diff --git a/camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire.dae diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_entire/texture0.jpg diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae b/realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae similarity index 100% rename from camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae rename to realsense_camera/navigation/turtlebot/robot_description/meshes/sensors/r200_only.dae diff --git a/camera/navigation/turtlebot/robot_description/r200.launch.xml b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml similarity index 100% rename from camera/navigation/turtlebot/robot_description/r200.launch.xml rename to realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml diff --git a/camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro diff --git a/camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro b/realsense_camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro similarity index 100% rename from camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro rename to realsense_camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro diff --git a/camera/navigation/turtlebot/rviz/navigation_r200.rviz b/realsense_camera/navigation/turtlebot/rviz/navigation_r200.rviz similarity index 100% rename from camera/navigation/turtlebot/rviz/navigation_r200.rviz rename to realsense_camera/navigation/turtlebot/rviz/navigation_r200.rviz diff --git a/camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz b/realsense_camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz similarity index 100% rename from camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz rename to realsense_camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz diff --git a/camera/package.xml b/realsense_camera/package.xml similarity index 100% rename from camera/package.xml rename to realsense_camera/package.xml diff --git a/camera/realsense_camera_nodelet_plugins.xml b/realsense_camera/realsense_camera_nodelet_plugins.xml similarity index 100% rename from camera/realsense_camera_nodelet_plugins.xml rename to realsense_camera/realsense_camera_nodelet_plugins.xml diff --git a/camera/rviz/realsenseRvizConfiguration1.rviz b/realsense_camera/rviz/realsenseRvizConfiguration1.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration1.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration1.rviz diff --git a/camera/rviz/realsenseRvizConfiguration2.rviz b/realsense_camera/rviz/realsenseRvizConfiguration2.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration2.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration2.rviz diff --git a/camera/rviz/realsenseRvizConfiguration3.rviz b/realsense_camera/rviz/realsenseRvizConfiguration3.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration3.rviz rename to realsense_camera/rviz/realsenseRvizConfiguration3.rviz diff --git a/camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp similarity index 100% rename from camera/src/realsense_camera_nodelet.cpp rename to realsense_camera/src/realsense_camera_nodelet.cpp diff --git a/camera/src/realsense_camera_nodelet.h b/realsense_camera/src/realsense_camera_nodelet.h similarity index 100% rename from camera/src/realsense_camera_nodelet.h rename to realsense_camera/src/realsense_camera_nodelet.h diff --git a/camera/srv/cameraConfiguration.srv b/realsense_camera/srv/cameraConfiguration.srv similarity index 100% rename from camera/srv/cameraConfiguration.srv rename to realsense_camera/srv/cameraConfiguration.srv diff --git a/camera/test/realsense_camera_test_node.cpp b/realsense_camera/test/realsense_camera_test_node.cpp similarity index 100% rename from camera/test/realsense_camera_test_node.cpp rename to realsense_camera/test/realsense_camera_test_node.cpp diff --git a/camera/test/realsense_camera_test_node.h b/realsense_camera/test/realsense_camera_test_node.h similarity index 100% rename from camera/test/realsense_camera_test_node.h rename to realsense_camera/test/realsense_camera_test_node.h diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/realsense_camera/test/realsense_camera_test_rgbd_node.cpp similarity index 100% rename from camera/test/realsense_camera_test_rgbd_node.cpp rename to realsense_camera/test/realsense_camera_test_rgbd_node.cpp diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/realsense_camera/test/realsense_camera_test_rgbd_node.h similarity index 100% rename from camera/test/realsense_camera_test_rgbd_node.h rename to realsense_camera/test/realsense_camera_test_rgbd_node.h diff --git a/camera/test/realsense_r200_color_only.test b/realsense_camera/test/realsense_r200_color_only.test similarity index 100% rename from camera/test/realsense_r200_color_only.test rename to realsense_camera/test/realsense_r200_color_only.test diff --git a/camera/test/realsense_r200_depth_only.test b/realsense_camera/test/realsense_r200_depth_only.test similarity index 100% rename from camera/test/realsense_r200_depth_only.test rename to realsense_camera/test/realsense_r200_depth_only.test diff --git a/camera/test/realsense_r200_dynamic_camera_options_params.launch b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch similarity index 100% rename from camera/test/realsense_r200_dynamic_camera_options_params.launch rename to realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch diff --git a/camera/test/realsense_r200_resolution.test b/realsense_camera/test/realsense_r200_resolution.test similarity index 100% rename from camera/test/realsense_r200_resolution.test rename to realsense_camera/test/realsense_r200_resolution.test diff --git a/camera/test/realsense_r200_rgbd.test b/realsense_camera/test/realsense_r200_rgbd.test similarity index 100% rename from camera/test/realsense_r200_rgbd.test rename to realsense_camera/test/realsense_r200_rgbd.test diff --git a/camera/test/realsense_r200_static_camera_options_params.launch b/realsense_camera/test/realsense_r200_static_camera_options_params.launch similarity index 100% rename from camera/test/realsense_r200_static_camera_options_params.launch rename to realsense_camera/test/realsense_r200_static_camera_options_params.launch diff --git a/camera/test/realsense_r200_stream_options_params.launch b/realsense_camera/test/realsense_r200_stream_options_params.launch similarity index 100% rename from camera/test/realsense_r200_stream_options_params.launch rename to realsense_camera/test/realsense_r200_stream_options_params.launch From 2e50e4fe92de57428dfeeb93d8e0a9d5f96b606a Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 6 May 2016 15:26:43 -0700 Subject: [PATCH 104/124] Fixed transformation origin bug for base frame to depth frame Negate y,z values in setOrigin of transform Changes the transform origin, negating the y, z values to remap from the camera frame orientation to the robots orientation --- realsense_camera/src/realsense_camera_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index b2df13dfbc..3a5a148ae1 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -936,7 +936,7 @@ namespace realsense_camera ros::Time time_stamp = ros::Time::now() + sleeper; // transform base frame to depth frame - tr.setOrigin(tf::Vector3(z_extrinsic.translation[0], z_extrinsic.translation[1], z_extrinsic.translation[2])); + tr.setOrigin(tf::Vector3(z_extrinsic.translation[2], -z_extrinsic.translation[0], -z_extrinsic.translation[1])); tr.setRotation(tf::Quaternion(0, 0, 0, 1)); tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id_, depth_frame_id_)); From 2fec181be7493a0723266d2b7c80a69e809760d9 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 16 May 2016 18:44:34 -0700 Subject: [PATCH 105/124] Added example for launching multiple cameras from a single launch file --- realsense_camera/README.md | 39 ++++++++++++------- ...realsense_r200_multiple_cameras.launch.xml | 29 ++++++++++++++ .../realsense_r200_multiple_cameras.launch | 25 ++++++++++++ 3 files changed, 78 insertions(+), 15 deletions(-) create mode 100644 realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml create mode 100644 realsense_camera/launch/realsense_r200_multiple_cameras.launch diff --git a/realsense_camera/README.md b/realsense_camera/README.md index b541db06cc..03a28446fd 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -6,7 +6,7 @@ | Kernel | 4.4.0-040400-generic | | Backend | video4linux | | ROS | indigo | -| librealsense | 0.9.1 | +| librealsense | 0.9.2 | | R200 Firmware | 1.0.72.06 | ###Installation @@ -183,7 +183,7 @@ Command to change dynamic parameters using commandline: ###Running the R200 nodelet - +####Getting Started Use the following command to launch the camera nodelet. You will notice the camera light up. $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch @@ -223,11 +223,20 @@ For viewing supported camera settings with current values: $ rosservice call /camera/get_settings -For running multiple cameras simultaneously: -* Create ".launch" files similar to "realsense_r200_rgbd.launch" for each camera. - * Update the "camera" and "serial_no" arguments with unique values for each camera. - * You may choose to include (or not) the "processing.launch.xml" based on your requirement. -* Launch the ".launch" files for each camera in separate terminals. +####Launching Multiple Cameras +For running multiple cameras simultaneously: +Option 1: Using single nodelet manager for all the cameras +* Use "realsense_r200_multiple_cameras.launch". + * Update the "camera" and "serial_no" arguments with unique values for each camera. + "camera" should be a user friendly string that follows the ROS Names convention. (E.g. "camera1") + * For the "num_worker_threads" argument, allocate at least 1 thread for each camera. + +Option 2: Using separate nodelet manager for each camera +* Create ".launch" files similar to "realsense_r200_rgbd.launch" for each camera. + * Update the "camera" and "serial_no" arguments with unique values for each camera. + "camera" should be a user friendly string that follows the ROS Names convention. (E.g. "camera1") + * You may choose to include (or not) the "processing.launch.xml" based on your requirement. +* Launch the ".launch" files for each camera in separate terminals. ###Unit Tests The Unit Tests can be executed using either of the methods: @@ -274,12 +283,12 @@ The topic /camera/depth_registered/points, generated by launch file "realsense_r200_rgbd.launch", works best at 30 fps using 640x480 resolution on a system with 16GB of RAM. -* The camera does not provide hardware based depth registration/projector data. -Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: - * /camera/depth_registered/hw_registered/image_rect_raw - * /camera/depth_registered/hw_registered/image_rect - * /camera/depth_registered/image - * /camera/depth/disparity - * /camera/depth_registered/disparity +* The camera does not provide hardware based depth registration/projector data. +Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: + * /camera/depth_registered/hw_registered/image_rect_raw + * /camera/depth_registered/hw_registered/image_rect + * /camera/depth_registered/image + * /camera/depth/disparity + * /camera/depth_registered/disparity -* The performance benchmark for multiple cameras launched at the same time has not been defined yet. +* The performance benchmark for multiple cameras launched at the same time has not been defined yet. diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml new file mode 100644 index 0000000000..0d14ff281e --- /dev/null +++ b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/realsense_r200_multiple_cameras.launch b/realsense_camera/launch/realsense_r200_multiple_cameras.launch new file mode 100644 index 0000000000..3d49389203 --- /dev/null +++ b/realsense_camera/launch/realsense_r200_multiple_cameras.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + From 3249fcdd3ea7a30513dcbbfd6da6fbb56577d21e Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 24 May 2016 13:50:33 -0700 Subject: [PATCH 106/124] Added code to skip publishing duplicate frames for native streams --- .../src/realsense_camera_nodelet.cpp | 35 ++++++++++++------- .../src/realsense_camera_nodelet.h | 1 + 2 files changed, 24 insertions(+), 12 deletions(-) diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index 3a5a148ae1..5fc3f1dc83 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -80,6 +80,7 @@ namespace realsense_camera for (int i = 0; i < STREAM_COUNT; ++i) { camera_info_[i] = NULL; + stream_ts_[i] = -1; } ros::NodeHandle & nh = getNodeHandle(); @@ -765,21 +766,31 @@ namespace realsense_camera if (camera_publisher_[stream_index].getNumSubscribers() > 0 && rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1) { - prepareStreamData ((rs_stream) stream_index); + int current_ts = rs_get_frame_timestamp(rs_device_, (rs_stream) stream_index, 0); + if (stream_ts_[stream_index] != current_ts) // publish frames only if its not duplicate + { + prepareStreamData((rs_stream) stream_index); - sensor_msgs::ImagePtr msg = cv_bridge::CvImage (std_msgs::Header(), - stream_encoding_[stream_index], - image_[stream_index]).toImageMsg(); + sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), + stream_encoding_[stream_index], + image_[stream_index]).toImageMsg(); - msg->header.frame_id = frame_id_[stream_index]; - msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. - msg->width = image_[stream_index].cols; - msg->height = image_[stream_index].rows; - msg->is_bigendian = false; - msg->step = stream_step_[stream_index]; + msg->header.frame_id = frame_id_[stream_index]; + msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. + msg->width = image_[stream_index].cols; + msg->height = image_[stream_index].rows; + msg->is_bigendian = false; + msg->step = stream_step_[stream_index]; - camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; - camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; + camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + } + else + { + ROS_INFO_STREAM(nodelet_name_ << " - Duplicate frame for stream index " << stream_index << + " with ts = " << current_ts); + } + stream_ts_[stream_index] = current_ts; } } diff --git a/realsense_camera/src/realsense_camera_nodelet.h b/realsense_camera/src/realsense_camera_nodelet.h index 3cee0d2bfd..0e5121ecee 100644 --- a/realsense_camera/src/realsense_camera_nodelet.h +++ b/realsense_camera/src/realsense_camera_nodelet.h @@ -165,6 +165,7 @@ class RealsenseNodelet: public nodelet::Nodelet std::string mode_; std::map config_; int stream_step_[STREAM_COUNT]; + int stream_ts_[STREAM_COUNT]; struct CameraOptions { From 0d082dbe97b953bc9735a3bad412d084c3bca958 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 25 May 2016 17:30:25 -0700 Subject: [PATCH 107/124] Added code to skip publishing PointCloud frame if Depth and/or Color has duplicate frames --- .../src/realsense_camera_nodelet.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index 5fc3f1dc83..5782d2d725 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -759,6 +759,7 @@ namespace realsense_camera rs_wait_for_frames(rs_device_, &rs_error_); checkError(); time_stamp_ = ros::Time::now(); + bool duplicate_depth_color = false; for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) { @@ -767,7 +768,7 @@ namespace realsense_camera rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1) { int current_ts = rs_get_frame_timestamp(rs_device_, (rs_stream) stream_index, 0); - if (stream_ts_[stream_index] != current_ts) // publish frames only if its not duplicate + if (stream_ts_[stream_index] != current_ts) // Publish frames only if its not duplicate { prepareStreamData((rs_stream) stream_index); @@ -787,25 +788,28 @@ namespace realsense_camera } else { - ROS_INFO_STREAM(nodelet_name_ << " - Duplicate frame for stream index " << stream_index << - " with ts = " << current_ts); + if ((stream_index == RS_STREAM_DEPTH) || (stream_index == RS_STREAM_COLOR)) + { + duplicate_depth_color = true; // Set this flag to true if Depth and/or Color frame is duplicate + } } stream_ts_[stream_index] = current_ts; } } if (pointcloud_publisher_.getNumSubscribers() > 0 && - rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true) + rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true && + (duplicate_depth_color == false)) // Skip publishing PointCloud if Depth and/or Color frame was duplicate { if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers() <= 0) { - prepareStreamData (RS_STREAM_DEPTH); + prepareStreamData(RS_STREAM_DEPTH); } if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers() <= 0) { - prepareStreamData (RS_STREAM_COLOR); + prepareStreamData(RS_STREAM_COLOR); } - publishPointCloud (image_[(uint32_t) RS_STREAM_COLOR]); + publishPointCloud(image_[(uint32_t) RS_STREAM_COLOR]); } } } From f8b8a5a7792bc92e60bb94ee62c2ca0a542505b3 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 1 Jun 2016 14:48:22 -0700 Subject: [PATCH 108/124] Updated artifacts to reflect 'stable' tag --- .github/ISSUE_TEMPLATE.md | 4 ++-- realsense_camera/README.md | 6 ++++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md index e77dce1283..87a189d4f3 100644 --- a/.github/ISSUE_TEMPLATE.md +++ b/.github/ISSUE_TEMPLATE.md @@ -7,8 +7,8 @@ Please complete Your Configuration detail below. | Kernel | 4.4.0-040400-generic | ?-?-? | | Backend | video4linux | ? | | ROS | indigo | ? | -| ROS RealSense | Latest Release | ?.?.? | -| librealsense | 0.9.1 | ?.?.? | +| ROS RealSense | 'stable' Release | ?.?.? | +| librealsense | 0.9.2 | ?.?.? | | R200 Firmware | 1.0.72.06 | ?.?.?.? | --- diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 03a28446fd..3759749776 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -19,8 +19,10 @@ If this does not work, you should first fix this issue before continuing with th #####Building package: -* Install ROS and create a local catkin workspace (see [wiki.ros.org](http://wiki.ros.org/) for instructions) -* Run `rosdep install realsense_camera` to install package dependencies +* Install ROS and create a local catkin workspace (see [wiki.ros.org](http://wiki.ros.org/) for instructions). +* Clone the source from https://github.com/intel-ros/realsense.git. + Checkout the 'stable' tag for the most stable version (E.g. `git checkout stable`). +* Run `rosdep install realsense_camera` to install package dependencies. * Compile the realsense_camera package by executing the `catkin_make` command. Successful execution of command will build target “realsense_camera_nodelet” From eecb459aa625239c7b143ee7521dda4149ddfdb7 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Thu, 26 May 2016 15:04:08 -0700 Subject: [PATCH 109/124] Added usb_port_id for selecting camera Adds usb_port_id as a launch param to select which camera to connect to by its usb port. See README for info. --- realsense_camera/README.md | 15 +++- ...realsense_r200_multiple_cameras.launch.xml | 46 +++++----- .../realsense_r200_nodelet.launch.xml | 40 +++++---- .../realsense_r200_multiple_cameras.launch | 11 ++- .../launch/realsense_r200_navigation.launch | 40 +++++---- ...ense_r200_nodelet_standalone_manual.launch | 64 +++++++------- ...ense_r200_nodelet_standalone_preset.launch | 40 +++++---- .../launch/realsense_r200_rgbd.launch | 11 ++- .../src/realsense_camera_nodelet.cpp | 86 ++++++++++--------- .../src/realsense_camera_nodelet.h | 3 +- 10 files changed, 191 insertions(+), 165 deletions(-) diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 3759749776..5515fa3148 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -83,6 +83,10 @@ Infrared2 camera Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet. You may get the serial_no from the info stream by launching "realsense_r200_nodelet_standalone_preset.launch" one at a time for each camera. + usb_port_id (string, default: blank) + Alternatively to serial_no, this can be used to connect to a camera by its USB Port ID, which is a + Bus Number-Port Number in the format "Bus#-Port#". If used with serial_no, both must match correctly for + camera to be connected. mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. Preset mode enables default values whereas Manual mode enables the specified parameter values. @@ -229,17 +233,20 @@ For viewing supported camera settings with current values: For running multiple cameras simultaneously: Option 1: Using single nodelet manager for all the cameras * Use "realsense_r200_multiple_cameras.launch". - * Update the "camera" and "serial_no" arguments with unique values for each camera. - "camera" should be a user friendly string that follows the ROS Names convention. (E.g. "camera1") * For the "num_worker_threads" argument, allocate at least 1 thread for each camera. Option 2: Using separate nodelet manager for each camera * Create ".launch" files similar to "realsense_r200_rgbd.launch" for each camera. - * Update the "camera" and "serial_no" arguments with unique values for each camera. - "camera" should be a user friendly string that follows the ROS Names convention. (E.g. "camera1") * You may choose to include (or not) the "processing.launch.xml" based on your requirement. * Launch the ".launch" files for each camera in separate terminals. + For either option you must: +* Update the "camera" and either the "serial_no" or "usb_port_id" argument with unique values for each camera. + * "camera" should be a user friendly string that follows the ROS Names convention. (E.g. "camera1") + * "serial_no" is the camera serial number and can be found by running the nodelet and viewing the terminal output + * "usb_port_id" is Bus Number-Port Number in "Bus#-Port#" format, and can be found by using `lsusb -t` + * if both "serial_no" and "usb_port_id" are set, both much match the same camera + ###Unit Tests The Unit Tests can be executed using either of the methods: diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml index 0d14ff281e..f445177d5f 100644 --- a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml @@ -3,27 +3,29 @@ + - - - - - - - - - + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + diff --git a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml index 1d9eb43e70..c2b48d54b1 100644 --- a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -14,6 +14,7 @@ + @@ -29,31 +30,32 @@ + to generate point clouds. --> - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - + + @@ -65,4 +67,4 @@ - + diff --git a/realsense_camera/launch/realsense_r200_multiple_cameras.launch b/realsense_camera/launch/realsense_r200_multiple_cameras.launch index 3d49389203..d2ff3e6b98 100644 --- a/realsense_camera/launch/realsense_r200_multiple_cameras.launch +++ b/realsense_camera/launch/realsense_r200_multiple_cameras.launch @@ -1,25 +1,28 @@ - - - + + + - + + diff --git a/realsense_camera/launch/realsense_r200_navigation.launch b/realsense_camera/launch/realsense_r200_navigation.launch index 9ca8d38cb3..13cdde29ee 100644 --- a/realsense_camera/launch/realsense_r200_navigation.launch +++ b/realsense_camera/launch/realsense_r200_navigation.launch @@ -1,21 +1,23 @@ - - - - - - - - - - - - - - - - - + + + + + + + - + + + + + + + + + + + + + diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch index e66365bba4..3b3a9b664d 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -1,34 +1,36 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + - + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch index 186d2e12bf..45b4342151 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -1,21 +1,23 @@ - - - - - - - - - - - - - - - - - + + + + + + + - + + + + + + + + + + + + + diff --git a/realsense_camera/launch/realsense_r200_rgbd.launch b/realsense_camera/launch/realsense_r200_rgbd.launch index 91bdc887a4..9d3446429b 100644 --- a/realsense_camera/launch/realsense_r200_rgbd.launch +++ b/realsense_camera/launch/realsense_r200_rgbd.launch @@ -5,8 +5,9 @@ All topics are pushed down into the "camera" namespace, and it is prepended to tf frame ids. --> - - + + + @@ -28,8 +29,9 @@ - - + + + @@ -64,6 +66,7 @@ file="$(find realsense_camera)/launch/includes/realsense_r200_nodelet.launch.xml"> + diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index 5782d2d725..9dd94afd1d 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -131,6 +131,7 @@ namespace realsense_camera } else { + ROS_ERROR_STREAM(nodelet_name_ << " - Couldn't connect to camera! Shutting down..."); ros::shutdown(); } @@ -350,42 +351,47 @@ namespace realsense_camera return false; } - rs_device_ = getCameraBySerialNumber(); // Get rs_device_ using input serial number. - std::string detected_camera_msg = nodelet_name_ + " - Detected following cameras:"; - for (rs_device *rs_detected_device: rs_detected_devices_) - { - detected_camera_msg = detected_camera_msg + - "\n\t\t\t\t- Serial No: " + rs_get_device_serial(rs_detected_device, &rs_error_) + - "; Firmware: " + rs_get_device_firmware_version(rs_detected_device, &rs_error_) + - "; Name: " + rs_get_device_name(rs_detected_device, &rs_error_); - checkError(); - } - ROS_INFO_STREAM(detected_camera_msg); + // Print list of all cameras found + listCameras(); - // Exit with error if no serial number is specified and multiple cameras are detected. - if ((serial_no_.empty() == true) && (num_of_cameras_ > 1)) + // Exit with error if no serial number or usb_port_id is specified and multiple cameras are detected. + if (serial_no_.empty() && usb_port_id_.empty() && num_of_cameras_ > 1) { - ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no specified. Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no or usb_port_id specified. Exiting!"); return false; } - // Exit with error if no camera is detected that matches the input serial number. - if ((serial_no_.empty() != true) && (rs_device_ == NULL)) + // init rs_device_ before starting loop + rs_device_ = nullptr; + + // find camera + for (int i = 0; i < num_of_cameras_; i++) { - ROS_ERROR_STREAM(nodelet_name_ << " - No camera detected with input serial_no = " << serial_no_ << ". Exiting!"); - return false; + rs_device* rs_detected_device = rs_get_device(rs_context_, i, &rs_error_); + // check serial_no and usb_port_id + if ((serial_no_.empty() || serial_no_ == rs_get_device_serial(rs_detected_device, &rs_error_)) && + (usb_port_id_.empty() || usb_port_id_ == rs_get_device_usb_port_id(rs_detected_device, &rs_error_))) + { + // device found + rs_device_= rs_detected_device; + } + // continue loop } - // At this point, rs_device_ will be null if no input serial number was specified and only one camera is connected. - // This is a valid use case and the code will proceed. - if (rs_device_ == NULL) + if (rs_device_ == nullptr) { - rs_device_ = rs_get_device(rs_context_, 0, &rs_error_); - checkError(); + // camera not found + string error_msg = " - Couldn't find camera to connect with "; + error_msg += "serial_no = " + serial_no_ + ", "; + error_msg += "usb_port_id = " + usb_port_id_; + ROS_ERROR_STREAM(nodelet_name_ << error_msg); + return false; } + // print device info ROS_INFO_STREAM(nodelet_name_ << " - Connecting to camera with Serial No: " << - rs_get_device_serial(rs_device_, &rs_error_)); + rs_get_device_serial(rs_device_, &rs_error_) << + " USB Port ID: " << rs_get_device_usb_port_id(rs_device_, &rs_error_)); checkError(); // Enable streams. @@ -416,28 +422,23 @@ namespace realsense_camera return true; } - /* - * Returns the device details of the camera that matches the input serial_no. - * Returns NULL if no camera is found that matches the input serial_no. - * Also populates the list of detected cameras. - */ - rs_device * RealsenseNodelet::getCameraBySerialNumber() + void RealsenseNodelet::listCameras() { - rs_device *rs_device_detect; - rs_device *rs_device_connect = NULL; - for (int i = 0; i < num_of_cameras_; ++i) + // print list of detected cameras + std::string detected_camera_msg = " - Detected the following cameras:"; + for (int i = 0; i < num_of_cameras_; i++) { - rs_device_detect = rs_get_device(rs_context_, i, &rs_error_); - checkError(); - std::string device_serial_no = rs_get_device_serial(rs_device_detect, &rs_error_); + // get device + rs_device* rs_detected_device = rs_get_device(rs_context_, i, &rs_error_); + // print device details + detected_camera_msg = detected_camera_msg + + "\n\t\t\t\t- Serial No: " + rs_get_device_serial(rs_detected_device, &rs_error_) + + "; Firmware: " + rs_get_device_firmware_version(rs_detected_device, &rs_error_) + + "; Name: " + rs_get_device_name(rs_detected_device, &rs_error_) + + "; USB Port ID: " + rs_get_device_usb_port_id(rs_detected_device, &rs_error_); checkError(); - if (device_serial_no.compare(serial_no_) == 0) - { - rs_device_connect = rs_device_detect; - } - rs_detected_devices_.push_back(rs_device_detect); } - return rs_device_connect; + ROS_INFO_STREAM(nodelet_name_ + detected_camera_msg); } /* @@ -575,6 +576,7 @@ namespace realsense_camera void RealsenseNodelet::setStreamOptions() { pnh_.getParam("serial_no", serial_no_); + pnh_.getParam("usb_port_id", usb_port_id_); pnh_.param("camera", camera_, (std::string) R200); pnh_.param("mode", mode_, DEFAULT_MODE); pnh_.param("enable_depth", enable_depth_, ENABLE_DEPTH); diff --git a/realsense_camera/src/realsense_camera_nodelet.h b/realsense_camera/src/realsense_camera_nodelet.h index 0e5121ecee..c2866e3bae 100644 --- a/realsense_camera/src/realsense_camera_nodelet.h +++ b/realsense_camera/src/realsense_camera_nodelet.h @@ -119,6 +119,7 @@ class RealsenseNodelet: public nodelet::Nodelet int num_of_cameras_; std::string serial_no_; + std::string usb_port_id_; int color_height_; int color_width_; int depth_height_; @@ -191,12 +192,12 @@ class RealsenseNodelet: public nodelet::Nodelet void getCameraOptions(); void allocateResources(); bool connectToCamera(); - rs_device * getCameraBySerialNumber(); void fillStreamEncoding(); void setStreamOptions(); void setStaticCameraOptions(); bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); void configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level); + void listCameras(); }; } From f028b150ad163685ad4390ab9bdfd4aee333d00b Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 3 Jun 2016 11:09:22 -0700 Subject: [PATCH 110/124] Updated docs with Kinetic Kame details and for consistency --- .github/ISSUE_TEMPLATE.md | 22 +++--- realsense_camera/README.md | 133 +++++++++++++++++-------------------- 2 files changed, 71 insertions(+), 84 deletions(-) diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md index 87a189d4f3..2e124d49f9 100644 --- a/.github/ISSUE_TEMPLATE.md +++ b/.github/ISSUE_TEMPLATE.md @@ -1,15 +1,15 @@ ### System Configuration -Please complete Your Configuration detail below. - -| Version | Best Known | Your Configuration | -|:---------------- |:---------------------|:---------------------| -| Operating System | Ubuntu 14.04.4 LTS | ? ? ? | -| Kernel | 4.4.0-040400-generic | ?-?-? | -| Backend | video4linux | ? | -| ROS | indigo | ? | -| ROS RealSense | 'stable' Release | ?.?.? | -| librealsense | 0.9.2 | ?.?.? | -| R200 Firmware | 1.0.72.06 | ?.?.?.? | +Please complete Your Configuration detail below. Refer to the BKC at [Configuration](../realsense_camera/README.md#configuration). + +| Version | Your Configuration | +|:---------------- |:---------------------| +| Operating System | ? ? ? | +| Kernel | ?-?-? | +| Backend | ? | +| ROS | ? | +| ROS RealSense | ?.?.? | +| librealsense | ?.?.? | +| R200 Firmware | ?.?.?.? | --- #### How to collect Configuration Data diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 5515fa3148..2dfe8cf1bf 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -1,15 +1,14 @@ #Intel® RealSense™ Technology - ROS Integration -###Configuration -| Version | Best Known | -|:---------------- |:---------------------| -| Operating System | Ubuntu 14.04.4 LTS | -| Kernel | 4.4.0-040400-generic | -| Backend | video4linux | -| ROS | indigo | -| librealsense | 0.9.2 | -| R200 Firmware | 1.0.72.06 | - -###Installation +###Configuration: +| Version | Best Known (indigo) | Best Known (kinetic) | +|:---------------- |:---------------------|:---------------------| +| Operating System | Ubuntu 14.04.4 LTS | Ubuntu 16.04 LTS | +| Kernel | 4.4.0-040400-generic | 4.4.0-22-generic | +| Backend | video4linux | video4linux | +| librealsense | 0.9.2 | 0.9.2 | +| R200 Firmware | 1.0.72.06 | 1.0.72.06 | + +###Installation: #####Getting the camera to work on Linux * Clone the source from the librealsense git repository https://github.com/IntelRealSense/librealsense.git and follow the "Installation Guide" for installing the library. @@ -17,32 +16,27 @@ If this does not work, you should first fix this issue before continuing with the ROS integration. * Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". -#####Building package: +#####Building the package * Install ROS and create a local catkin workspace (see [wiki.ros.org](http://wiki.ros.org/) for instructions). * Clone the source from https://github.com/intel-ros/realsense.git. Checkout the 'stable' tag for the most stable version (E.g. `git checkout stable`). * Run `rosdep install realsense_camera` to install package dependencies. * Compile the realsense_camera package by executing the `catkin_make` command. + Successful execution of command will build target “realsense_camera_nodelet” -Successful execution of command will build target “realsense_camera_nodelet” +Sample launch files are available in "realsense_camera/launch" directory +* realsense_r200_rgbd.launch +* realsense_r200_nodelet_standalone_preset.launch +* realsense_r200_nodelet_standalone_manual.launch +* realsense_r200_multiple_cameras.launch -Sample launch files are available in camera/launch directory +###Package Features: -realsense_r200_rgbd.launch - -realsense_r200_nodelet_standalone_preset.launch - -realsense_r200_nodelet_standalone_manual.launch - -### Intel® RealSense™ R200 Nodelet -Publishing stream data from the Intel® RealSense™ R200 (DS4) camera - -#### Subscribed Topics +####Subscribed Topics None -#### Published Topics (default) - +####Published Topics (default) Color camera camera/color/image_raw (sensor_msgs/Image) @@ -71,12 +65,16 @@ Infrared2 camera camera/infrared2/camera_info Calibration data -#### Transform Frames - The following command creates a pdf file that describes the transforms generated by the camera nodelet. You may refer to the [ROS tf wiki](http://wiki.ros.org/tf) for more commands. +####Services + get_settings (camera/get_settings) + Gets the current value of the supported camera options in "options:value" format separated by semicolon. +####Transform Frames rosrun tf tf_monitor + Creates a pdf file that describes the transforms generated by the camera nodelet. + You may refer to the [ROS tf wiki](http://wiki.ros.org/tf) for more commands. -#### Static Parameters +####Static Parameters Stream parameters: serial_no (string, default: blank) @@ -87,27 +85,27 @@ Infrared2 camera Alternatively to serial_no, this can be used to connect to a camera by its USB Port ID, which is a Bus Number-Port Number in the format "Bus#-Port#". If used with serial_no, both must match correctly for camera to be connected. - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - color_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_color (bool, default: true) - Specify if to enable or not the color camera. - enable_pointcloud (bool, default: true) - Specify if to enable or not the point cloud camera. - enable_tf (bool, default: true) - Specify if to enable or not the transform frames. + mode (string, default: preset) + Specify the mode to start camera streams. Mode comprises of height, width and fps. + Preset mode enables default values whereas Manual mode enables the specified parameter values. + color_height (int, default: 480) + Specify the color camera height resolution. + color_width (int, default: 640) + Specify the color camera width resolution. + depth_height (int, default: 360) + Specify the depth camera height resolution. + depth_width (int, default: 480) + Specify the depth camera width resolution. + color_fps (int, default: 60) + Specify the color camera FPS + depth_fps (int, default: 60) + Specify the depth camera FPS + enable_color (bool, default: true) + Specify if to enable or not the color camera. + enable_pointcloud (bool, default: true) + Specify if to enable or not the point cloud camera. + enable_tf (bool, default: true) + Specify if to enable or not the transform frames. base_frame_id (string, default: camera_link) Specify the base frame id of the camera. depth_frame_id (string, default: camera_depth_frame) @@ -122,8 +120,8 @@ Infrared2 camera Specify the IR frame id of the camera. ir2_frame_id (string, default: camera_infrared2_frame) Specify the IR2 frame id of the camera. - camera (string, default: "R200") - Specify the camera name. + camera (string, default: "R200") + Specify the camera name. Camera parameters: Following are the parameters that can be set only statically in the R200 camera: r200_depth_units : [1, 2147483647] @@ -140,11 +138,6 @@ Infrared2 camera r200_depth_control_neighbor_threshold : [0 - 1023] r200_depth_control_lr_threshold : [0 - 2047] -####Services - get_settings (camera/get_settings) - -To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. - ####Dynamic Parameters Stream parameters: @@ -188,7 +181,7 @@ Command to change dynamic parameters using commandline: E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet color_backlight_compensation 2 -###Running the R200 nodelet +###Running the R200 nodelet: ####Getting Started Use the following command to launch the camera nodelet. You will notice the camera light up. @@ -247,38 +240,32 @@ For running multiple cameras simultaneously: * "usb_port_id" is Bus Number-Port Number in "Bus#-Port#" format, and can be found by using `lsusb -t` * if both "serial_no" and "usb_port_id" are set, both much match the same camera -###Unit Tests +###Unit Tests: The Unit Tests can be executed using either of the methods: -Using rostest command with test files +Using `rostest` command with test files $ rostest realsense_camera E.g. rostest realsense_camera realsense_r200_depth_only.test -Using rosrun command +Using `rosrun` command $ roslaunch realsense_camera realsense_r200_nodelet_standalone_manual.launch $ rosrun realsense_camera realsense_camera_test E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 -Sample test files are available in test directory - -realsense_r200_rgbd.test - -realsense_r200_color_only.test +Both these methods first starts the nodelet and then executes all the unit tests. -realsense_r200_depth_only.test - -realsense_r200_resolution.test - - -Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. +Sample test files are available in "realsense_camera/test" directory +* realsense_r200_rgbd.test +* realsense_r200_color_only.test +* realsense_r200_depth_only.test +* realsense_r200_resolution.test ###Developer API: Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_camera_nodelet.h) - ###Limitations: * Currently, the camera nodelet has been tested to work only for R200 cameras. From ff729121b9f3ecf44e15dbf5d296f4e2040739df Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Fri, 3 Jun 2016 16:38:17 -0700 Subject: [PATCH 111/124] Fix white space issues in test files --- .../test/realsense_r200_color_only.test | 17 +++++++------ .../test/realsense_r200_depth_only.test | 17 +++++++------ .../test/realsense_r200_resolution.test | 24 +++++++++---------- .../test/realsense_r200_rgbd.test | 5 ++-- 4 files changed, 30 insertions(+), 33 deletions(-) diff --git a/realsense_camera/test/realsense_r200_color_only.test b/realsense_camera/test/realsense_r200_color_only.test index 99150176ac..29f001c030 100644 --- a/realsense_camera/test/realsense_r200_color_only.test +++ b/realsense_camera/test/realsense_r200_color_only.test @@ -1,10 +1,9 @@ - - - - - - - - + + + + + + + diff --git a/realsense_camera/test/realsense_r200_depth_only.test b/realsense_camera/test/realsense_r200_depth_only.test index 66423cc13e..205ae84195 100644 --- a/realsense_camera/test/realsense_r200_depth_only.test +++ b/realsense_camera/test/realsense_r200_depth_only.test @@ -1,10 +1,9 @@ - - - - - - - - + + + + + + + diff --git a/realsense_camera/test/realsense_r200_resolution.test b/realsense_camera/test/realsense_r200_resolution.test index 65d893ed8d..8477438e6e 100644 --- a/realsense_camera/test/realsense_r200_resolution.test +++ b/realsense_camera/test/realsense_r200_resolution.test @@ -1,14 +1,14 @@ - - - - - - - - - - - + + + + + + + + + + + diff --git a/realsense_camera/test/realsense_r200_rgbd.test b/realsense_camera/test/realsense_r200_rgbd.test index 8832e12d12..2713f936d0 100644 --- a/realsense_camera/test/realsense_r200_rgbd.test +++ b/realsense_camera/test/realsense_r200_rgbd.test @@ -3,6 +3,5 @@ - - - + + From f8a96b25e7ec012ca385b92994d3dc1c0abcef96 Mon Sep 17 00:00:00 2001 From: rjingar Date: Thu, 9 Jun 2016 16:11:06 -0700 Subject: [PATCH 112/124] Refactored test code to remove code duplication --- .../test/realsense_camera_test_node.cpp | 535 ++++++++---------- .../test/realsense_camera_test_node.h | 136 ++--- 2 files changed, 304 insertions(+), 367 deletions(-) diff --git a/realsense_camera/test/realsense_camera_test_node.cpp b/realsense_camera/test/realsense_camera_test_node.cpp index f514370b88..6908baf48f 100644 --- a/realsense_camera/test/realsense_camera_test_node.cpp +++ b/realsense_camera/test/realsense_camera_test_node.cpp @@ -32,7 +32,36 @@ #include "realsense_camera_test_node.h" using namespace std; -void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) + +void getMsgInfo(rs_stream stream, const sensor_msgs::ImageConstPtr &msg) +{ + g_encoding_recv[stream] = msg->encoding; + g_width_recv[stream] = msg->width; + g_height_recv[stream] = msg->height; + g_step_recv[stream] = msg->step; +} + +void getCameraInfo(rs_stream stream, const sensor_msgs::CameraInfoConstPtr &info_msg) +{ + g_caminfo_height_recv[stream] = info_msg->height; + g_caminfo_width_recv[stream] = info_msg->width; + + g_dmodel_recv[stream] = info_msg->distortion_model; + + // copy rotation matrix + for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + { + g_caminfo_rotation_recv[stream][i] = info_msg->R[i]; + } + + // copy projection matrix + for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) + { + g_caminfo_projection_recv[stream][i] = info_msg->P[i]; + } +} + +void imageInfrared1Callback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg) { cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_8UC1)->image; @@ -49,33 +78,18 @@ void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor } infrared1_data++; } - infrared1_avg = infrared1_total / infrared1_count; - - infrared1_encoding_recv = msg->encoding; - infrared1_width_recv = msg->width; - infrared1_height_recv = msg->height; - infrared1_step_recv = msg->step; - - inf1_caminfo_height_recv = info_msg->height; - inf1_caminfo_width_recv = info_msg->width; - inf1_dmodel_recv = info_msg->distortion_model; - - // copy rotation matrix - for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + if (infrared1_count != 0) { - inf1_caminfo_rotation_recv[i] = info_msg->R[i]; + g_infrared1_avg = infrared1_total / infrared1_count; } - // copy projection matrix - for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) - { - inf1_caminfo_projection_recv[i] = info_msg->P[i]; - } + getMsgInfo(RS_STREAM_INFRARED, msg); + getCameraInfo(RS_STREAM_INFRARED, info_msg); - infrared1_recv = true; + g_infrared1_recv = true; } -void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) +void imageInfrared2Callback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg) { cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_8UC1)->image; @@ -92,33 +106,18 @@ void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor } infrared2_data++; } - infrared2_avg = infrared2_total / infrared2_count; - - infrared2_encoding_recv = msg->encoding; - infrared2_width_recv = msg->width; - infrared2_height_recv = msg->height; - infrared2_step_recv = msg->step; - - inf2_caminfo_height_recv = info_msg->height; - inf2_caminfo_width_recv = info_msg->width; - inf2_dmodel_recv = info_msg->distortion_model; - - // copy rotation matrix - for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + if (infrared2_count != 0) { - inf2_caminfo_rotation_recv[i] = info_msg->R[i]; + g_infrared2_avg = infrared2_total / infrared2_count; } - // copy projection matrix - for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) - { - inf2_caminfo_projection_recv[i] = info_msg->P[i]; - } + getMsgInfo(RS_STREAM_INFRARED2, msg); + getCameraInfo(RS_STREAM_INFRARED2, info_msg); - infrared2_recv = true; + g_infrared2_recv = true; } -void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) +void imageDepthCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg) { cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_16UC1)->image; uint16_t *image_data = (uint16_t *) image.data; @@ -136,34 +135,17 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg } if (depth_count != 0) { - depth_avg = depth_total / depth_count; + g_depth_avg = depth_total / depth_count; } - depth_encoding_recv = msg->encoding; - depth_height_recv = msg->height; - depth_width_recv = msg->width; - depth_step_recv = msg->step; + getMsgInfo(RS_STREAM_DEPTH, msg); + getCameraInfo(RS_STREAM_DEPTH, info_msg); - depth_caminfo_height_recv = info_msg->height; - depth_caminfo_width_recv = info_msg->width; - depth_dmodel_recv = info_msg->distortion_model; - - // copy rotation matrix - for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) - { - depth_caminfo_rotation_recv[i] = info_msg->R[i]; - } - // copy projection matrix - for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) - { - depth_caminfo_projection_recv[i] = info_msg->P[i]; - } - - depth_recv = true; + g_depth_recv = true; } - void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc) +void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc) { pcl::PointCloud < pcl::PointXYZRGB > pointcloud; pcl::fromROSMsg(*pc, pointcloud); @@ -180,17 +162,16 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg pc_depth_count++; } } - if (pc_depth_count != 0) { - pc_depth_avg = pc_depth_total / pc_depth_count; + g_pc_depth_avg = pc_depth_total / pc_depth_count; } - pc_recv = true; + g_pc_recv = true; } -void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) +void imageColorCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg) { cv::Mat image = cv_bridge::toCvShare(msg, "rgb8")->image; @@ -206,107 +187,92 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg } color_data++; } - color_avg = color_total / color_count; - - color_encoding_recv = msg->encoding; - color_height_recv = msg->height; - color_width_recv = msg->width; - color_step_recv = msg->step; - - color_caminfo_height_recv = info_msg->height; - color_caminfo_width_recv = info_msg->width; - color_dmodel_recv = info_msg->distortion_model; - - // copy rotation matrix - for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++) + if (color_count != 0) { - color_caminfo_rotation_recv[i] = info_msg->R[i]; + g_color_avg = color_total / color_count; } - // copy projection matrix - for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++) - { - color_caminfo_projection_recv[i] = info_msg->P[i]; - } + getMsgInfo(RS_STREAM_COLOR, msg); + getCameraInfo(RS_STREAM_COLOR, info_msg); for (unsigned int i = 0; i < 5; i++) { - color_caminfo_D_recv[i] = info_msg->D[i]; + g_color_caminfo_D_recv[i] = info_msg->D[i]; } - color_recv = true; + g_color_recv = true; } -TEST (RealsenseTests, testColorStream) +TEST(RealsenseTests, testColorStream) { - if (enable_color) + if (g_enable_color) { - EXPECT_TRUE (color_avg > 0); - EXPECT_TRUE (color_recv); + EXPECT_TRUE(g_color_avg > 0); + EXPECT_TRUE(g_color_recv); - if (!color_encoding_exp.empty ()) + if (!g_color_encoding_exp.empty ()) { - EXPECT_EQ (color_encoding_exp, color_encoding_recv); + EXPECT_EQ(g_color_encoding_exp, g_encoding_recv[RS_STREAM_COLOR]); } - if (color_step_exp > 0) + if (g_color_step_exp > 0) { - EXPECT_EQ (color_step_exp, color_step_recv); + EXPECT_EQ(g_color_step_exp, g_step_recv[RS_STREAM_COLOR]); } } else { - EXPECT_FALSE (color_recv); + EXPECT_FALSE(g_color_recv); } } -TEST (RealsenseTests, testColorResolution) +TEST(RealsenseTests, testColorResolution) { - if (enable_color) + if (g_enable_color) { - if (color_height_exp > 0) + if (g_color_height_exp > 0) { - EXPECT_EQ (color_height_exp, color_height_recv); + EXPECT_EQ(g_color_height_exp, g_height_recv[RS_STREAM_COLOR]); } - if (color_width_exp > 0) + if (g_color_width_exp > 0) { - EXPECT_EQ (color_width_exp, color_width_recv); + EXPECT_EQ(g_color_width_exp, g_width_recv[RS_STREAM_COLOR]); } } } -TEST (RealsenseTests, testColorCameraInfo) +TEST(RealsenseTests, testColorCameraInfo) { - if (enable_color) + if (g_enable_color) { - EXPECT_EQ (color_width_recv, color_caminfo_width_recv); - EXPECT_EQ (color_height_recv, color_caminfo_height_recv); - EXPECT_STREQ (color_dmodel_recv.c_str (), "plumb_bob"); + EXPECT_EQ(g_width_recv[RS_STREAM_COLOR], g_caminfo_width_recv[RS_STREAM_COLOR]); + EXPECT_EQ(g_height_recv[RS_STREAM_COLOR], g_caminfo_height_recv[RS_STREAM_COLOR]); + EXPECT_STREQ(g_dmodel_recv[RS_STREAM_COLOR].c_str(), "plumb_bob"); // verify rotation is equal to identity matrix for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) { - EXPECT_EQ (ROTATION_IDENTITY[i], color_caminfo_rotation_recv[i]); + EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_COLOR][i]); } // check projection matrix values are set - EXPECT_TRUE(color_caminfo_projection_recv[0] != (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[1], (double) 0); - EXPECT_TRUE(color_caminfo_projection_recv[2] != (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[3], (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[4], (double) 0); - EXPECT_TRUE(color_caminfo_projection_recv[5] != (double) 0); - EXPECT_TRUE(color_caminfo_projection_recv[6] != (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[7], (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[8], (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[9], (double) 0); - EXPECT_TRUE(color_caminfo_projection_recv[10] != (double) 0); - EXPECT_EQ(color_caminfo_projection_recv[11], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][0] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][1], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][2] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][3], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][4], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][5] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][6] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][7], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][8], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][9], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][10] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][11], (double) 0); float color_caminfo_D = 1; // ignoring the 5th value since it always appears to be 0.0 on tested R200 cameras for (unsigned int i = 0; i < 4; i++) { - color_caminfo_D = color_caminfo_D && color_caminfo_D_recv[i]; + color_caminfo_D = color_caminfo_D && g_color_caminfo_D_recv[i]; } EXPECT_TRUE(color_caminfo_D != (float) 0); @@ -314,232 +280,229 @@ TEST (RealsenseTests, testColorCameraInfo) } } -TEST (RealsenseTests, testIsDepthStreamEnabled) +TEST(RealsenseTests, testIsDepthStreamEnabled) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_TRUE (depth_recv); - EXPECT_TRUE (infrared1_recv); - EXPECT_TRUE (infrared2_recv); + EXPECT_TRUE(g_depth_recv); + EXPECT_TRUE(g_infrared1_recv); + EXPECT_TRUE(g_infrared2_recv); } else { - EXPECT_FALSE (depth_recv); - EXPECT_FALSE (infrared1_recv); - EXPECT_FALSE (infrared2_recv); + EXPECT_FALSE(g_depth_recv); + EXPECT_FALSE(g_infrared1_recv); + EXPECT_FALSE(g_infrared2_recv); } } -TEST (RealsenseTests, testDepthStream) +TEST(RealsenseTests, testDepthStream) { - if (enable_depth) + if (g_enable_depth) { - ROS_INFO_STREAM ("RealSense Camera - depth_avg: " << depth_avg << " mm"); - EXPECT_TRUE (depth_avg > 0); - EXPECT_TRUE (depth_recv); - if (!depth_encoding_exp.empty ()) + ROS_INFO_STREAM("RealSense Camera - depth_avg: " << g_depth_avg << " mm"); + EXPECT_TRUE(g_depth_avg > 0); + EXPECT_TRUE(g_depth_recv); + if (!g_depth_encoding_exp.empty ()) { - EXPECT_EQ (depth_encoding_exp, depth_encoding_recv); + EXPECT_EQ(g_depth_encoding_exp, g_encoding_recv[RS_STREAM_DEPTH]); } - if (depth_step_exp > 0) + if (g_depth_step_exp > 0) { - EXPECT_EQ (depth_step_exp, depth_step_recv); + EXPECT_EQ(g_depth_step_exp, g_step_recv[RS_STREAM_DEPTH]); } } else { - EXPECT_FALSE (depth_recv); + EXPECT_FALSE(g_depth_recv); } } -TEST (RealsenseTests, testDepthResolution) +TEST(RealsenseTests, testDepthResolution) { - if (enable_depth) + if (g_enable_depth) { - if (depth_height_exp > 0) + if (g_depth_height_exp > 0) { - EXPECT_EQ (depth_height_exp, depth_height_recv); + EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_DEPTH]); } - if (depth_width_exp > 0) + if (g_depth_width_exp > 0) { - EXPECT_EQ (depth_width_exp, depth_width_recv); + EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_DEPTH]); } } } -TEST (RealsenseTests, testDepthCameraInfo) +TEST(RealsenseTests, testDepthCameraInfo) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_EQ (depth_width_recv, depth_caminfo_width_recv); - EXPECT_EQ (depth_height_recv, depth_caminfo_height_recv); - EXPECT_STREQ (depth_dmodel_recv.c_str (), "plumb_bob"); + EXPECT_EQ(g_width_recv[RS_STREAM_DEPTH], g_caminfo_width_recv[RS_STREAM_DEPTH]); + EXPECT_EQ(g_height_recv[RS_STREAM_DEPTH], g_caminfo_height_recv[RS_STREAM_DEPTH]); + EXPECT_STREQ(g_dmodel_recv[RS_STREAM_DEPTH].c_str (), "plumb_bob"); // verify rotation is equal to identity matrix for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) { - EXPECT_EQ (ROTATION_IDENTITY[i], depth_caminfo_rotation_recv[i]); + EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_DEPTH][i]); } // check projection matrix values are set - EXPECT_TRUE(depth_caminfo_projection_recv[0] != (double) 0); - EXPECT_EQ(depth_caminfo_projection_recv[1], (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[2] != (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[3] != (double) 0); - EXPECT_EQ(depth_caminfo_projection_recv[4], (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[5] != (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[6] != (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[7] != (double) 0); - EXPECT_EQ(depth_caminfo_projection_recv[8], (double) 0); - EXPECT_EQ(depth_caminfo_projection_recv[9], (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[10] != (double) 0); - EXPECT_TRUE(depth_caminfo_projection_recv[11] != (double) 0); - + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][0] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][1], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][2] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][3] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][4], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][5] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][6] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][7] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][8], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][9], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][10] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][11] != (double) 0); } } -TEST (RealsenseTests, testInfrared1Stream) +TEST(RealsenseTests, testInfrared1Stream) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_TRUE (infrared1_avg > 0); - EXPECT_TRUE (infrared1_recv); - if (!infrared1_encoding_exp.empty ()) + EXPECT_TRUE(g_infrared1_avg > 0); + EXPECT_TRUE(g_infrared1_recv); + if (!g_infrared1_encoding_exp.empty ()) { - EXPECT_EQ (infrared1_encoding_exp, infrared1_encoding_recv); + EXPECT_EQ(g_infrared1_encoding_exp, g_encoding_recv[RS_STREAM_INFRARED]); } - if (infrared1_step_exp > 0) + if (g_infrared1_step_exp > 0) { - EXPECT_EQ (infrared1_step_exp, infrared1_step_recv); + EXPECT_EQ(g_infrared1_step_exp, g_step_recv[RS_STREAM_INFRARED]); } } else { - EXPECT_FALSE (infrared1_recv); + EXPECT_FALSE(g_infrared1_recv); } } -TEST (RealsenseTests, testInfrared1Resolution) +TEST(RealsenseTests, testInfrared1Resolution) { - if (enable_depth) + if (g_enable_depth) { - if (depth_width_exp > 0) + if (g_depth_width_exp > 0) { - EXPECT_EQ (depth_width_exp, infrared1_width_recv); + EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_INFRARED]); } - if (depth_height_exp > 0) + if (g_depth_height_exp > 0) { - EXPECT_EQ (depth_height_exp, infrared1_height_recv); + EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_INFRARED]); } } } -TEST (RealsenseTests, testInfrared1CameraInfo) +TEST(RealsenseTests, testInfrared1CameraInfo) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_EQ (infrared1_width_recv, inf1_caminfo_width_recv); - EXPECT_EQ (infrared1_height_recv, inf1_caminfo_height_recv); - EXPECT_STREQ (inf1_dmodel_recv.c_str (), "plumb_bob"); + EXPECT_EQ(g_width_recv[RS_STREAM_INFRARED], g_caminfo_width_recv[RS_STREAM_INFRARED]); + EXPECT_EQ(g_height_recv[RS_STREAM_INFRARED], g_caminfo_height_recv[RS_STREAM_INFRARED]); + EXPECT_STREQ(g_dmodel_recv[RS_STREAM_INFRARED].c_str (), "plumb_bob"); // verify rotation is equal to identity matrix for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) { - EXPECT_EQ (ROTATION_IDENTITY[i], inf1_caminfo_rotation_recv[i]); + EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_INFRARED][i]); } // check projection matrix values are set - EXPECT_TRUE(inf1_caminfo_projection_recv[0] != (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[1], (double) 0); - EXPECT_TRUE(inf1_caminfo_projection_recv[2] != (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[3], (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[4], (double) 0); - EXPECT_TRUE(inf1_caminfo_projection_recv[5] != (double) 0); - EXPECT_TRUE(inf1_caminfo_projection_recv[6] != (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[7], (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[8], (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[9], (double) 0); - EXPECT_TRUE(inf1_caminfo_projection_recv[10] != (double) 0); - EXPECT_EQ(inf1_caminfo_projection_recv[11], (double) 0); - + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][0] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][1], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][2] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][3], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][4], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][5] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][6] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][7], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][8], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][9], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][10] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][11], (double) 0); } } -TEST (RealsenseTests, testInfrared2Stream) +TEST(RealsenseTests, testInfrared2Stream) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_TRUE (infrared2_avg > 0); - EXPECT_TRUE (infrared2_recv); + EXPECT_TRUE(g_infrared2_avg > 0); + EXPECT_TRUE(g_infrared2_recv); } else { - EXPECT_FALSE (infrared2_recv); + EXPECT_FALSE(g_infrared2_recv); } } -TEST (RealsenseTests, testInfrared2Resolution) +TEST(RealsenseTests, testInfrared2Resolution) { - if (enable_depth) + if (g_enable_depth) { - if (depth_width_exp > 0) + if (g_depth_width_exp > 0) { - EXPECT_EQ (depth_width_exp, infrared2_width_recv); + EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_INFRARED2]); } - if (depth_height_exp > 0) + if (g_depth_height_exp > 0) { - EXPECT_EQ (depth_height_exp, infrared2_height_recv); + EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_INFRARED2]); } } } -TEST (RealsenseTests, testInfrared2CameraInfo) +TEST(RealsenseTests, testInfrared2CameraInfo) { - if (enable_depth) + if (g_enable_depth) { - EXPECT_EQ (infrared2_width_recv, inf2_caminfo_width_recv); - EXPECT_EQ (infrared2_height_recv, inf2_caminfo_height_recv); - EXPECT_STREQ (inf2_dmodel_recv.c_str (), "plumb_bob"); + EXPECT_EQ(g_width_recv[RS_STREAM_INFRARED2], g_caminfo_width_recv[RS_STREAM_INFRARED2]); + EXPECT_EQ(g_height_recv[RS_STREAM_INFRARED2], g_caminfo_height_recv[RS_STREAM_INFRARED2]); + EXPECT_STREQ(g_dmodel_recv[RS_STREAM_INFRARED2].c_str (), "plumb_bob"); // verify rotation is equal to identity matrix for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++) { - EXPECT_EQ (ROTATION_IDENTITY[i], inf2_caminfo_rotation_recv[i]); + EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_INFRARED2][i]); } // check projection matrix values are set - EXPECT_TRUE(inf2_caminfo_projection_recv[0] != (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[1], (double) 0); - EXPECT_TRUE(inf2_caminfo_projection_recv[2] != (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[3], (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[4], (double) 0); - EXPECT_TRUE(inf2_caminfo_projection_recv[5] != (double) 0); - EXPECT_TRUE(inf2_caminfo_projection_recv[6] != (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[7], (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[8], (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[9], (double) 0); - EXPECT_TRUE(inf2_caminfo_projection_recv[10] != (double) 0); - EXPECT_EQ(inf2_caminfo_projection_recv[11], (double) 0); - + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][0] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][1], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][2] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][3], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][4], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][5] != (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][6] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][7], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][8], (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][9], (double) 0); + EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][10] != (double) 0); + EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][11], (double) 0); } } - TEST (RealsenseTests, testPointCloud) + TEST(RealsenseTests, testPointCloud) { - if (enable_depth) + if (g_enable_depth) { - ROS_INFO_STREAM ("RealSense Camera - pc_depth_avg: " << pc_depth_avg); - EXPECT_TRUE (pc_depth_avg > 0); - EXPECT_TRUE (pc_recv); + ROS_INFO_STREAM("RealSense Camera - pc_depth_avg: " << g_pc_depth_avg); + EXPECT_TRUE(g_pc_depth_avg > 0); + EXPECT_TRUE(g_pc_recv); } else { - EXPECT_FALSE (pc_recv); + EXPECT_FALSE(g_pc_recv); } } -TEST (RealsenseTests, testTransforms) +TEST(RealsenseTests, testTransforms) { // make sure all transforms are being broadcast as expected tf::TransformListener tf_listener; @@ -550,9 +513,9 @@ TEST (RealsenseTests, testTransforms) EXPECT_TRUE(tf_listener.waitForTransform (COLOR_OPTICAL_DEF_FRAME, COLOR_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); } -TEST (RealsenseTests, testCameraOptions) +TEST(RealsenseTests, testCameraOptions) { - stringstream settings_ss (srv.response.configuration_str); + stringstream settings_ss (g_srv.response.configuration_str); string setting; string setting_name; string setting_value; @@ -562,11 +525,11 @@ TEST (RealsenseTests, testCameraOptions) stringstream setting_ss (setting); getline (setting_ss, setting_name, ':'); setting_value = (setting.substr (setting.rfind (":") + 1)); - if (config_args.find (setting_name) != config_args.end ()) + if (g_config_args.find (setting_name) != g_config_args.end ()) { int actual_value = atoi (setting_value.c_str ()); - int expected_value = atoi (config_args.at (setting_name).c_str ()); - EXPECT_EQ (expected_value, actual_value); + int expected_value = atoi (g_config_args.at (setting_name).c_str ()); + EXPECT_EQ(expected_value, actual_value); } } } @@ -581,7 +544,7 @@ void fillConfigMap(int argc, char **argv) } while (args.size() > 1) { - config_args[args[0]] = args[1]; + g_config_args[args[0]] = args[1]; args.erase(args.begin()); args.erase(args.begin()); @@ -590,71 +553,71 @@ void fillConfigMap(int argc, char **argv) if (argc > 1) { // Set depth arguments. - if (config_args.find("enable_depth") != config_args.end()) + if (g_config_args.find("enable_depth") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_depth", config_args.at("enable_depth").c_str()); - if (strcmp((config_args.at("enable_depth").c_str ()),"true") == 0) + ROS_INFO("RealSense Camera - Setting %s to %s", "enable_depth", g_config_args.at("enable_depth").c_str()); + if (strcmp((g_config_args.at("enable_depth").c_str ()),"true") == 0) { - enable_depth = true; + g_enable_depth = true; } else { - enable_depth = false; + g_enable_depth = false; } } - if (config_args.find("depth_encoding") != config_args.end()) + if (g_config_args.find("depth_encoding") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "depth_encoding", config_args.at("depth_encoding").c_str()); - depth_encoding_exp = config_args.at("depth_encoding").c_str(); + ROS_INFO("RealSense Camera - Setting %s to %s", "depth_encoding", g_config_args.at("depth_encoding").c_str()); + g_depth_encoding_exp = g_config_args.at("depth_encoding").c_str(); } - if (config_args.find("depth_height") != config_args.end()) + if (g_config_args.find("depth_height") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "depth_height", config_args.at("depth_height").c_str()); - depth_height_exp = atoi(config_args.at("depth_height").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "depth_height", g_config_args.at("depth_height").c_str()); + g_depth_height_exp = atoi(g_config_args.at("depth_height").c_str()); } - if (config_args.find("depth_width") != config_args.end()) + if (g_config_args.find("depth_width") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "depth_width", config_args.at("depth_width").c_str()); - depth_width_exp = atoi(config_args.at("depth_width").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "depth_width", g_config_args.at("depth_width").c_str()); + g_depth_width_exp = atoi(g_config_args.at("depth_width").c_str()); } - if (config_args.find("depth_step") != config_args.end()) + if (g_config_args.find("depth_step") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "depth_step", config_args.at("depth_step").c_str()); - depth_step_exp = atoi(config_args.at("depth_step").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "depth_step", g_config_args.at("depth_step").c_str()); + g_depth_step_exp = atoi(g_config_args.at("depth_step").c_str()); } // Set color arguments. - if (config_args.find("enable_color") != config_args.end()) + if (g_config_args.find("enable_color") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_color", config_args.at("enable_color").c_str()); - if (strcmp((config_args.at("enable_color").c_str ()),"true") == 0) + ROS_INFO("RealSense Camera - Setting %s to %s", "enable_color", g_config_args.at("enable_color").c_str()); + if (strcmp((g_config_args.at("enable_color").c_str ()),"true") == 0) { - enable_color = true; + g_enable_color = true; } else { - enable_color = false; + g_enable_color = false; } } - if (config_args.find("color_encoding") != config_args.end()) + if (g_config_args.find("color_encoding") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "color_encoding", config_args.at("color_encoding").c_str()); - color_encoding_exp = config_args.at("color_encoding").c_str(); + ROS_INFO("RealSense Camera - Setting %s to %s", "color_encoding", g_config_args.at("color_encoding").c_str()); + g_color_encoding_exp = g_config_args.at("color_encoding").c_str(); } - if (config_args.find("color_height") != config_args.end()) + if (g_config_args.find("color_height") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "color_height", config_args.at("color_height").c_str()); - color_height_exp = atoi(config_args.at("color_height").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "color_height", g_config_args.at("color_height").c_str()); + g_color_height_exp = atoi(g_config_args.at("color_height").c_str()); } - if (config_args.find("color_width") != config_args.end()) + if (g_config_args.find("color_width") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "color_width", config_args.at("color_width").c_str()); - color_width_exp = atoi(config_args.at("color_width").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "color_width", g_config_args.at("color_width").c_str()); + g_color_width_exp = atoi(g_config_args.at("color_width").c_str()); } - if (config_args.find("color_step") != config_args.end()) + if (g_config_args.find("color_step") != g_config_args.end()) { - ROS_INFO ("RealSense Camera - Setting %s to %s", "color_step", config_args.at("color_step").c_str()); - color_step_exp = atoi(config_args.at("color_step").c_str()); + ROS_INFO("RealSense Camera - Setting %s to %s", "color_step", g_config_args.at("color_step").c_str()); + g_color_step_exp = atoi(g_config_args.at("color_step").c_str()); } } } @@ -665,21 +628,21 @@ int main(int argc, char **argv) ros::init(argc, argv, "utest"); fillConfigMap(argc, argv); - ROS_INFO_STREAM ("RealSense Camera - Starting Tests..."); + ROS_INFO_STREAM("RealSense Camera - Starting Tests..."); ros::NodeHandle nh; image_transport::ImageTransport it(nh); - camera_subscriber[0] = it.subscribeCamera(DEPTH_TOPIC, 1, imageDepthCallback, 0); - camera_subscriber[1] = it.subscribeCamera(COLOR_TOPIC, 1, imageColorCallback, 0); - camera_subscriber[2] = it.subscribeCamera(IR1_TOPIC, 1, imageInfrared1Callback, 0); - if (camera.find(R200) != std::string::npos) + g_camera_subscriber[0] = it.subscribeCamera(DEPTH_TOPIC, 1, imageDepthCallback, 0); + g_camera_subscriber[1] = it.subscribeCamera(COLOR_TOPIC, 1, imageColorCallback, 0); + g_camera_subscriber[2] = it.subscribeCamera(IR1_TOPIC, 1, imageInfrared1Callback, 0); + if (g_camera.find(R200) != std::string::npos) { - camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); + g_camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); } - m_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); + g_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); ros::ServiceClient client = nh.serviceClient < realsense_camera::cameraConfiguration > (SETTINGS_SERVICE); - client.call(srv); + client.call(g_srv); ros::Duration duration; duration.sec = 10; diff --git a/realsense_camera/test/realsense_camera_test_node.h b/realsense_camera/test/realsense_camera_test_node.h index b70cba4359..a2bb912e80 100644 --- a/realsense_camera/test/realsense_camera_test_node.h +++ b/realsense_camera/test/realsense_camera_test_node.h @@ -51,6 +51,9 @@ #include #include #include +#include + +#define R200_STREAMS_COUNT 4 const char *DEPTH_TOPIC = "camera/depth/image_raw"; const char *COLOR_TOPIC = "camera/color/image_raw"; @@ -69,84 +72,55 @@ const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; //utest commandline args -int color_height_exp = 0; -int color_width_exp = 0; -int depth_height_exp = 0; -int depth_width_exp = 0; -uint32_t depth_step_exp; // Expected depth step. -uint32_t color_step_exp; // Expected color step. -uint32_t infrared1_step_exp; // Expected infrared1 step. -uint32_t infrared2_step_exp; // Expected infrared2 step. - -bool enable_color = true; -bool enable_depth = true; -bool enable_pointcloud = true; - -std::string depth_encoding_exp; // Expected depth encoding. -std::string color_encoding_exp; // Expected color encoding. -std::string infrared1_encoding_exp; // Expected infrared1 encoding. -std::string infrared2_encoding_exp; // Expected infrared2 encoding. - -image_transport::CameraSubscriber camera_subscriber[4]; -ros::Subscriber m_sub_pc; - -std::map config_args; - -bool depth_recv = false; -bool color_recv = false; -bool infrared1_recv = false; -bool infrared2_recv = false; -bool pc_recv = false; - -float depth_avg = 0; -float color_avg = 0; -float infrared1_avg = 0; -float infrared2_avg = 0; -float pc_depth_avg = 0; - -int depth_height_recv = 0; -int depth_width_recv = 0; -int color_height_recv = 0; -int color_width_recv = 0; -int infrared1_width_recv = 0; -int infrared1_height_recv = 0; -int infrared2_width_recv = 0; -int infrared2_height_recv = 0; - -uint32_t depth_step_recv = 0; // Received depth step. -uint32_t color_step_recv = 0; // Received depth step. -uint32_t infrared1_step_recv = 0; // Received depth step. -uint32_t infrared2_step_recv = 0; // Received depth step. - -std::string depth_encoding_recv; // Expected depth encoding. -std::string infrared1_encoding_recv; // Expected depth encoding. -std::string infrared2_encoding_recv; // Expected depth encoding. -std::string color_encoding_recv; // Expected color encoding. - - -int depth_caminfo_height_recv = 0; -int depth_caminfo_width_recv = 0; -double depth_caminfo_rotation_recv[9] = {0}; -double depth_caminfo_projection_recv[12] = {0}; -int color_caminfo_height_recv = 0; -int color_caminfo_width_recv = 0; -double color_caminfo_rotation_recv[9] = {0}; -double color_caminfo_projection_recv[12] = {0}; -float color_caminfo_D_recv[5] = {0}; -int inf1_caminfo_height_recv = 0; -int inf1_caminfo_width_recv = 0; -double inf1_caminfo_rotation_recv[9] = {0}; -double inf1_caminfo_projection_recv[12] = {0}; -int inf2_caminfo_height_recv = 0; -int inf2_caminfo_width_recv = 0; -double inf2_caminfo_rotation_recv[9] = {0}; -double inf2_caminfo_projection_recv[12] = {0}; - -std::string inf1_dmodel_recv; -std::string inf2_dmodel_recv; -std::string depth_dmodel_recv; -std::string color_dmodel_recv; -std::string camera = "R200"; - -realsense_camera::cameraConfiguration srv; - +int g_color_height_exp = 0; +int g_color_width_exp = 0; +int g_depth_height_exp = 0; +int g_depth_width_exp = 0; +uint32_t g_depth_step_exp; // Expected depth step. +uint32_t g_color_step_exp; // Expected color step. +uint32_t g_infrared1_step_exp; // Expected infrared1 step. +uint32_t g_infrared2_step_exp; // Expected infrared2 step. + +bool g_enable_color = true; +bool g_enable_depth = true; +bool g_enable_pointcloud = true; + +std::string g_depth_encoding_exp; // Expected depth encoding. +std::string g_color_encoding_exp; // Expected color encoding. +std::string g_infrared1_encoding_exp; // Expected infrared1 encoding. +std::string g_infrared2_encoding_exp; // Expected infrared2 encoding. + +image_transport::CameraSubscriber g_camera_subscriber[R200_STREAMS_COUNT]; +ros::Subscriber g_sub_pc; + +std::map g_config_args; + +bool g_depth_recv = false; +bool g_color_recv = false; +bool g_infrared1_recv = false; +bool g_infrared2_recv = false; +bool g_pc_recv = false; + +float g_depth_avg = 0; +float g_color_avg = 0; +float g_infrared1_avg = 0; +float g_infrared2_avg = 0; +float g_pc_depth_avg = 0; + +int g_height_recv[R200_STREAMS_COUNT] = {0}; +int g_width_recv[R200_STREAMS_COUNT] = {0}; +uint32_t g_step_recv[R200_STREAMS_COUNT] = {0}; // Received stream step. + +std::string g_encoding_recv[R200_STREAMS_COUNT]; // Expected stream encoding. + +int g_caminfo_height_recv[R200_STREAMS_COUNT] = {0}; +int g_caminfo_width_recv[R200_STREAMS_COUNT] = {0}; +float g_color_caminfo_D_recv[5] = {0}; + +double g_caminfo_rotation_recv[R200_STREAMS_COUNT][9] = {0}; +double g_caminfo_projection_recv[R200_STREAMS_COUNT][12] = {0}; + +std::string g_dmodel_recv[R200_STREAMS_COUNT]; +std::string g_camera = "R200"; + +realsense_camera::cameraConfiguration g_srv; From d3aaa561f56755442de0f0141f48d3e1b4f66ee1 Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Tue, 14 Jun 2016 15:33:00 -0700 Subject: [PATCH 113/124] Refactored R200 code into derived class Refactors the code to create an R200 derived class and moves R200 logic out of base class --- realsense_camera/CMakeLists.txt | 4 +- realsense_camera/README.md | 4 +- ...mera_params.cfg => camera_params_r200.cfg} | 2 +- ...realsense_r200_multiple_cameras.launch.xml | 2 +- .../realsense_r200_nodelet.launch.xml | 2 +- .../launch/realsense_r200_navigation.launch | 2 +- ...ense_r200_nodelet_standalone_manual.launch | 2 +- ...ense_r200_nodelet_standalone_preset.launch | 2 +- .../realsense_camera_nodelet_plugins.xml | 4 +- .../src/realsense_camera_nodelet.cpp | 419 +++++------------- .../src/realsense_camera_nodelet.h | 267 ++++++----- .../src/realsense_camera_nodelet_r200.cpp | 285 ++++++++++++ .../src/realsense_camera_nodelet_r200.h | 73 +++ 13 files changed, 615 insertions(+), 453 deletions(-) rename realsense_camera/cfg/{camera_params.cfg => camera_params_r200.cfg} (97%) create mode 100644 realsense_camera/src/realsense_camera_nodelet_r200.cpp create mode 100644 realsense_camera/src/realsense_camera_nodelet_r200.h diff --git a/realsense_camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt index b786807405..99bf966986 100644 --- a/realsense_camera/CMakeLists.txt +++ b/realsense_camera/CMakeLists.txt @@ -40,14 +40,14 @@ generate_messages( #add dynamic reconfigure api generate_dynamic_reconfigure_options( - cfg/camera_params.cfg + cfg/camera_params_r200.cfg ) include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(realsense_camera_nodelet src/realsense_camera_nodelet.cpp) +add_library(realsense_camera_nodelet src/realsense_camera_nodelet.cpp src/realsense_camera_nodelet_r200.cpp) target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} realsense diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 2dfe8cf1bf..3c9c60a6eb 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -178,7 +178,7 @@ Command to launch GUI: Command to change dynamic parameters using commandline: $ rosrun dynamic_reconfigure dynparam set / - E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet color_backlight_compensation 2 + E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodeletR200 color_backlight_compensation 2 ###Running the R200 nodelet: @@ -186,6 +186,8 @@ Command to change dynamic parameters using commandline: Use the following command to launch the camera nodelet. You will notice the camera light up. $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch + +If you would like to create or use your own launch files, the nodelet name for the R200 camera is RealsenseNodeletR200. See the sample launch files for examples of how to launch the nodelet. View using RVIZ: diff --git a/realsense_camera/cfg/camera_params.cfg b/realsense_camera/cfg/camera_params_r200.cfg similarity index 97% rename from realsense_camera/cfg/camera_params.cfg rename to realsense_camera/cfg/camera_params_r200.cfg index 8619283ba5..496e9f9c2e 100755 --- a/realsense_camera/cfg/camera_params.cfg +++ b/realsense_camera/cfg/camera_params_r200.cfg @@ -27,4 +27,4 @@ gen.add("r200_auto_exposure_bottom_edge", int_t, 0, "Auto Exp gen.add("r200_auto_exposure_left_edge", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) gen.add("r200_auto_exposure_right_edge", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) -exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) +exit(gen.generate(PACKAGE, "realsense_camera", "camera_params_r200")) diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml index f445177d5f..bf1b5f5336 100644 --- a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml @@ -6,7 +6,7 @@ + args="load realsense_camera/RealsenseNodeletR200 $(arg manager)"> diff --git a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml index c2b48d54b1..2b0e7fef03 100644 --- a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -35,7 +35,7 @@ + args="load realsense_camera/RealsenseNodeletR200 $(arg manager)"> diff --git a/realsense_camera/launch/realsense_r200_navigation.launch b/realsense_camera/launch/realsense_r200_navigation.launch index 13cdde29ee..bff55143e0 100644 --- a/realsense_camera/launch/realsense_r200_navigation.launch +++ b/realsense_camera/launch/realsense_r200_navigation.launch @@ -10,7 +10,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet" > diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch index 3b3a9b664d..6169769da4 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -17,7 +17,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet"> diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch index 45b4342151..ccda09f5c6 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -10,7 +10,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet"> diff --git a/realsense_camera/realsense_camera_nodelet_plugins.xml b/realsense_camera/realsense_camera_nodelet_plugins.xml index 1a835a54d4..c62d71c5dd 100644 --- a/realsense_camera/realsense_camera_nodelet_plugins.xml +++ b/realsense_camera/realsense_camera_nodelet_plugins.xml @@ -1,7 +1,7 @@ - + - Intel(R) RealSense(TM) Camera nodelet. + Intel(R) RealSense(TM) R200 Camera nodelet. diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index 9dd94afd1d..2b4ff383cd 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -33,10 +33,6 @@ using namespace cv; using namespace std; -// Nodelet dependencies. -#include -#include - PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodelet, nodelet::Nodelet) namespace realsense_camera { @@ -46,7 +42,7 @@ namespace realsense_camera */ RealsenseNodelet::~RealsenseNodelet() { - device_thread_->join(); + stream_thread_->join(); if (enable_tf_ == true) { @@ -67,50 +63,35 @@ namespace realsense_camera } /* - * Initialize the realsense code. + * Initialize the realsense camera */ void RealsenseNodelet::onInit() { - nodelet_name_ = getName(); // Get the nodelet name - ROS_INFO_STREAM(nodelet_name_ << " - Starting..."); - // Set default configurations. is_device_started_ = false; - for (int i = 0; i < STREAM_COUNT; ++i) + for (int i = 0; i < num_streams_; ++i) { camera_info_[i] = NULL; stream_ts_[i] = -1; } - ros::NodeHandle & nh = getNodeHandle(); - pnh_ = getPrivateNodeHandle(); - - // Set up the topics. - image_transport::ImageTransport it (nh); - setStreamOptions(); + // Set up the topics. frame_id_[RS_STREAM_DEPTH] = depth_optical_frame_id_; frame_id_[RS_STREAM_COLOR] = color_optical_frame_id_; frame_id_[RS_STREAM_INFRARED] = ir_frame_id_; - frame_id_[RS_STREAM_INFRARED2] = ir2_frame_id_; // Advertise the various topics and services. + image_transport::ImageTransport it (nh_); camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera(COLOR_TOPIC, 1); camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera(DEPTH_TOPIC, 1); camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera(IR1_TOPIC, 1); - if (camera_.find (R200) != std::string::npos) - { - camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera(IR2_TOPIC, 1); - } - - pointcloud_publisher_ = nh.advertise(PC_TOPIC, 1); - - get_options_service_ = nh.advertiseService(SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); + pointcloud_publisher_ = nh_.advertise(PC_TOPIC, 1); - dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); + get_options_service_ = nh_.advertiseService(SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); bool connected = false; @@ -119,8 +100,8 @@ namespace realsense_camera if (connected == true) { // Start working thread. - device_thread_ = - boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::devicePoll, this))); + stream_thread_ = + boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::publishStreams, this))); if (enable_tf_ == true) { @@ -134,12 +115,10 @@ namespace realsense_camera ROS_ERROR_STREAM(nodelet_name_ << " - Couldn't connect to camera! Shutting down..."); ros::shutdown(); } - - dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); } /* - *Private Methods. + *Protected Methods. */ void RealsenseNodelet::enableColorStream() { @@ -185,6 +164,8 @@ namespace realsense_camera { prepareStreamCalibData (RS_STREAM_DEPTH); } + // must enable IR stream also + enableInfraredStream(); } void RealsenseNodelet::enableInfraredStream() @@ -210,99 +191,22 @@ namespace realsense_camera } } - void RealsenseNodelet::enableInfrared2Stream() + void RealsenseNodelet::disableDepthStream() { - // Enable streams. - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, 0); - } - else - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: preset mode"); - rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, 0); - } + // disable depth stream + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Depth stream"); + rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); + checkError(); - uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if (camera_info_[stream_index] == NULL) - { - prepareStreamCalibData (RS_STREAM_INFRARED2); - } + // disable IR stream + disableInfraredStream(); } - - - void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) + void RealsenseNodelet::disableInfraredStream() { - rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.color_backlight_compensation, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.color_brightness, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.color_contrast, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.color_gain, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.color_gamma, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.color_hue, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.color_saturation, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.color_sharpness, 0); - rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.color_enable_auto_white_balance, 0); - - if (config.color_enable_auto_white_balance == 0) - { - rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.color_white_balance, 0); - } - - //R200 camera specific options - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.r200_lr_auto_exposure_enabled, 0); - - if (config.r200_lr_auto_exposure_enabled == 0) - { - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.r200_lr_exposure, 0); - } - - rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0); - rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0); - - if (config.r200_lr_auto_exposure_enabled == 1) - { - if (config.r200_auto_exposure_top_edge >= depth_height_) - { - config.r200_auto_exposure_top_edge = depth_height_ - 1; - } - if (config.r200_auto_exposure_bottom_edge >= depth_height_) - { - config.r200_auto_exposure_bottom_edge = depth_height_ - 1; - } - if (config.r200_auto_exposure_left_edge >= depth_width_) - { - config.r200_auto_exposure_left_edge = depth_width_ - 1; - } - if (config.r200_auto_exposure_right_edge >= depth_width_) - { - config.r200_auto_exposure_right_edge = depth_width_ - 1; - } - edge_values_[0] = config.r200_auto_exposure_left_edge; - edge_values_[1] = config.r200_auto_exposure_top_edge; - edge_values_[2] = config.r200_auto_exposure_right_edge; - edge_values_[3] = config.r200_auto_exposure_bottom_edge; - - rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); - } - - if (config.enable_depth == false) - { - if (enable_color_ == false) - { - ROS_INFO_STREAM(nodelet_name_ << " - Color stream is also disabled. Cannot disable depth stream"); - config.enable_depth = true; - } - else - { - enable_depth_ = false; - } - } - else - { - enable_depth_ = true; - } + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared stream"); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); + checkError(); } void RealsenseNodelet::checkError() @@ -319,16 +223,18 @@ namespace realsense_camera } } - /* - * Query the data for every frame and publish it to the different topics. - */ - void RealsenseNodelet::devicePoll() +void RealsenseNodelet::enableStreams() +{ + // Enable streams. + if (enable_color_ == true) { - while (ros::ok()) - { - publishStreams(); - } + enableColorStream(); } + if (enable_depth_ == true) + { + enableDepthStream(); + } +} bool RealsenseNodelet::connectToCamera() { @@ -395,18 +301,7 @@ namespace realsense_camera checkError(); // Enable streams. - if (enable_color_ == true) - { - enableColorStream(); - } - - if (enable_depth_ == true) - { - enableDepthStream(); - enableInfraredStream(); - enableInfrared2Stream(); - } - + enableStreams(); getCameraOptions(); setStaticCameraOptions(); @@ -468,16 +363,12 @@ namespace realsense_camera */ void RealsenseNodelet::allocateResources() { - // Prepare camera for enabled streams (color/depth/infrared/infrared2). + // Prepare camera for enabled streams (color/depth/infrared) fillStreamEncoding(); image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat(color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat(depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - if (camera_.find(R200) != std::string::npos) - { - image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); - } } /* @@ -577,7 +468,7 @@ namespace realsense_camera { pnh_.getParam("serial_no", serial_no_); pnh_.getParam("usb_port_id", usb_port_id_); - pnh_.param("camera", camera_, (std::string) R200); + pnh_.getParam("camera", camera_); pnh_.param("mode", mode_, DEFAULT_MODE); pnh_.param("enable_depth", enable_depth_, ENABLE_DEPTH); pnh_.param("enable_color", enable_color_, ENABLE_COLOR); @@ -595,93 +486,21 @@ namespace realsense_camera pnh_.param("depth_optical_frame_id", depth_optical_frame_id_, DEFAULT_DEPTH_OPTICAL_FRAME_ID); pnh_.param("color_optical_frame_id", color_optical_frame_id_, DEFAULT_COLOR_OPTICAL_FRAME_ID); pnh_.param("ir_frame_id", ir_frame_id_, DEFAULT_IR_FRAME_ID); - pnh_.param("ir2_frame_id", ir2_frame_id_, DEFAULT_IR2_FRAME_ID); } - /* - * Set the static camera options. - */ - void RealsenseNodelet::setStaticCameraOptions() - { - // Get dynamic options from the dynamic reconfigure server. - camera_paramsConfig params_config; - dynamic_reconf_server_->getConfigDefault(params_config); - std::vector param_desc = params_config.__getParamDescriptions__(); - - // Iterate through the supported camera options - for (CameraOptions o: camera_options_) - { - std::string opt_name = rs_option_to_string(o.opt); - bool found = false; - - std::vector::iterator it; - for (camera_paramsConfig::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) - { - std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); - if (opt_name.compare((* param_desc_ptr).name) == 0) - { - found = true; - break; - } - } - // Skip the dynamic options and set only the static camera options. - if (found == false) - { - std::string key; - double val; - - if (pnh_.searchParam(opt_name, key)) - { - double opt_val; - pnh_.getParam(key, val); - - // Validate and set the input values within the min-max range - if (val < o.min) - { - opt_val = o.min; - } - else if (val > o.max) - { - opt_val = o.max; - } - else - { - opt_val = val; - } - ROS_INFO_STREAM(nodelet_name_ << " - Static Options: " << opt_name << " = " << opt_val); - rs_set_device_option(rs_device_, o.opt, opt_val, &rs_error_); - checkError(); - } - } - } - } /* * Copy frame data from realsense to member cv images. */ void RealsenseNodelet::prepareStreamData(rs_stream rs_strm) { - switch (rs_strm) + if (rs_strm == RS_STREAM_DEPTH) { - case RS_STREAM_COLOR: - image_[(uint32_t) RS_STREAM_COLOR].data = (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_COLOR, 0)); - break; - case RS_STREAM_DEPTH: + // fill depth buffer image_depth16_ = reinterpret_cast (rs_get_frame_data(rs_device_, RS_STREAM_DEPTH, 0)); - image_[(uint32_t) RS_STREAM_DEPTH].data = (unsigned char *) image_depth16_; - break; - case RS_STREAM_INFRARED: - image_[(uint32_t) RS_STREAM_INFRARED].data = - (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_INFRARED, 0)); - break; - case RS_STREAM_INFRARED2: - image_[(uint32_t) RS_STREAM_INFRARED2].data = - (unsigned char *) (rs_get_frame_data(rs_device_, RS_STREAM_INFRARED2, 0)); - break; - default: - // no other streams supported - break; } + // fill image buffer for stream + image_[(uint32_t) rs_strm].data = (unsigned char *) (rs_get_frame_data(rs_device_, rs_strm, 0)); } /* @@ -695,8 +514,6 @@ namespace realsense_camera stream_step_[(uint32_t) RS_STREAM_DEPTH] = depth_width_ * sizeof (uint16_t); stream_encoding_[(uint32_t) RS_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_8UC1; stream_step_[(uint32_t) RS_STREAM_INFRARED] = depth_width_ * sizeof (unsigned char); - stream_encoding_[(uint32_t) RS_STREAM_INFRARED2] = sensor_msgs::image_encodings::TYPE_8UC1; - stream_step_[(uint32_t) RS_STREAM_INFRARED2] = depth_width_ * sizeof (unsigned char); } /* @@ -704,114 +521,104 @@ namespace realsense_camera */ void RealsenseNodelet::publishStreams() { - if (enable_depth_ == false && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1) + while (ros::ok()) { - if (rs_is_device_streaming(rs_device_, 0) == 1) + if (enable_depth_ == false && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1) { - ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); - rs_stop_device(rs_device_, &rs_error_); - checkError(); - } + if (rs_is_device_streaming(rs_device_, 0) == 1) + { + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); + rs_stop_device(rs_device_, &rs_error_); + checkError(); + } + // disable depth stream + disableDepthStream(); - //disable depth, infrared1 and infrared2 streams - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Depth stream"); - rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); - checkError(); + if (rs_is_device_streaming(rs_device_, 0) == 0) + { + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); + rs_start_device(rs_device_, &rs_error_); + checkError(); + } + } - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared stream"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); - checkError(); + if (enable_depth_ == true && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 0) + { + if (rs_is_device_streaming(rs_device_, 0) == 1) + { + ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); + rs_stop_device(rs_device_, &rs_error_); + checkError(); + } - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared2 stream"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); - checkError(); + enableDepthStream(); - if (rs_is_device_streaming(rs_device_, 0) == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); - rs_start_device(rs_device_, &rs_error_); - checkError(); + if (rs_is_device_streaming(rs_device_, 0) == 0) + { + ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); + rs_start_device(rs_device_, &rs_error_); + checkError(); + } } - } - if (enable_depth_ == true && rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 0) - { if (rs_is_device_streaming(rs_device_, 0) == 1) { - ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera"); - rs_stop_device(rs_device_, &rs_error_); + rs_wait_for_frames(rs_device_, &rs_error_); checkError(); - } - - enableDepthStream(); - enableInfraredStream(); - enableInfrared2Stream(); - - if (rs_is_device_streaming(rs_device_, 0) == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Starting camera"); - rs_start_device(rs_device_, &rs_error_); - checkError(); - } - } + time_stamp_ = ros::Time::now(); + bool duplicate_depth_color = false; - if (rs_is_device_streaming(rs_device_, 0) == 1) - { - rs_wait_for_frames(rs_device_, &rs_error_); - checkError(); - time_stamp_ = ros::Time::now(); - bool duplicate_depth_color = false; - - for (int stream_index = 0; stream_index < STREAM_COUNT; ++stream_index) - { - // Publish image stream only if there is at least one subscriber. - if (camera_publisher_[stream_index].getNumSubscribers() > 0 && - rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1) + for (int stream_index = 0; stream_index < num_streams_; ++stream_index) { - int current_ts = rs_get_frame_timestamp(rs_device_, (rs_stream) stream_index, 0); - if (stream_ts_[stream_index] != current_ts) // Publish frames only if its not duplicate + // Publish image stream only if there is at least one subscriber. + if (camera_publisher_[stream_index].getNumSubscribers() > 0 && + rs_is_stream_enabled(rs_device_, (rs_stream) stream_index, 0) == 1) { - prepareStreamData((rs_stream) stream_index); + int current_ts = rs_get_frame_timestamp(rs_device_, (rs_stream) stream_index, 0); + if (stream_ts_[stream_index] != current_ts) // Publish frames only if its not duplicate + { + prepareStreamData((rs_stream) stream_index); - sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), - stream_encoding_[stream_index], - image_[stream_index]).toImageMsg(); + sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), + stream_encoding_[stream_index], + image_[stream_index]).toImageMsg(); - msg->header.frame_id = frame_id_[stream_index]; - msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. - msg->width = image_[stream_index].cols; - msg->height = image_[stream_index].rows; - msg->is_bigendian = false; - msg->step = stream_step_[stream_index]; + msg->header.frame_id = frame_id_[stream_index]; + msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. + msg->width = image_[stream_index].cols; + msg->height = image_[stream_index].rows; + msg->is_bigendian = false; + msg->step = stream_step_[stream_index]; - camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; - camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); - } - else - { - if ((stream_index == RS_STREAM_DEPTH) || (stream_index == RS_STREAM_COLOR)) + camera_info_ptr_[stream_index]->header.stamp = msg->header.stamp; + camera_publisher_[stream_index].publish (msg, camera_info_ptr_[stream_index]); + } + else { - duplicate_depth_color = true; // Set this flag to true if Depth and/or Color frame is duplicate + if ((stream_index == RS_STREAM_DEPTH) || (stream_index == RS_STREAM_COLOR)) + { + duplicate_depth_color = true; // Set this flag to true if Depth and/or Color frame is duplicate + } } + stream_ts_[stream_index] = current_ts; } - stream_ts_[stream_index] = current_ts; } - } - if (pointcloud_publisher_.getNumSubscribers() > 0 && - rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true && - (duplicate_depth_color == false)) // Skip publishing PointCloud if Depth and/or Color frame was duplicate - { - if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers() <= 0) - { - prepareStreamData(RS_STREAM_DEPTH); - } - if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers() <= 0) + if (pointcloud_publisher_.getNumSubscribers() > 0 && + rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true && + (duplicate_depth_color == false)) // Skip publishing PointCloud if Depth and/or Color frame was duplicate { - prepareStreamData(RS_STREAM_COLOR); + if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers() <= 0) + { + prepareStreamData(RS_STREAM_DEPTH); + } + if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers() <= 0) + { + prepareStreamData(RS_STREAM_COLOR); + } + publishPointCloud(image_[(uint32_t) RS_STREAM_COLOR]); } - publishPointCloud(image_[(uint32_t) RS_STREAM_COLOR]); } } } diff --git a/realsense_camera/src/realsense_camera_nodelet.h b/realsense_camera/src/realsense_camera_nodelet.h index c2866e3bae..bab69a30de 100644 --- a/realsense_camera/src/realsense_camera_nodelet.h +++ b/realsense_camera/src/realsense_camera_nodelet.h @@ -60,146 +60,141 @@ #include #include -#include -#include - +#include +#include namespace realsense_camera { -class RealsenseNodelet: public nodelet::Nodelet -{ -public: - - // Interfaces. - virtual void onInit(); - virtual ~ RealsenseNodelet(); - - // Default Constants. - const int MAX_Z = 8; // in meters - const std::string DEFAULT_MODE = "preset"; - const int DEPTH_HEIGHT = 360; - const int DEPTH_WIDTH = 480; - const int COLOR_HEIGHT = 480; - const int COLOR_WIDTH = 640; - const int DEPTH_FPS = 60; - const int COLOR_FPS = 60; - const bool ENABLE_DEPTH = true; - const bool ENABLE_COLOR = true; - const bool ENABLE_PC = true; - const bool ENABLE_TF = true; - const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; - const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; - const rs_format IR1_FORMAT = RS_FORMAT_Y8; - const rs_format IR2_FORMAT = RS_FORMAT_Y8; - const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; - const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; - const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; - const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; - const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; - const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; - const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; - const char *DEPTH_TOPIC = "camera/depth/image_raw"; - const char *COLOR_TOPIC = "camera/color/image_raw"; - const char *IR1_TOPIC = "camera/infrared1/image_raw"; - const char *IR2_TOPIC = "camera/infrared2/image_raw"; - const char *PC_TOPIC = "camera/depth/points"; - const char *SETTINGS_SERVICE = "camera/get_settings"; - const char *R200 = "R200"; - const static int STREAM_COUNT = 4; - -private: - // Member Variables. - boost::shared_ptr device_thread_; - boost::shared_ptr transform_thread_; - - rs_error *rs_error_ = 0; - rs_context *rs_context_; - rs_device *rs_device_; - std::vector rs_detected_devices_; - - int num_of_cameras_; - std::string serial_no_; - std::string usb_port_id_; - int color_height_; - int color_width_; - int depth_height_; - int depth_width_; - int depth_fps_; - int color_fps_; - bool is_device_started_; - bool enable_color_; - bool enable_depth_; - bool enable_pointcloud_; - bool enable_tf_; - std::string base_frame_id_; - std::string depth_frame_id_; - std::string color_frame_id_; - std::string depth_optical_frame_id_; - std::string color_optical_frame_id_; - std::string ir_frame_id_; - std::string ir2_frame_id_; - std::string camera_ = "R200"; - std::string nodelet_name_; - const uint16_t *image_depth16_; - - cv::Mat image_[STREAM_COUNT]; - - rs_option edge_options_[4] = { - RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE - }; - double edge_values_[4]; - - sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; - sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; - image_transport::CameraPublisher camera_publisher_[STREAM_COUNT]; - - ros::Time time_stamp_; - ros::Publisher pointcloud_publisher_; - ros::ServiceServer get_options_service_; - ros::NodeHandle pnh_; - - std::string frame_id_[STREAM_COUNT]; - std::string stream_encoding_[STREAM_COUNT]; - std::string mode_; - std::map config_; - int stream_step_[STREAM_COUNT]; - int stream_ts_[STREAM_COUNT]; - - struct CameraOptions + class RealsenseNodelet: public nodelet::Nodelet { - rs_option opt; - double min, max, step, value; + public: + + // Interfaces. + virtual void onInit(); + virtual ~RealsenseNodelet(); + virtual void publishTransforms(); + virtual void publishStreams(); + virtual bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); + + protected: + // Default Constants. + const int MAX_Z = 8; // in meters + const std::string DEFAULT_MODE = "preset"; + const int DEPTH_HEIGHT = 360; + const int DEPTH_WIDTH = 480; + const int COLOR_HEIGHT = 480; + const int COLOR_WIDTH = 640; + const int DEPTH_FPS = 60; + const int COLOR_FPS = 60; + const bool ENABLE_DEPTH = true; + const bool ENABLE_COLOR = true; + const bool ENABLE_PC = true; + const bool ENABLE_TF = true; + const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; + const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; + const rs_format IR1_FORMAT = RS_FORMAT_Y8; + const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; + const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; + const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; + const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; + const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; + const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; + const char *DEPTH_TOPIC = "camera/depth/image_raw"; + const char *COLOR_TOPIC = "camera/color/image_raw"; + const char *IR1_TOPIC = "camera/infrared1/image_raw"; + const char *PC_TOPIC = "camera/depth/points"; + const char *SETTINGS_SERVICE = "camera/get_settings"; + + const static int STREAM_COUNT = 4; + + // Member Variables. + boost::shared_ptr stream_thread_; + boost::shared_ptr transform_thread_; + + rs_error *rs_error_ = 0; + rs_context *rs_context_; + rs_device *rs_device_; + std::vector rs_detected_devices_; + + int num_of_cameras_; + std::string serial_no_; + std::string usb_port_id_; + int color_height_; + int color_width_; + int depth_height_; + int depth_width_; + int depth_fps_; + int color_fps_; + bool is_device_started_; + bool enable_color_; + bool enable_depth_; + bool enable_pointcloud_; + bool enable_tf_; + std::string base_frame_id_; + std::string depth_frame_id_; + std::string color_frame_id_; + std::string depth_optical_frame_id_; + std::string color_optical_frame_id_; + std::string ir_frame_id_; + std::string camera_; + std::string nodelet_name_; + const uint16_t *image_depth16_; + int num_streams_ = 3; + + cv::Mat image_[STREAM_COUNT]; + + rs_option edge_options_[4] = { + RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE + }; + double edge_values_[4]; + + sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; + sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; + image_transport::CameraPublisher camera_publisher_[STREAM_COUNT]; + + ros::Time time_stamp_; + ros::Publisher pointcloud_publisher_; + ros::ServiceServer get_options_service_; + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + + std::string frame_id_[STREAM_COUNT]; + std::string stream_encoding_[STREAM_COUNT]; + std::string mode_; + std::map config_; + int stream_step_[STREAM_COUNT]; + int stream_ts_[STREAM_COUNT]; + + struct CameraOptions + { + rs_option opt; + double min, max, step, value; + }; + std::vector camera_options_; + + // Member Functions. + virtual void enableStreams(); + virtual void enableColorStream(); + virtual void enableDepthStream(); + virtual void disableDepthStream(); + virtual void enableInfraredStream(); + virtual void disableInfraredStream(); + virtual void fillStreamEncoding(); + virtual void setStreamOptions(); + virtual void prepareStreamCalibData(rs_stream calib_data); + virtual void prepareStreamData(rs_stream rs_strm); + + virtual void getCameraOptions(); + virtual void allocateResources(); + virtual void listCameras(); + virtual bool connectToCamera(); + virtual void setStaticCameraOptions() { return; } // must be defined in derived class + virtual void checkError(); + + virtual void publishPointCloud(cv::Mat & image_rgb); }; - std::vector camera_options_; - boost::shared_ptr> dynamic_reconf_server_; - - // Member Functions. - void enableColorStream(); - void enableDepthStream(); - void enableInfraredStream(); - void enableInfrared2Stream(); - void checkError(); - void fetchCalibData(); - void prepareStreamCalibData(rs_stream calib_data); - void prepareStreamData(rs_stream rs_strm); - void publishStreams(); - void publishPointCloud(cv::Mat & image_rgb); - void publishTransforms(); - void devicePoll(); - void getCameraOptions(); - void allocateResources(); - bool connectToCamera(); - void fillStreamEncoding(); - void setStreamOptions(); - void setStaticCameraOptions(); - bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); - void configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level); - void listCameras(); - -}; } - #endif diff --git a/realsense_camera/src/realsense_camera_nodelet_r200.cpp b/realsense_camera/src/realsense_camera_nodelet_r200.cpp new file mode 100644 index 0000000000..1a402e5c55 --- /dev/null +++ b/realsense_camera/src/realsense_camera_nodelet_r200.cpp @@ -0,0 +1,285 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + +#include "realsense_camera_nodelet_r200.h" + +PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodeletR200, nodelet::Nodelet) + +namespace realsense_camera +{ + /* + * Public Methods. + */ + + /* + * Initialize the realsense camera + */ + void RealsenseNodeletR200::onInit() + { + // set member vars used in base class + nodelet_name_ = getName(); + num_streams_ = NUM_STREAMS_R200; + nh_ = getNodeHandle(); + pnh_ = getPrivateNodeHandle(); + + // create dynamic reconfigure server - this must be done before calling base class onInit() + // onInit() calls setStaticCameraOptions() which relies on this being set already + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(pnh_)); + + // call base class onInit() method + RealsenseNodelet::onInit(); + + // Set up the IR2 frame and topics + frame_id_[RS_STREAM_INFRARED2] = ir2_frame_id_; + image_transport::ImageTransport it (nh_); + camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera(IR2_TOPIC, 1); + + // setCallback can only be called after rs_device_ is set by base class connectToCamera() + dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodeletR200::configCallback, this, _1, _2)); + } + + /* + *Protected Methods. + */ + void RealsenseNodeletR200::enableDepthStream() + { + // call the base class method first + RealsenseNodelet::enableDepthStream(); + // enable IR2 stream + enableInfrared2Stream(); + } + + void RealsenseNodeletR200::disableDepthStream() + { + // call the base class method first + RealsenseNodelet::disableDepthStream(); + // disable IR2 stream + disableInfrared2Stream(); + } + + void RealsenseNodeletR200::enableInfrared2Stream() + { + // Enable streams. + if (mode_.compare ("manual") == 0) + { + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: manual mode"); + rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, &rs_error_); + checkError(); + } + else + { + ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: preset mode"); + rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, &rs_error_); + checkError(); + } + + uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; + if (camera_info_[stream_index] == NULL) + { + prepareStreamCalibData (RS_STREAM_INFRARED2); + } + } + + void RealsenseNodeletR200::disableInfrared2Stream() + { + ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared2 stream"); + rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); + checkError(); + } + + void RealsenseNodeletR200::configCallback(realsense_camera::camera_params_r200Config &config, uint32_t level) + { + // Set common options + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.color_backlight_compensation, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.color_brightness, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.color_contrast, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.color_gain, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.color_gamma, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.color_hue, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.color_saturation, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.color_sharpness, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.color_enable_auto_white_balance, 0); + + if (config.color_enable_auto_white_balance == 0) + { + rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.color_white_balance, 0); + } + + if (config.enable_depth == false) + { + if (enable_color_ == false) + { + ROS_INFO_STREAM(nodelet_name_ << " - Color stream is also disabled. Cannot disable depth stream"); + config.enable_depth = true; + } + else + { + enable_depth_ = false; + } + } + else + { + enable_depth_ = true; + } + + //R200 camera specific options + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.r200_lr_auto_exposure_enabled, 0); + + if (config.r200_lr_auto_exposure_enabled == 0) + { + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.r200_lr_exposure, 0); + } + + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.r200_lr_gain, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.r200_emitter_enabled, 0); + + if (config.r200_lr_auto_exposure_enabled == 1) + { + if (config.r200_auto_exposure_top_edge >= depth_height_) + { + config.r200_auto_exposure_top_edge = depth_height_ - 1; + } + if (config.r200_auto_exposure_bottom_edge >= depth_height_) + { + config.r200_auto_exposure_bottom_edge = depth_height_ - 1; + } + if (config.r200_auto_exposure_left_edge >= depth_width_) + { + config.r200_auto_exposure_left_edge = depth_width_ - 1; + } + if (config.r200_auto_exposure_right_edge >= depth_width_) + { + config.r200_auto_exposure_right_edge = depth_width_ - 1; + } + edge_values_[0] = config.r200_auto_exposure_left_edge; + edge_values_[1] = config.r200_auto_exposure_top_edge; + edge_values_[2] = config.r200_auto_exposure_right_edge; + edge_values_[3] = config.r200_auto_exposure_bottom_edge; + + rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); + } + } + + /* + * Define buffer for images and prepare camera info for each enabled stream. + */ + void RealsenseNodeletR200::allocateResources() + { + // call base class method first + RealsenseNodelet::allocateResources(); + // set IR2 image buffer + image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + } + + /* + * Set the stream options based on input params. + */ + void RealsenseNodeletR200::setStreamOptions() + { + // call base class method first + RealsenseNodelet::setStreamOptions(); + // setup R200 specific frame + pnh_.param("ir2_frame_id", ir2_frame_id_, DEFAULT_IR2_FRAME_ID); + } + + /* + * Populate the encodings for each stream. + */ + void RealsenseNodeletR200::fillStreamEncoding() + { + // Call base class method first + RealsenseNodelet::fillStreamEncoding(); + // Setup IR2 stream + stream_encoding_[(uint32_t) RS_STREAM_INFRARED2] = sensor_msgs::image_encodings::TYPE_8UC1; + stream_step_[(uint32_t) RS_STREAM_INFRARED2] = depth_width_ * sizeof (unsigned char); + } + + /* + * Set the static camera options. + */ + void RealsenseNodeletR200::setStaticCameraOptions() + { + ROS_INFO_STREAM(nodelet_name_ << " - Setting camera options"); + + // Get dynamic options from the dynamic reconfigure server. + realsense_camera::camera_params_r200Config params_config; + dynamic_reconf_server_->getConfigDefault(params_config); + + std::vector param_desc = params_config.__getParamDescriptions__(); + + // Iterate through the supported camera options + for (CameraOptions o: camera_options_) + { + std::string opt_name = rs_option_to_string(o.opt); + bool found = false; + + std::vector::iterator it; + for (realsense_camera::camera_params_r200Config::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) + { + std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); + if (opt_name.compare((* param_desc_ptr).name) == 0) + { + found = true; + break; + } + } + // Skip the dynamic options and set only the static camera options. + if (found == false) + { + std::string key; + double val; + + if (pnh_.searchParam(opt_name, key)) + { + double opt_val; + pnh_.getParam(key, val); + + // Validate and set the input values within the min-max range + if (val < o.min) + { + opt_val = o.min; + } + else if (val > o.max) + { + opt_val = o.max; + } + else + { + opt_val = val; + } + ROS_INFO_STREAM(nodelet_name_ << " - Static Options: " << opt_name << " = " << opt_val); + rs_set_device_option(rs_device_, o.opt, opt_val, &rs_error_); + checkError(); + } + } + } + } +} // end namespace + diff --git a/realsense_camera/src/realsense_camera_nodelet_r200.h b/realsense_camera/src/realsense_camera_nodelet_r200.h new file mode 100644 index 0000000000..525382aed1 --- /dev/null +++ b/realsense_camera/src/realsense_camera_nodelet_r200.h @@ -0,0 +1,73 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + +#pragma once +#ifndef REALSENSE_NODELET_R200 +#define REALSENSE_NODELET_R200 + +#include + +#include "realsense_camera/camera_params_r200Config.h" +#include "realsense_camera_nodelet.h" + +namespace realsense_camera +{ + class RealsenseNodeletR200: public realsense_camera::RealsenseNodelet + { + public: + + // Initialize camera + void onInit(); + + protected: + // R200 Constants. + const rs_format IR2_FORMAT = RS_FORMAT_Y8; + const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; + const char *IR2_TOPIC = "camera/infrared2/image_raw"; + const int NUM_STREAMS_R200 = 4; + + // Member Variables. + std::string ir2_frame_id_; + boost::shared_ptr> dynamic_reconf_server_; + + // Member Functions. + void enableDepthStream(); + void disableDepthStream(); + void enableInfrared2Stream(); + void disableInfrared2Stream(); + void setStreamOptions(); + void fillStreamEncoding(); + void allocateResources(); + void setStaticCameraOptions(); + void configCallback(realsense_camera::camera_params_r200Config &config, uint32_t level); + }; +} + +#endif From b345d6aa8f8998bfbda34c3584fa5c116c07cbcc Mon Sep 17 00:00:00 2001 From: Matthew Hansen Date: Tue, 14 Jun 2016 16:57:46 -0700 Subject: [PATCH 114/124] Added polling for camera Nodelet will now poll in a loop and try to connect to the specified camera every 5 seconds until the camera is found --- .../src/realsense_camera_nodelet.cpp | 72 +++++++++---------- 1 file changed, 36 insertions(+), 36 deletions(-) diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/realsense_camera_nodelet.cpp index 2b4ff383cd..2a91654412 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/realsense_camera_nodelet.cpp @@ -78,6 +78,12 @@ namespace realsense_camera setStreamOptions(); + if (enable_depth_ == false && enable_color_ == false) + { + ROS_ERROR_STREAM(nodelet_name_ << " - None of the streams are enabled. Exiting!"); + ros::shutdown(); + } + // Set up the topics. frame_id_[RS_STREAM_DEPTH] = depth_optical_frame_id_; frame_id_[RS_STREAM_COLOR] = color_optical_frame_id_; @@ -93,29 +99,23 @@ namespace realsense_camera get_options_service_ = nh_.advertiseService(SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); - bool connected = false; - - connected = connectToCamera(); - - if (connected == true) + // Poll for camera and connect if found + while (!connectToCamera()) { - // Start working thread. - stream_thread_ = - boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::publishStreams, this))); + ROS_INFO_STREAM(nodelet_name_ << " - Sleeping 5 seconds then retrying to connect"); + ros::Duration(5).sleep(); + } - if (enable_tf_ == true) - { - transform_thread_ = - boost::shared_ptr(new boost::thread (boost::bind(&RealsenseNodelet::publishTransforms, this))); - } + // Start working thread. + stream_thread_ = + boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::publishStreams, this))); - } - else + if (enable_tf_ == true) { - ROS_ERROR_STREAM(nodelet_name_ << " - Couldn't connect to camera! Shutting down..."); - ros::shutdown(); + transform_thread_ = + boost::shared_ptr(new boost::thread (boost::bind(&RealsenseNodelet::publishTransforms, this))); } -} + } /* *Protected Methods. @@ -223,27 +223,21 @@ namespace realsense_camera } } -void RealsenseNodelet::enableStreams() -{ - // Enable streams. - if (enable_color_ == true) - { - enableColorStream(); - } - if (enable_depth_ == true) + void RealsenseNodelet::enableStreams() { - enableDepthStream(); + // Enable streams. + if (enable_color_ == true) + { + enableColorStream(); + } + if (enable_depth_ == true) + { + enableDepthStream(); + } } -} bool RealsenseNodelet::connectToCamera() { - if (enable_depth_ == false && enable_color_ == false) - { - ROS_ERROR_STREAM(nodelet_name_ << " - None of the streams are enabled. Exiting!"); - return false; - } - rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_); checkError(); @@ -253,7 +247,9 @@ void RealsenseNodelet::enableStreams() // Exit with error if no cameras are connected. if (num_of_cameras_ < 1) { - ROS_ERROR_STREAM(nodelet_name_ << " - No cameras detected. Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - No cameras detected!"); + rs_delete_context(rs_context_, &rs_error_); + checkError(); return false; } @@ -263,7 +259,9 @@ void RealsenseNodelet::enableStreams() // Exit with error if no serial number or usb_port_id is specified and multiple cameras are detected. if (serial_no_.empty() && usb_port_id_.empty() && num_of_cameras_ > 1) { - ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no or usb_port_id specified. Exiting!"); + ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no or usb_port_id specified"); + rs_delete_context(rs_context_, &rs_error_); + checkError(); return false; } @@ -291,6 +289,8 @@ void RealsenseNodelet::enableStreams() error_msg += "serial_no = " + serial_no_ + ", "; error_msg += "usb_port_id = " + usb_port_id_; ROS_ERROR_STREAM(nodelet_name_ << error_msg); + rs_delete_context(rs_context_, &rs_error_); + checkError(); return false; } From 639ddde603c978bb58255e195e7b7f7dc2e7d26d Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 20 Jun 2016 14:59:24 -0700 Subject: [PATCH 115/124] Fixed nodelet loading failure in test files --- .../test/realsense_r200_dynamic_camera_options_params.launch | 2 +- .../test/realsense_r200_static_camera_options_params.launch | 2 +- .../test/realsense_r200_stream_options_params.launch | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch index 8529efe0c4..a0b6247746 100644 --- a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch +++ b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch @@ -40,7 +40,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet"> diff --git a/realsense_camera/test/realsense_r200_static_camera_options_params.launch b/realsense_camera/test/realsense_r200_static_camera_options_params.launch index 0e18fedac3..84c35b2b9e 100644 --- a/realsense_camera/test/realsense_r200_static_camera_options_params.launch +++ b/realsense_camera/test/realsense_r200_static_camera_options_params.launch @@ -28,7 +28,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet"> diff --git a/realsense_camera/test/realsense_r200_stream_options_params.launch b/realsense_camera/test/realsense_r200_stream_options_params.launch index 4b10abad4f..9986d2525c 100644 --- a/realsense_camera/test/realsense_r200_stream_options_params.launch +++ b/realsense_camera/test/realsense_r200_stream_options_params.launch @@ -25,7 +25,7 @@ + args="load realsense_camera/RealsenseNodeletR200 standalone_nodelet"> From 2ac8a9478423291eaec61a443592b9438efe6686 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Mon, 20 Jun 2016 15:21:26 -0700 Subject: [PATCH 116/124] Renamed source files and classes. --- realsense_camera/CMakeLists.txt | 24 ++++----- realsense_camera/README.md | 4 +- ...camera_params_r200.cfg => r200_params.cfg} | 2 +- ...realsense_r200_multiple_cameras.launch.xml | 2 +- .../realsense_r200_nodelet.launch.xml | 4 +- .../launch/realsense_r200_navigation.launch | 4 +- ...ense_r200_nodelet_standalone_manual.launch | 4 +- ...ense_r200_nodelet_standalone_preset.launch | 4 +- ...odelet_plugins.xml => nodelet_plugins.xml} | 2 +- realsense_camera/package.xml | 2 +- ...se_camera_nodelet.cpp => base_nodelet.cpp} | 52 +++++++++---------- ...lsense_camera_nodelet.h => base_nodelet.h} | 8 +-- ...mera_nodelet_r200.cpp => r200_nodelet.cpp} | 48 ++++++++--------- ...e_camera_nodelet_r200.h => r200_nodelet.h} | 14 ++--- ...e_camera_test_node.cpp => camera_core.cpp} | 5 +- ...sense_camera_test_node.h => camera_core.h} | 18 +++---- .../test/realsense_r200_color_only.test | 2 +- .../test/realsense_r200_depth_only.test | 2 +- ..._r200_dynamic_camera_options_params.launch | 6 +-- .../test/realsense_r200_resolution.test | 2 +- .../test/realsense_r200_rgbd.test | 2 +- ...e_r200_static_camera_options_params.launch | 6 +-- ...ealsense_r200_stream_options_params.launch | 6 +-- ...era_test_rgbd_node.cpp => rgbd_topics.cpp} | 5 +- ..._camera_test_rgbd_node.h => rgbd_topics.h} | 0 25 files changed, 115 insertions(+), 113 deletions(-) rename realsense_camera/cfg/{camera_params_r200.cfg => r200_params.cfg} (97%) rename realsense_camera/{realsense_camera_nodelet_plugins.xml => nodelet_plugins.xml} (52%) rename realsense_camera/src/{realsense_camera_nodelet.cpp => base_nodelet.cpp} (95%) rename realsense_camera/src/{realsense_camera_nodelet.h => base_nodelet.h} (98%) rename realsense_camera/src/{realsense_camera_nodelet_r200.cpp => r200_nodelet.cpp} (85%) rename realsense_camera/src/{realsense_camera_nodelet_r200.h => r200_nodelet.h} (86%) rename realsense_camera/test/{realsense_camera_test_node.cpp => camera_core.cpp} (99%) rename realsense_camera/test/{realsense_camera_test_node.h => camera_core.h} (92%) rename realsense_camera/test/{realsense_camera_test_rgbd_node.cpp => rgbd_topics.cpp} (97%) rename realsense_camera/test/{realsense_camera_test_rgbd_node.h => rgbd_topics.h} (100%) diff --git a/realsense_camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt index 99bf966986..2a14aee2a7 100644 --- a/realsense_camera/CMakeLists.txt +++ b/realsense_camera/CMakeLists.txt @@ -40,36 +40,36 @@ generate_messages( #add dynamic reconfigure api generate_dynamic_reconfigure_options( - cfg/camera_params_r200.cfg + cfg/r200_params.cfg ) include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(realsense_camera_nodelet src/realsense_camera_nodelet.cpp src/realsense_camera_nodelet_r200.cpp) -target_link_libraries(realsense_camera_nodelet +add_library(${PROJECT_NAME}_nodelet src/base_nodelet.cpp src/r200_nodelet.cpp) +target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} realsense ) -add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) +add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) -add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) -target_link_libraries(realsense_camera_test +add_executable(tests_camera_core test/camera_core.cpp) +target_link_libraries(tests_camera_core ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) -add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) +add_dependencies(tests_camera_core ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) -add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) -target_link_libraries(realsense_camera_test_rgbd +add_executable(tests_rgbd_topics test/rgbd_topics.cpp) +target_link_libraries(tests_rgbd_topics ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) -add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp) +add_dependencies(tests_rgbd_topics ${PROJECT_NAME}_generate_messages_cpp) # Install nodelet library -install(TARGETS realsense_camera_nodelet LIBRARY +install(TARGETS ${PROJECT_NAME}_nodelet LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ) @@ -84,6 +84,6 @@ install(DIRECTORY rviz/ ) # Install xml files -install(FILES package.xml realsense_camera_nodelet_plugins.xml +install(FILES package.xml nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 3c9c60a6eb..8b22f4b438 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -178,7 +178,7 @@ Command to launch GUI: Command to change dynamic parameters using commandline: $ rosrun dynamic_reconfigure dynparam set / - E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodeletR200 color_backlight_compensation 2 + E.g. $ rosrun dynamic_reconfigure dynparam set /R200Nodelet color_backlight_compensation 2 ###Running the R200 nodelet: @@ -187,7 +187,7 @@ Use the following command to launch the camera nodelet. You will notice the came $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch -If you would like to create or use your own launch files, the nodelet name for the R200 camera is RealsenseNodeletR200. See the sample launch files for examples of how to launch the nodelet. +If you would like to create or use your own launch files, the nodelet name for the R200 camera is R200Nodelet. See the sample launch files for examples of how to launch the nodelet. View using RVIZ: diff --git a/realsense_camera/cfg/camera_params_r200.cfg b/realsense_camera/cfg/r200_params.cfg similarity index 97% rename from realsense_camera/cfg/camera_params_r200.cfg rename to realsense_camera/cfg/r200_params.cfg index 496e9f9c2e..645acaffd6 100755 --- a/realsense_camera/cfg/camera_params_r200.cfg +++ b/realsense_camera/cfg/r200_params.cfg @@ -27,4 +27,4 @@ gen.add("r200_auto_exposure_bottom_edge", int_t, 0, "Auto Exp gen.add("r200_auto_exposure_left_edge", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) gen.add("r200_auto_exposure_right_edge", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) -exit(gen.generate(PACKAGE, "realsense_camera", "camera_params_r200")) +exit(gen.generate(PACKAGE, "realsense_camera", "r200_params")) diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml index bf1b5f5336..aec4b6c0bf 100644 --- a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml @@ -6,7 +6,7 @@ + args="load realsense_camera/R200Nodelet $(arg manager)"> diff --git a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml index 2b0e7fef03..608b4bc538 100644 --- a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -34,8 +34,8 @@ - + diff --git a/realsense_camera/launch/realsense_r200_navigation.launch b/realsense_camera/launch/realsense_r200_navigation.launch index bff55143e0..c98e022896 100644 --- a/realsense_camera/launch/realsense_r200_navigation.launch +++ b/realsense_camera/launch/realsense_r200_navigation.launch @@ -9,8 +9,8 @@ - + diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch index 6169769da4..da4eacde9d 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -16,8 +16,8 @@ - + diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch index ccda09f5c6..57dce5b176 100644 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -9,8 +9,8 @@ - + diff --git a/realsense_camera/realsense_camera_nodelet_plugins.xml b/realsense_camera/nodelet_plugins.xml similarity index 52% rename from realsense_camera/realsense_camera_nodelet_plugins.xml rename to realsense_camera/nodelet_plugins.xml index c62d71c5dd..f6c7e0472e 100644 --- a/realsense_camera/realsense_camera_nodelet_plugins.xml +++ b/realsense_camera/nodelet_plugins.xml @@ -1,5 +1,5 @@ - + Intel(R) RealSense(TM) R200 Camera nodelet. diff --git a/realsense_camera/package.xml b/realsense_camera/package.xml index 03839dbf22..b254b4d421 100644 --- a/realsense_camera/package.xml +++ b/realsense_camera/package.xml @@ -44,6 +44,6 @@ rgbd_launch - + diff --git a/realsense_camera/src/realsense_camera_nodelet.cpp b/realsense_camera/src/base_nodelet.cpp similarity index 95% rename from realsense_camera/src/realsense_camera_nodelet.cpp rename to realsense_camera/src/base_nodelet.cpp index 2a91654412..cd6c4ae7a2 100644 --- a/realsense_camera/src/realsense_camera_nodelet.cpp +++ b/realsense_camera/src/base_nodelet.cpp @@ -28,19 +28,19 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ -#include "realsense_camera_nodelet.h" +#include "base_nodelet.h" using namespace cv; using namespace std; -PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodelet, nodelet::Nodelet) +PLUGINLIB_EXPORT_CLASS (realsense_camera::BaseNodelet, nodelet::Nodelet) namespace realsense_camera { /* * Public Methods. */ - RealsenseNodelet::~RealsenseNodelet() + BaseNodelet::~BaseNodelet() { stream_thread_->join(); @@ -65,7 +65,7 @@ namespace realsense_camera /* * Initialize the realsense camera */ - void RealsenseNodelet::onInit() + void BaseNodelet::onInit() { // Set default configurations. is_device_started_ = false; @@ -97,7 +97,7 @@ namespace realsense_camera pointcloud_publisher_ = nh_.advertise(PC_TOPIC, 1); - get_options_service_ = nh_.advertiseService(SETTINGS_SERVICE, &RealsenseNodelet::getCameraOptionValues, this); + get_options_service_ = nh_.advertiseService(SETTINGS_SERVICE, &BaseNodelet::getCameraOptionValues, this); // Poll for camera and connect if found while (!connectToCamera()) @@ -108,19 +108,19 @@ namespace realsense_camera // Start working thread. stream_thread_ = - boost::shared_ptr (new boost::thread (boost::bind(&RealsenseNodelet::publishStreams, this))); + boost::shared_ptr (new boost::thread (boost::bind(&BaseNodelet::publishStreams, this))); if (enable_tf_ == true) { transform_thread_ = - boost::shared_ptr(new boost::thread (boost::bind(&RealsenseNodelet::publishTransforms, this))); + boost::shared_ptr(new boost::thread (boost::bind(&BaseNodelet::publishTransforms, this))); } } /* *Protected Methods. */ - void RealsenseNodelet::enableColorStream() + void BaseNodelet::enableColorStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -143,7 +143,7 @@ namespace realsense_camera } } - void RealsenseNodelet::enableDepthStream() + void BaseNodelet::enableDepthStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -168,7 +168,7 @@ namespace realsense_camera enableInfraredStream(); } - void RealsenseNodelet::enableInfraredStream() + void BaseNodelet::enableInfraredStream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -191,7 +191,7 @@ namespace realsense_camera } } - void RealsenseNodelet::disableDepthStream() + void BaseNodelet::disableDepthStream() { // disable depth stream ROS_INFO_STREAM(nodelet_name_ << " - Disabling Depth stream"); @@ -202,14 +202,14 @@ namespace realsense_camera disableInfraredStream(); } - void RealsenseNodelet::disableInfraredStream() + void BaseNodelet::disableInfraredStream() { ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared stream"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); checkError(); } - void RealsenseNodelet::checkError() + void BaseNodelet::checkError() { if (rs_error_) { @@ -223,7 +223,7 @@ namespace realsense_camera } } - void RealsenseNodelet::enableStreams() + void BaseNodelet::enableStreams() { // Enable streams. if (enable_color_ == true) @@ -236,7 +236,7 @@ namespace realsense_camera } } - bool RealsenseNodelet::connectToCamera() + bool BaseNodelet::connectToCamera() { rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_); checkError(); @@ -317,7 +317,7 @@ namespace realsense_camera return true; } - void RealsenseNodelet::listCameras() + void BaseNodelet::listCameras() { // print list of detected cameras std::string detected_camera_msg = " - Detected the following cameras:"; @@ -339,7 +339,7 @@ namespace realsense_camera /* * Gets the options supported by the camera along with their min, max and step values. */ - void RealsenseNodelet::getCameraOptions() + void BaseNodelet::getCameraOptions() { for (int i = 0; i < RS_OPTION_COUNT; ++i) { @@ -361,7 +361,7 @@ namespace realsense_camera /* * Define buffer for images and prepare camera info for each enabled stream. */ - void RealsenseNodelet::allocateResources() + void BaseNodelet::allocateResources() { // Prepare camera for enabled streams (color/depth/infrared) fillStreamEncoding(); @@ -374,7 +374,7 @@ namespace realsense_camera /* * Prepare camera_info for each enabled stream. */ - void RealsenseNodelet::prepareStreamCalibData(rs_stream rs_strm) + void BaseNodelet::prepareStreamCalibData(rs_stream rs_strm) { uint32_t stream_index = (uint32_t) rs_strm; rs_intrinsics intrinsic; @@ -442,7 +442,7 @@ namespace realsense_camera /* * Get the latest values of the camera options. */ - bool RealsenseNodelet::getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, + bool BaseNodelet::getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res) { std::string get_options_result_str; @@ -464,7 +464,7 @@ namespace realsense_camera /* * Set the stream options based on input params. */ - void RealsenseNodelet::setStreamOptions() + void BaseNodelet::setStreamOptions() { pnh_.getParam("serial_no", serial_no_); pnh_.getParam("usb_port_id", usb_port_id_); @@ -492,7 +492,7 @@ namespace realsense_camera /* * Copy frame data from realsense to member cv images. */ - void RealsenseNodelet::prepareStreamData(rs_stream rs_strm) + void BaseNodelet::prepareStreamData(rs_stream rs_strm) { if (rs_strm == RS_STREAM_DEPTH) { @@ -506,7 +506,7 @@ namespace realsense_camera /* * Populate the encodings for each stream. */ - void RealsenseNodelet::fillStreamEncoding() + void BaseNodelet::fillStreamEncoding() { stream_encoding_[(uint32_t) RS_STREAM_COLOR] = "rgb8"; stream_step_[(uint32_t) RS_STREAM_COLOR] = color_width_ * sizeof (unsigned char) * 3; @@ -519,7 +519,7 @@ namespace realsense_camera /* * Publish streams. */ - void RealsenseNodelet::publishStreams() + void BaseNodelet::publishStreams() { while (ros::ok()) { @@ -626,7 +626,7 @@ namespace realsense_camera /* * Publish pointcloud. */ - void RealsenseNodelet::publishPointCloud (cv::Mat & image_color) + void BaseNodelet::publishPointCloud (cv::Mat & image_color) { // Publish pointcloud only if there is at least one subscriber. if (pointcloud_publisher_.getNumSubscribers() > 0) @@ -739,7 +739,7 @@ namespace realsense_camera /* * Publish camera transforms */ - void RealsenseNodelet::publishTransforms() + void BaseNodelet::publishTransforms() { // publish transforms for the cameras ROS_INFO_STREAM(nodelet_name_ << " - Publishing camera transforms"); diff --git a/realsense_camera/src/realsense_camera_nodelet.h b/realsense_camera/src/base_nodelet.h similarity index 98% rename from realsense_camera/src/realsense_camera_nodelet.h rename to realsense_camera/src/base_nodelet.h index bab69a30de..c43d905858 100644 --- a/realsense_camera/src/realsense_camera_nodelet.h +++ b/realsense_camera/src/base_nodelet.h @@ -29,8 +29,8 @@ *******************************************************************************/ #pragma once -#ifndef REALSENSE_NODELET -#define REALSENSE_NODELET +#ifndef BASE_NODELET +#define BASE_NODELET #include #include @@ -65,13 +65,13 @@ namespace realsense_camera { - class RealsenseNodelet: public nodelet::Nodelet + class BaseNodelet: public nodelet::Nodelet { public: // Interfaces. virtual void onInit(); - virtual ~RealsenseNodelet(); + virtual ~BaseNodelet(); virtual void publishTransforms(); virtual void publishStreams(); virtual bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); diff --git a/realsense_camera/src/realsense_camera_nodelet_r200.cpp b/realsense_camera/src/r200_nodelet.cpp similarity index 85% rename from realsense_camera/src/realsense_camera_nodelet_r200.cpp rename to realsense_camera/src/r200_nodelet.cpp index 1a402e5c55..50f45f92f5 100644 --- a/realsense_camera/src/realsense_camera_nodelet_r200.cpp +++ b/realsense_camera/src/r200_nodelet.cpp @@ -28,9 +28,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ -#include "realsense_camera_nodelet_r200.h" +#include "r200_nodelet.h" -PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodeletR200, nodelet::Nodelet) +PLUGINLIB_EXPORT_CLASS (realsense_camera::R200Nodelet, nodelet::Nodelet) namespace realsense_camera { @@ -41,7 +41,7 @@ namespace realsense_camera /* * Initialize the realsense camera */ - void RealsenseNodeletR200::onInit() + void R200Nodelet::onInit() { // set member vars used in base class nodelet_name_ = getName(); @@ -51,10 +51,10 @@ namespace realsense_camera // create dynamic reconfigure server - this must be done before calling base class onInit() // onInit() calls setStaticCameraOptions() which relies on this being set already - dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(pnh_)); + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(pnh_)); // call base class onInit() method - RealsenseNodelet::onInit(); + BaseNodelet::onInit(); // Set up the IR2 frame and topics frame_id_[RS_STREAM_INFRARED2] = ir2_frame_id_; @@ -62,29 +62,29 @@ namespace realsense_camera camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera(IR2_TOPIC, 1); // setCallback can only be called after rs_device_ is set by base class connectToCamera() - dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodeletR200::configCallback, this, _1, _2)); + dynamic_reconf_server_->setCallback(boost::bind(&R200Nodelet::configCallback, this, _1, _2)); } /* *Protected Methods. */ - void RealsenseNodeletR200::enableDepthStream() + void R200Nodelet::enableDepthStream() { // call the base class method first - RealsenseNodelet::enableDepthStream(); + BaseNodelet::enableDepthStream(); // enable IR2 stream enableInfrared2Stream(); } - void RealsenseNodeletR200::disableDepthStream() + void R200Nodelet::disableDepthStream() { // call the base class method first - RealsenseNodelet::disableDepthStream(); + BaseNodelet::disableDepthStream(); // disable IR2 stream disableInfrared2Stream(); } - void RealsenseNodeletR200::enableInfrared2Stream() + void R200Nodelet::enableInfrared2Stream() { // Enable streams. if (mode_.compare ("manual") == 0) @@ -107,14 +107,14 @@ namespace realsense_camera } } - void RealsenseNodeletR200::disableInfrared2Stream() + void R200Nodelet::disableInfrared2Stream() { ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared2 stream"); rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); checkError(); } - void RealsenseNodeletR200::configCallback(realsense_camera::camera_params_r200Config &config, uint32_t level) + void R200Nodelet::configCallback(realsense_camera::r200_paramsConfig &config, uint32_t level) { // Set common options rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.color_backlight_compensation, 0); @@ -190,10 +190,10 @@ namespace realsense_camera /* * Define buffer for images and prepare camera info for each enabled stream. */ - void RealsenseNodeletR200::allocateResources() + void R200Nodelet::allocateResources() { // call base class method first - RealsenseNodelet::allocateResources(); + BaseNodelet::allocateResources(); // set IR2 image buffer image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); } @@ -201,10 +201,10 @@ namespace realsense_camera /* * Set the stream options based on input params. */ - void RealsenseNodeletR200::setStreamOptions() + void R200Nodelet::setStreamOptions() { // call base class method first - RealsenseNodelet::setStreamOptions(); + BaseNodelet::setStreamOptions(); // setup R200 specific frame pnh_.param("ir2_frame_id", ir2_frame_id_, DEFAULT_IR2_FRAME_ID); } @@ -212,10 +212,10 @@ namespace realsense_camera /* * Populate the encodings for each stream. */ - void RealsenseNodeletR200::fillStreamEncoding() + void R200Nodelet::fillStreamEncoding() { // Call base class method first - RealsenseNodelet::fillStreamEncoding(); + BaseNodelet::fillStreamEncoding(); // Setup IR2 stream stream_encoding_[(uint32_t) RS_STREAM_INFRARED2] = sensor_msgs::image_encodings::TYPE_8UC1; stream_step_[(uint32_t) RS_STREAM_INFRARED2] = depth_width_ * sizeof (unsigned char); @@ -224,15 +224,15 @@ namespace realsense_camera /* * Set the static camera options. */ - void RealsenseNodeletR200::setStaticCameraOptions() + void R200Nodelet::setStaticCameraOptions() { ROS_INFO_STREAM(nodelet_name_ << " - Setting camera options"); // Get dynamic options from the dynamic reconfigure server. - realsense_camera::camera_params_r200Config params_config; + realsense_camera::r200_paramsConfig params_config; dynamic_reconf_server_->getConfigDefault(params_config); - std::vector param_desc = params_config.__getParamDescriptions__(); + std::vector param_desc = params_config.__getParamDescriptions__(); // Iterate through the supported camera options for (CameraOptions o: camera_options_) @@ -240,8 +240,8 @@ namespace realsense_camera std::string opt_name = rs_option_to_string(o.opt); bool found = false; - std::vector::iterator it; - for (realsense_camera::camera_params_r200Config::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) + std::vector::iterator it; + for (realsense_camera::r200_paramsConfig::AbstractParamDescriptionConstPtr param_desc_ptr: param_desc) { std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower); if (opt_name.compare((* param_desc_ptr).name) == 0) diff --git a/realsense_camera/src/realsense_camera_nodelet_r200.h b/realsense_camera/src/r200_nodelet.h similarity index 86% rename from realsense_camera/src/realsense_camera_nodelet_r200.h rename to realsense_camera/src/r200_nodelet.h index 525382aed1..64f5ae31d3 100644 --- a/realsense_camera/src/realsense_camera_nodelet_r200.h +++ b/realsense_camera/src/r200_nodelet.h @@ -29,17 +29,17 @@ *******************************************************************************/ #pragma once -#ifndef REALSENSE_NODELET_R200 -#define REALSENSE_NODELET_R200 +#ifndef R200_NODELET +#define R200_NODELET #include -#include "realsense_camera/camera_params_r200Config.h" -#include "realsense_camera_nodelet.h" +#include "realsense_camera/r200_paramsConfig.h" +#include "base_nodelet.h" namespace realsense_camera { - class RealsenseNodeletR200: public realsense_camera::RealsenseNodelet + class R200Nodelet: public realsense_camera::BaseNodelet { public: @@ -55,7 +55,7 @@ namespace realsense_camera // Member Variables. std::string ir2_frame_id_; - boost::shared_ptr> dynamic_reconf_server_; + boost::shared_ptr> dynamic_reconf_server_; // Member Functions. void enableDepthStream(); @@ -66,7 +66,7 @@ namespace realsense_camera void fillStreamEncoding(); void allocateResources(); void setStaticCameraOptions(); - void configCallback(realsense_camera::camera_params_r200Config &config, uint32_t level); + void configCallback(realsense_camera::r200_paramsConfig &config, uint32_t level); }; } diff --git a/realsense_camera/test/realsense_camera_test_node.cpp b/realsense_camera/test/camera_core.cpp similarity index 99% rename from realsense_camera/test/realsense_camera_test_node.cpp rename to realsense_camera/test/camera_core.cpp index 6908baf48f..138e01f55c 100644 --- a/realsense_camera/test/realsense_camera_test_node.cpp +++ b/realsense_camera/test/camera_core.cpp @@ -29,7 +29,7 @@ *******************************************************************************/ #include "gtest/gtest.h" -#include "realsense_camera_test_node.h" +#include "camera_core.h" using namespace std; @@ -622,7 +622,7 @@ void fillConfigMap(int argc, char **argv) } } -int main(int argc, char **argv) +int main(int argc, char **argv) try { testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "utest"); @@ -651,3 +651,4 @@ int main(int argc, char **argv) return RUN_ALL_TESTS(); } +catch(...) {} // catch the "testing::internal::::ClassUniqueToAlwaysTrue" from gtest diff --git a/realsense_camera/test/realsense_camera_test_node.h b/realsense_camera/test/camera_core.h similarity index 92% rename from realsense_camera/test/realsense_camera_test_node.h rename to realsense_camera/test/camera_core.h index a2bb912e80..cbaeaed122 100644 --- a/realsense_camera/test/realsense_camera_test_node.h +++ b/realsense_camera/test/camera_core.h @@ -8,12 +8,12 @@ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software without + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -76,10 +76,10 @@ int g_color_height_exp = 0; int g_color_width_exp = 0; int g_depth_height_exp = 0; int g_depth_width_exp = 0; -uint32_t g_depth_step_exp; // Expected depth step. -uint32_t g_color_step_exp; // Expected color step. -uint32_t g_infrared1_step_exp; // Expected infrared1 step. -uint32_t g_infrared2_step_exp; // Expected infrared2 step. +uint32_t g_depth_step_exp; // Expected depth step. +uint32_t g_color_step_exp; // Expected color step. +uint32_t g_infrared1_step_exp; // Expected infrared1 step. +uint32_t g_infrared2_step_exp; // Expected infrared2 step. bool g_enable_color = true; bool g_enable_depth = true; @@ -109,7 +109,7 @@ float g_pc_depth_avg = 0; int g_height_recv[R200_STREAMS_COUNT] = {0}; int g_width_recv[R200_STREAMS_COUNT] = {0}; -uint32_t g_step_recv[R200_STREAMS_COUNT] = {0}; // Received stream step. +uint32_t g_step_recv[R200_STREAMS_COUNT] = {0}; // Received stream step. std::string g_encoding_recv[R200_STREAMS_COUNT]; // Expected stream encoding. diff --git a/realsense_camera/test/realsense_r200_color_only.test b/realsense_camera/test/realsense_r200_color_only.test index 29f001c030..5e1867033f 100644 --- a/realsense_camera/test/realsense_r200_color_only.test +++ b/realsense_camera/test/realsense_r200_color_only.test @@ -4,6 +4,6 @@ - diff --git a/realsense_camera/test/realsense_r200_depth_only.test b/realsense_camera/test/realsense_r200_depth_only.test index 205ae84195..be924c0b17 100644 --- a/realsense_camera/test/realsense_r200_depth_only.test +++ b/realsense_camera/test/realsense_r200_depth_only.test @@ -4,6 +4,6 @@ - diff --git a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch index a0b6247746..f1846e1de8 100644 --- a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch +++ b/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch @@ -3,7 +3,7 @@ Steps: roslaunch realsense_camera realsense_r200_dynamic_camera_options_params.launch - rosrun realsense_camera realsense_camera_test color_backlight_compensation 3 color_brightness 10 color_contrast 16 color_gain 18 color_gamma 100 color_hue 20 color_saturation 21 color_sharpness 7 color_enable_auto_white_balance 0 color_white_balance 3000 r200_lr_gain 200 r200_emitter_enabled 1 r200_lr_exposure 27 + rosrun realsense_camera tests_camera_core color_backlight_compensation 3 color_brightness 10 color_contrast 16 color_gain 18 color_gamma 100 color_hue 20 color_saturation 21 color_sharpness 7 color_enable_auto_white_balance 0 color_white_balance 3000 r200_lr_gain 200 r200_emitter_enabled 1 r200_lr_exposure 27 Verify that the "testCameraOptions" test pass. --> @@ -39,8 +39,8 @@ - + diff --git a/realsense_camera/test/realsense_r200_resolution.test b/realsense_camera/test/realsense_r200_resolution.test index 8477438e6e..ef34a1f5cb 100644 --- a/realsense_camera/test/realsense_r200_resolution.test +++ b/realsense_camera/test/realsense_r200_resolution.test @@ -9,6 +9,6 @@ - diff --git a/realsense_camera/test/realsense_r200_rgbd.test b/realsense_camera/test/realsense_r200_rgbd.test index 2713f936d0..8ed6427103 100644 --- a/realsense_camera/test/realsense_r200_rgbd.test +++ b/realsense_camera/test/realsense_r200_rgbd.test @@ -3,5 +3,5 @@ - + diff --git a/realsense_camera/test/realsense_r200_static_camera_options_params.launch b/realsense_camera/test/realsense_r200_static_camera_options_params.launch index 84c35b2b9e..c362384a7f 100644 --- a/realsense_camera/test/realsense_r200_static_camera_options_params.launch +++ b/realsense_camera/test/realsense_r200_static_camera_options_params.launch @@ -3,7 +3,7 @@ Steps: roslaunch realsense_camera realsense_r200_static_camera_options_params.launch - rosrun realsense_camera realsense_camera_test r200_depth_units 2 r200_depth_clamp_min 3 r200_depth_clamp_max 4 r200_depth_control_estimate_median_decrement 5 r200_depth_control_estimate_median_increment 6 r200_depth_control_median_threshold 7 r200_depth_control_score_minimum_threshold 8 r200_depth_control_score_maximum_threshold 9 r200_depth_control_texture_count_threshold 10 r200_depth_control_texture_difference_threshold 11 r200_depth_control_second_peak_threshold 12 r200_depth_control_neighbor_threshold 13 r200_depth_control_lr_threshold 14 + rosrun realsense_camera tests_camera_core r200_depth_units 2 r200_depth_clamp_min 3 r200_depth_clamp_max 4 r200_depth_control_estimate_median_decrement 5 r200_depth_control_estimate_median_increment 6 r200_depth_control_median_threshold 7 r200_depth_control_score_minimum_threshold 8 r200_depth_control_score_maximum_threshold 9 r200_depth_control_texture_count_threshold 10 r200_depth_control_texture_difference_threshold 11 r200_depth_control_second_peak_threshold 12 r200_depth_control_neighbor_threshold 13 r200_depth_control_lr_threshold 14 Verify that the "testCameraOptions" test pass. --> @@ -27,8 +27,8 @@ - + diff --git a/realsense_camera/test/realsense_r200_stream_options_params.launch b/realsense_camera/test/realsense_r200_stream_options_params.launch index 9986d2525c..4175ef4df7 100644 --- a/realsense_camera/test/realsense_r200_stream_options_params.launch +++ b/realsense_camera/test/realsense_r200_stream_options_params.launch @@ -3,7 +3,7 @@ Steps: roslaunch realsense_camera realsense_r200_stream_options_params.launch - rosrun realsense_camera realsense_camera_test mode manual enable_depth false enable_color true enable_pointcloud true enable_tf true depth_width 320 depth_height 240 color_width 320 color_height 240 depth_fps 60 color_fps 60 camera R200 + rosrun realsense_camera tests_camera_core mode manual enable_depth false enable_color true enable_pointcloud true enable_tf true depth_width 320 depth_height 240 color_width 320 color_height 240 depth_fps 60 color_fps 60 camera R200 Verify that all the tests pass. --> @@ -24,8 +24,8 @@ - + diff --git a/realsense_camera/test/realsense_camera_test_rgbd_node.cpp b/realsense_camera/test/rgbd_topics.cpp similarity index 97% rename from realsense_camera/test/realsense_camera_test_rgbd_node.cpp rename to realsense_camera/test/rgbd_topics.cpp index 0ff6d23295..b3986e3880 100644 --- a/realsense_camera/test/realsense_camera_test_rgbd_node.cpp +++ b/realsense_camera/test/rgbd_topics.cpp @@ -28,7 +28,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ -#include "realsense_camera_test_rgbd_node.h" +#include "rgbd_topics.h" using namespace std; void topic0Callback(const sensor_msgs::ImageConstPtr msg) @@ -227,7 +227,7 @@ void setTopics() depth_reg_sw_reg_image_rect = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT; } -int main(int argc, char **argv) +int main(int argc, char **argv) try { testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "utest"); @@ -259,3 +259,4 @@ int main(int argc, char **argv) return RUN_ALL_TESTS(); } +catch(...) {} // catch the "testing::internal::::ClassUniqueToAlwaysTrue" from gtest diff --git a/realsense_camera/test/realsense_camera_test_rgbd_node.h b/realsense_camera/test/rgbd_topics.h similarity index 100% rename from realsense_camera/test/realsense_camera_test_rgbd_node.h rename to realsense_camera/test/rgbd_topics.h From 52e2c87b72c537f3e998dacc7c20a753afbeb9f6 Mon Sep 17 00:00:00 2001 From: rjingar Date: Wed, 22 Jun 2016 11:17:41 -0700 Subject: [PATCH 117/124] Refactored out constants to include from header file --- realsense_camera/CMakeLists.txt | 21 ++++++ .../{src => include}/base_nodelet.h | 31 +------- realsense_camera/include/constants.h | 72 +++++++++++++++++++ .../{src => include}/r200_nodelet.h | 5 -- realsense_camera/src/base_nodelet.cpp | 4 +- realsense_camera/src/r200_nodelet.cpp | 5 +- realsense_camera/test/camera_core.cpp | 18 ++--- realsense_camera/test/camera_core.h | 40 ++++------- 8 files changed, 122 insertions(+), 74 deletions(-) rename realsense_camera/{src => include}/base_nodelet.h (80%) create mode 100644 realsense_camera/include/constants.h rename realsense_camera/{src => include}/r200_nodelet.h (91%) diff --git a/realsense_camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt index 2a14aee2a7..c748806a6d 100644 --- a/realsense_camera/CMakeLists.txt +++ b/realsense_camera/CMakeLists.txt @@ -7,6 +7,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS 1) # View the makefile commands during build #set(CMAKE_VERBOSE_MAKEFILE on) +# Set compile flags set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") # Flags executables set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") @@ -43,7 +44,22 @@ generate_dynamic_reconfigure_options( cfg/r200_params.cfg ) +################################# +# catkin specific configuration # +################################# +# The catkin_package macro generates cmake config files for your package +# Declare things to be passed to dependent projects +# INCLUDE_DIRS: uncomment this if you package contains header files +# LIBRARIES: libraries you create in this project that dependent projects also need +# CATKIN_DEPENDS: catkin_packages dependent projects also need +# DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +) + +# Specify additional locations of header files include_directories( + include ${catkin_INCLUDE_DIRS} ) @@ -73,6 +89,11 @@ install(TARGETS ${PROJECT_NAME}_nodelet LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ) +# Install header files +install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/include +) + # Install launch files install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch diff --git a/realsense_camera/src/base_nodelet.h b/realsense_camera/include/base_nodelet.h similarity index 80% rename from realsense_camera/src/base_nodelet.h rename to realsense_camera/include/base_nodelet.h index c43d905858..972801656a 100644 --- a/realsense_camera/src/base_nodelet.h +++ b/realsense_camera/include/base_nodelet.h @@ -62,6 +62,7 @@ #include #include #include +#include "constants.h" namespace realsense_camera { @@ -77,35 +78,6 @@ namespace realsense_camera virtual bool getCameraOptionValues(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); protected: - // Default Constants. - const int MAX_Z = 8; // in meters - const std::string DEFAULT_MODE = "preset"; - const int DEPTH_HEIGHT = 360; - const int DEPTH_WIDTH = 480; - const int COLOR_HEIGHT = 480; - const int COLOR_WIDTH = 640; - const int DEPTH_FPS = 60; - const int COLOR_FPS = 60; - const bool ENABLE_DEPTH = true; - const bool ENABLE_COLOR = true; - const bool ENABLE_PC = true; - const bool ENABLE_TF = true; - const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; - const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; - const rs_format IR1_FORMAT = RS_FORMAT_Y8; - const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; - const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; - const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; - const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; - const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; - const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; - const char *DEPTH_TOPIC = "camera/depth/image_raw"; - const char *COLOR_TOPIC = "camera/color/image_raw"; - const char *IR1_TOPIC = "camera/infrared1/image_raw"; - const char *PC_TOPIC = "camera/depth/points"; - const char *SETTINGS_SERVICE = "camera/get_settings"; - - const static int STREAM_COUNT = 4; // Member Variables. boost::shared_ptr stream_thread_; @@ -140,6 +112,7 @@ namespace realsense_camera std::string nodelet_name_; const uint16_t *image_depth16_; int num_streams_ = 3; + int max_z_ = -1; cv::Mat image_[STREAM_COUNT]; diff --git a/realsense_camera/include/constants.h b/realsense_camera/include/constants.h new file mode 100644 index 0000000000..abdb6452b3 --- /dev/null +++ b/realsense_camera/include/constants.h @@ -0,0 +1,72 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + +#pragma once +#ifndef NODELET_CONSTANTS +#define NODELET_CONSTANTS + +namespace realsense_camera +{ + // Default Constants. + const int STREAM_COUNT = 4; + const int DEPTH_HEIGHT = 360; + const int DEPTH_WIDTH = 480; + const int COLOR_HEIGHT = 480; + const int COLOR_WIDTH = 640; + const int DEPTH_FPS = 60; + const int COLOR_FPS = 60; + const bool ENABLE_DEPTH = true; + const bool ENABLE_COLOR = true; + const bool ENABLE_PC = true; + const bool ENABLE_TF = true; + const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; + const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; + const rs_format IR_FORMAT = RS_FORMAT_Y8; + const std::string DEFAULT_MODE = "preset"; + const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; + const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; + const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; + const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; + const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; + const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; + const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; + const std::string DEPTH_TOPIC = "camera/depth/image_raw"; + const std::string COLOR_TOPIC = "camera/color/image_raw"; + const std::string IR1_TOPIC = "camera/infrared1/image_raw"; + const std::string IR2_TOPIC = "camera/infrared2/image_raw"; + const std::string PC_TOPIC = "camera/depth/points"; + const std::string SETTINGS_SERVICE = "camera/get_settings"; + const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; + + // R200 Constants. + const int R200_STREAM_COUNT = 4; + const int R200_MAX_Z = 10; // in meters +} +#endif diff --git a/realsense_camera/src/r200_nodelet.h b/realsense_camera/include/r200_nodelet.h similarity index 91% rename from realsense_camera/src/r200_nodelet.h rename to realsense_camera/include/r200_nodelet.h index 64f5ae31d3..920054095a 100644 --- a/realsense_camera/src/r200_nodelet.h +++ b/realsense_camera/include/r200_nodelet.h @@ -47,11 +47,6 @@ namespace realsense_camera void onInit(); protected: - // R200 Constants. - const rs_format IR2_FORMAT = RS_FORMAT_Y8; - const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; - const char *IR2_TOPIC = "camera/infrared2/image_raw"; - const int NUM_STREAMS_R200 = 4; // Member Variables. std::string ir2_frame_id_; diff --git a/realsense_camera/src/base_nodelet.cpp b/realsense_camera/src/base_nodelet.cpp index cd6c4ae7a2..a1b9a91016 100644 --- a/realsense_camera/src/base_nodelet.cpp +++ b/realsense_camera/src/base_nodelet.cpp @@ -174,7 +174,7 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR1_FORMAT, depth_fps_, &rs_error_); + rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_, &rs_error_); checkError(); } else @@ -686,7 +686,7 @@ namespace realsense_camera { (float) x, (float) y}; rs_deproject_pixel_to_point(depth_point, &z_intrinsic, depth_pixel, scaled_depth); - if (depth_point[2] <= 0 || depth_point[2] > MAX_Z) + if (depth_point[2] <= 0 || depth_point[2] > max_z_) { depth_point[0] = 0; depth_point[1] = 0; diff --git a/realsense_camera/src/r200_nodelet.cpp b/realsense_camera/src/r200_nodelet.cpp index 50f45f92f5..b65e9f8f9b 100644 --- a/realsense_camera/src/r200_nodelet.cpp +++ b/realsense_camera/src/r200_nodelet.cpp @@ -45,7 +45,8 @@ namespace realsense_camera { // set member vars used in base class nodelet_name_ = getName(); - num_streams_ = NUM_STREAMS_R200; + num_streams_ = R200_STREAM_COUNT; + max_z_ = R200_MAX_Z; nh_ = getNodeHandle(); pnh_ = getPrivateNodeHandle(); @@ -90,7 +91,7 @@ namespace realsense_camera if (mode_.compare ("manual") == 0) { ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR2_FORMAT, depth_fps_, &rs_error_); + rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR_FORMAT, depth_fps_, &rs_error_); checkError(); } else diff --git a/realsense_camera/test/camera_core.cpp b/realsense_camera/test/camera_core.cpp index 138e01f55c..ec31796d81 100644 --- a/realsense_camera/test/camera_core.cpp +++ b/realsense_camera/test/camera_core.cpp @@ -28,10 +28,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include "gtest/gtest.h" - #include "camera_core.h" -using namespace std; +using namespace std; +using namespace realsense_camera; void getMsgInfo(rs_stream stream, const sensor_msgs::ImageConstPtr &msg) { @@ -126,7 +126,7 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs int depth_count = 0; for (unsigned int i = 0; i < msg->height * msg->width; ++i) { - if ((0 < *image_data) && (*image_data <= R200_DEPTH_MAX)) + if ((0 < *image_data) && (*image_data <= g_max_z)) { depth_total += *image_data; depth_count++; @@ -156,7 +156,7 @@ void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc) { pcl::PointXYZRGB point = pointcloud.points[i]; float pc_depth = (float) std::ceil(point.z); - if ((0 < pc_depth) && (pc_depth <= R200_DEPTH_MAX)) + if ((0 < pc_depth) && (pc_depth <= g_max_z)) { pc_depth_total += pc_depth; pc_depth_count++; @@ -507,10 +507,10 @@ TEST(RealsenseTests, testTransforms) // make sure all transforms are being broadcast as expected tf::TransformListener tf_listener; - EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); - EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_OPTICAL_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); - EXPECT_TRUE(tf_listener.waitForTransform (COLOR_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); - EXPECT_TRUE(tf_listener.waitForTransform (COLOR_OPTICAL_DEF_FRAME, COLOR_DEF_FRAME, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (DEFAULT_DEPTH_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (DEFAULT_DEPTH_OPTICAL_FRAME_ID, DEFAULT_DEPTH_FRAME_ID, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (DEFAULT_COLOR_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0), ros::Duration(3.0))); + EXPECT_TRUE(tf_listener.waitForTransform (DEFAULT_COLOR_OPTICAL_FRAME_ID, DEFAULT_COLOR_FRAME_ID, ros::Time(0), ros::Duration(3.0))); } TEST(RealsenseTests, testCameraOptions) @@ -635,7 +635,7 @@ int main(int argc, char **argv) try g_camera_subscriber[0] = it.subscribeCamera(DEPTH_TOPIC, 1, imageDepthCallback, 0); g_camera_subscriber[1] = it.subscribeCamera(COLOR_TOPIC, 1, imageColorCallback, 0); g_camera_subscriber[2] = it.subscribeCamera(IR1_TOPIC, 1, imageInfrared1Callback, 0); - if (g_camera.find(R200) != std::string::npos) + if (g_camera.find("R200") != std::string::npos) { g_camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); } diff --git a/realsense_camera/test/camera_core.h b/realsense_camera/test/camera_core.h index cbaeaed122..a1931c1c42 100644 --- a/realsense_camera/test/camera_core.h +++ b/realsense_camera/test/camera_core.h @@ -52,24 +52,9 @@ #include #include #include +#include "constants.h" -#define R200_STREAMS_COUNT 4 - -const char *DEPTH_TOPIC = "camera/depth/image_raw"; -const char *COLOR_TOPIC = "camera/color/image_raw"; -const char *IR1_TOPIC = "camera/infrared1/image_raw"; -const char *IR2_TOPIC = "camera/infrared2/image_raw"; -const char *PC_TOPIC = "camera/depth/points"; -const char *SETTINGS_SERVICE = "camera/get_settings"; -const char *R200 = "R200"; -const int R200_DEPTH_MAX = 10000; - -const char *BASE_DEF_FRAME = "camera_link"; -const char *DEPTH_DEF_FRAME = "camera_depth_frame"; -const char *COLOR_DEF_FRAME = "camera_rgb_frame"; -const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; -const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; -const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; +using namespace realsense_camera; //utest commandline args int g_color_height_exp = 0; @@ -90,10 +75,11 @@ std::string g_color_encoding_exp; // Expected color encoding. std::string g_infrared1_encoding_exp; // Expected infrared1 encoding. std::string g_infrared2_encoding_exp; // Expected infrared2 encoding. -image_transport::CameraSubscriber g_camera_subscriber[R200_STREAMS_COUNT]; +image_transport::CameraSubscriber g_camera_subscriber[STREAM_COUNT]; ros::Subscriber g_sub_pc; std::map g_config_args; +int g_max_z = R200_MAX_Z * 1000; // Converting meter to mm. bool g_depth_recv = false; bool g_color_recv = false; @@ -107,20 +93,20 @@ float g_infrared1_avg = 0; float g_infrared2_avg = 0; float g_pc_depth_avg = 0; -int g_height_recv[R200_STREAMS_COUNT] = {0}; -int g_width_recv[R200_STREAMS_COUNT] = {0}; -uint32_t g_step_recv[R200_STREAMS_COUNT] = {0}; // Received stream step. +int g_height_recv[STREAM_COUNT] = {0}; +int g_width_recv[STREAM_COUNT] = {0}; +uint32_t g_step_recv[STREAM_COUNT] = {0}; // Received stream step. -std::string g_encoding_recv[R200_STREAMS_COUNT]; // Expected stream encoding. +std::string g_encoding_recv[STREAM_COUNT]; // Expected stream encoding. -int g_caminfo_height_recv[R200_STREAMS_COUNT] = {0}; -int g_caminfo_width_recv[R200_STREAMS_COUNT] = {0}; +int g_caminfo_height_recv[STREAM_COUNT] = {0}; +int g_caminfo_width_recv[STREAM_COUNT] = {0}; float g_color_caminfo_D_recv[5] = {0}; -double g_caminfo_rotation_recv[R200_STREAMS_COUNT][9] = {0}; -double g_caminfo_projection_recv[R200_STREAMS_COUNT][12] = {0}; +double g_caminfo_rotation_recv[STREAM_COUNT][9] = {0}; +double g_caminfo_projection_recv[STREAM_COUNT][12] = {0}; -std::string g_dmodel_recv[R200_STREAMS_COUNT]; +std::string g_dmodel_recv[STREAM_COUNT]; std::string g_camera = "R200"; realsense_camera::cameraConfiguration g_srv; From df8a081ddba951fda1de33584bf21d2a0ec49564 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 24 Jun 2016 11:24:39 -0700 Subject: [PATCH 118/124] Refactored functions for enabling and disabling streams Refactored the infrared terms to be consistent Updated README with the correct API documentation --- realsense_camera/README.md | 28 +++-- realsense_camera/include/base_nodelet.h | 10 +- realsense_camera/include/constants.h | 9 +- realsense_camera/include/r200_nodelet.h | 6 +- ...realsense_r200_multiple_cameras.launch.xml | 8 +- .../realsense_r200_nodelet.launch.xml | 8 +- .../rviz/realsenseRvizConfiguration1.rviz | 4 +- realsense_camera/src/base_nodelet.cpp | 118 ++++-------------- realsense_camera/src/r200_nodelet.cpp | 48 ++----- realsense_camera/test/camera_core.cpp | 2 +- 10 files changed, 73 insertions(+), 168 deletions(-) diff --git a/realsense_camera/README.md b/realsense_camera/README.md index 8b22f4b438..bf3d96c0a8 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -53,16 +53,16 @@ Depth camera camera/depth/points (sensor_msgs/PointCloud2) Registered XYZRGB point cloud. -Infrared1 camera +IR camera - camera/infrared1/image_raw (sensor_msgs/Image) - camera/infrared1/camera_info + camera/ir/image_raw (sensor_msgs/Image) + camera/ir/camera_info Calibration data -Infrared2 camera +IR2 camera - camera/infrared2/image_raw (sensor_msgs/Image) - camera/infrared2/camera_info + camera/ir2/image_raw (sensor_msgs/Image) + camera/ir2/camera_info Calibration data ####Services @@ -116,9 +116,9 @@ Infrared2 camera Specify the depth optical frame id of the camera. color_optical_frame_id (string, default: camera_rgb_optical_frame) Specify the color optical frame id of the camera. - ir_frame_id (string, default: camera_infrared_frame) + ir_frame_id (string, default: camera_ir_frame) Specify the IR frame id of the camera. - ir2_frame_id (string, default: camera_infrared2_frame) + ir2_frame_id (string, default: camera_ir2_frame) Specify the IR2 frame id of the camera. camera (string, default: "R200") Specify the camera name. @@ -142,8 +142,8 @@ Infrared2 camera Stream parameters: enable_depth (bool, default: true) - Specify if to enable or not the depth and infrared camera. - Note: Infrared streams will be enabled or disabled along with depth stream. + Specify if to enable or not the depth and infrared camera(s). + Note: Infrared stream(s) will be enabled or disabled along with depth stream. Camera parameters: Following are the parameters that can be set dynamically as well as statically in the R200 camera. @@ -191,7 +191,7 @@ If you would like to create or use your own launch files, the nodelet name for t View using RVIZ: -For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. +For color and infrared stream(s), you can open RVIZ and load the published topics. You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration1.rviz. ``` @@ -266,7 +266,9 @@ Sample test files are available in "realsense_camera/test" directory * realsense_r200_resolution.test ###Developer API: -Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_camera_nodelet.h) +Refer to the following: +* [base_nodelet.h](include/base_nodelet.h) +* [r200_nodelet.h](include/r200_nodelet.h) ###Limitations: * Currently, the camera nodelet has been tested to work only for R200 cameras. @@ -274,7 +276,7 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_ * Currently, the camera nodelet only supports the following formats: * Color stream: RGB8 * Depth stream: Z16 - * Infrared stream: Y8 + * Infrared stream(s): Y8 * Generating a Depth Registered Point Cloud is very memory intensive. The topic /camera/depth_registered/points, generated by launch file diff --git a/realsense_camera/include/base_nodelet.h b/realsense_camera/include/base_nodelet.h index 972801656a..f9c3b693f9 100644 --- a/realsense_camera/include/base_nodelet.h +++ b/realsense_camera/include/base_nodelet.h @@ -149,15 +149,11 @@ namespace realsense_camera std::vector camera_options_; // Member Functions. - virtual void enableStreams(); - virtual void enableColorStream(); - virtual void enableDepthStream(); - virtual void disableDepthStream(); - virtual void enableInfraredStream(); - virtual void disableInfraredStream(); + virtual void enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps); + virtual void prepareStreamCalibData(rs_stream stream_index); + virtual void disableStream(rs_stream stream_index); virtual void fillStreamEncoding(); virtual void setStreamOptions(); - virtual void prepareStreamCalibData(rs_stream calib_data); virtual void prepareStreamData(rs_stream rs_strm); virtual void getCameraOptions(); diff --git a/realsense_camera/include/constants.h b/realsense_camera/include/constants.h index abdb6452b3..9ba4feeb65 100644 --- a/realsense_camera/include/constants.h +++ b/realsense_camera/include/constants.h @@ -55,14 +55,15 @@ namespace realsense_camera const std::string DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"; const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"; - const std::string DEFAULT_IR_FRAME_ID = "camera_infrared_frame"; - const std::string DEFAULT_IR2_FRAME_ID = "camera_infrared2_frame"; + const std::string DEFAULT_IR_FRAME_ID = "camera_ir_frame"; + const std::string DEFAULT_IR2_FRAME_ID = "camera_ir2_frame"; const std::string DEPTH_TOPIC = "camera/depth/image_raw"; const std::string COLOR_TOPIC = "camera/color/image_raw"; - const std::string IR1_TOPIC = "camera/infrared1/image_raw"; - const std::string IR2_TOPIC = "camera/infrared2/image_raw"; + const std::string IR_TOPIC = "camera/ir/image_raw"; + const std::string IR2_TOPIC = "camera/ir2/image_raw"; const std::string PC_TOPIC = "camera/depth/points"; const std::string SETTINGS_SERVICE = "camera/get_settings"; + const std::string STREAM_DESC[STREAM_COUNT] = {"Depth", "Color", "IR", "IR2"}; const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // R200 Constants. diff --git a/realsense_camera/include/r200_nodelet.h b/realsense_camera/include/r200_nodelet.h index 920054095a..77d7665162 100644 --- a/realsense_camera/include/r200_nodelet.h +++ b/realsense_camera/include/r200_nodelet.h @@ -53,10 +53,8 @@ namespace realsense_camera boost::shared_ptr> dynamic_reconf_server_; // Member Functions. - void enableDepthStream(); - void disableDepthStream(); - void enableInfrared2Stream(); - void disableInfrared2Stream(); + void enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps); + void disableStream(rs_stream stream_index); void setStreamOptions(); void fillStreamEncoding(); void allocateResources(); diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml index aec4b6c0bf..33f3f702aa 100644 --- a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml @@ -19,13 +19,13 @@ - - + + - - + + diff --git a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml index 608b4bc538..804a666b77 100644 --- a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -59,12 +59,12 @@ - - + + - - + + diff --git a/realsense_camera/rviz/realsenseRvizConfiguration1.rviz b/realsense_camera/rviz/realsenseRvizConfiguration1.rviz index 670e9969bd..33f0cdad8a 100644 --- a/realsense_camera/rviz/realsenseRvizConfiguration1.rviz +++ b/realsense_camera/rviz/realsenseRvizConfiguration1.rviz @@ -80,7 +80,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /camera/infrared1/image_raw + Image Topic: /camera/ir/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -102,7 +102,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: false - Image Topic: /camera/infrared2/image_raw + Image Topic: /camera/ir2/image_raw Max Value: 1 Median window: 5 Min Value: 0 diff --git a/realsense_camera/src/base_nodelet.cpp b/realsense_camera/src/base_nodelet.cpp index a1b9a91016..0f23620fb1 100644 --- a/realsense_camera/src/base_nodelet.cpp +++ b/realsense_camera/src/base_nodelet.cpp @@ -93,7 +93,7 @@ namespace realsense_camera image_transport::ImageTransport it (nh_); camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera(COLOR_TOPIC, 1); camera_publisher_[RS_STREAM_DEPTH] = it.advertiseCamera(DEPTH_TOPIC, 1); - camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera(IR1_TOPIC, 1); + camera_publisher_[RS_STREAM_INFRARED] = it.advertiseCamera(IR_TOPIC, 1); pointcloud_publisher_ = nh_.advertise(PC_TOPIC, 1); @@ -120,92 +120,32 @@ namespace realsense_camera /* *Protected Methods. */ - void BaseNodelet::enableColorStream() + void BaseNodelet::enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps) { // Enable streams. - if (mode_.compare ("manual") == 0) + if (mode_.compare("manual") == 0) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_, &rs_error_); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling " << STREAM_DESC[stream_index] << " stream: manual mode"); + rs_enable_stream(rs_device_, stream_index, width, height, format, fps, &rs_error_); checkError(); } else { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Color stream: preset mode"); - rs_enable_stream_preset(rs_device_, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &rs_error_); + ROS_INFO_STREAM(nodelet_name_ << " - Enabling " << STREAM_DESC[stream_index] << " stream: preset mode"); + rs_enable_stream_preset(rs_device_, stream_index, RS_PRESET_BEST_QUALITY, &rs_error_); checkError(); } - uint32_t stream_index = (uint32_t) RS_STREAM_COLOR; if (camera_info_[stream_index] == NULL) { - prepareStreamCalibData (RS_STREAM_COLOR); + prepareStreamCalibData(stream_index); } } - void BaseNodelet::enableDepthStream() + void BaseNodelet::disableStream(rs_stream stream_index) { - // Enable streams. - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_, &rs_error_); - checkError(); - } - else - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Depth stream: preset mode"); - rs_enable_stream_preset(rs_device_, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &rs_error_); - checkError(); - } - - uint32_t stream_index = (uint32_t) RS_STREAM_DEPTH; - if (camera_info_[stream_index] == NULL) - { - prepareStreamCalibData (RS_STREAM_DEPTH); - } - // must enable IR stream also - enableInfraredStream(); - } - - void BaseNodelet::enableInfraredStream() - { - // Enable streams. - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_, &rs_error_); - checkError(); - } - else - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared stream: preset mode"); - rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &rs_error_); - checkError(); - } - - uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED; - if (camera_info_[stream_index] == NULL) - { - prepareStreamCalibData (RS_STREAM_INFRARED); - } - } - - void BaseNodelet::disableDepthStream() - { - // disable depth stream - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Depth stream"); - rs_disable_stream(rs_device_, RS_STREAM_DEPTH, &rs_error_); - checkError(); - - // disable IR stream - disableInfraredStream(); - } - - void BaseNodelet::disableInfraredStream() - { - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared stream"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED, &rs_error_); + ROS_INFO_STREAM(nodelet_name_ << " - Disabling " << STREAM_DESC[stream_index] << " stream"); + rs_disable_stream(rs_device_, stream_index, &rs_error_); checkError(); } @@ -223,19 +163,6 @@ namespace realsense_camera } } - void BaseNodelet::enableStreams() - { - // Enable streams. - if (enable_color_ == true) - { - enableColorStream(); - } - if (enable_depth_ == true) - { - enableDepthStream(); - } - } - bool BaseNodelet::connectToCamera() { rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_); @@ -301,7 +228,15 @@ namespace realsense_camera checkError(); // Enable streams. - enableStreams(); + if (enable_color_ == true) + { + enableStream(RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_); + } + if (enable_depth_ == true) + { + enableStream(RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_); + enableStream(RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_); + } getCameraOptions(); setStaticCameraOptions(); @@ -374,11 +309,10 @@ namespace realsense_camera /* * Prepare camera_info for each enabled stream. */ - void BaseNodelet::prepareStreamCalibData(rs_stream rs_strm) + void BaseNodelet::prepareStreamCalibData(rs_stream stream_index) { - uint32_t stream_index = (uint32_t) rs_strm; rs_intrinsics intrinsic; - rs_get_stream_intrinsics(rs_device_, rs_strm, &intrinsic, &rs_error_); + rs_get_stream_intrinsics(rs_device_, stream_index, &intrinsic, &rs_error_); checkError(); camera_info_[stream_index] = new sensor_msgs::CameraInfo(); @@ -532,8 +466,9 @@ namespace realsense_camera checkError(); } - // disable depth stream - disableDepthStream(); + // disable Depth and IR stream + disableStream(RS_STREAM_DEPTH); + disableStream(RS_STREAM_INFRARED); if (rs_is_device_streaming(rs_device_, 0) == 0) { @@ -552,7 +487,8 @@ namespace realsense_camera checkError(); } - enableDepthStream(); + enableStream(RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_); + enableStream(RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_); if (rs_is_device_streaming(rs_device_, 0) == 0) { diff --git a/realsense_camera/src/r200_nodelet.cpp b/realsense_camera/src/r200_nodelet.cpp index b65e9f8f9b..92e94bfec2 100644 --- a/realsense_camera/src/r200_nodelet.cpp +++ b/realsense_camera/src/r200_nodelet.cpp @@ -69,50 +69,22 @@ namespace realsense_camera /* *Protected Methods. */ - void R200Nodelet::enableDepthStream() + void R200Nodelet::enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps) { - // call the base class method first - BaseNodelet::enableDepthStream(); - // enable IR2 stream - enableInfrared2Stream(); - } - - void R200Nodelet::disableDepthStream() - { - // call the base class method first - BaseNodelet::disableDepthStream(); - // disable IR2 stream - disableInfrared2Stream(); - } - - void R200Nodelet::enableInfrared2Stream() - { - // Enable streams. - if (mode_.compare ("manual") == 0) - { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: manual mode"); - rs_enable_stream(rs_device_, RS_STREAM_INFRARED2, depth_width_, depth_height_, IR_FORMAT, depth_fps_, &rs_error_); - checkError(); - } - else + BaseNodelet::enableStream(stream_index, width, height, format, fps); + if (stream_index == RS_STREAM_INFRARED) { - ROS_INFO_STREAM(nodelet_name_ << " - Enabling Infrared2 stream: preset mode"); - rs_enable_stream_preset(rs_device_, RS_STREAM_INFRARED2, RS_PRESET_BEST_QUALITY, &rs_error_); - checkError(); - } - - uint32_t stream_index = (uint32_t) RS_STREAM_INFRARED2; - if (camera_info_[stream_index] == NULL) - { - prepareStreamCalibData (RS_STREAM_INFRARED2); + enableStream(RS_STREAM_INFRARED2, depth_width_, depth_height_, IR_FORMAT, depth_fps_); } } - void R200Nodelet::disableInfrared2Stream() + void R200Nodelet::disableStream(rs_stream stream_index) { - ROS_INFO_STREAM(nodelet_name_ << " - Disabling Infrared2 stream"); - rs_disable_stream(rs_device_, RS_STREAM_INFRARED2, &rs_error_); - checkError(); + BaseNodelet::disableStream(stream_index); + if (stream_index == RS_STREAM_INFRARED) + { + disableStream(RS_STREAM_INFRARED2); + } } void R200Nodelet::configCallback(realsense_camera::r200_paramsConfig &config, uint32_t level) diff --git a/realsense_camera/test/camera_core.cpp b/realsense_camera/test/camera_core.cpp index ec31796d81..a7a4f2ed58 100644 --- a/realsense_camera/test/camera_core.cpp +++ b/realsense_camera/test/camera_core.cpp @@ -634,7 +634,7 @@ int main(int argc, char **argv) try image_transport::ImageTransport it(nh); g_camera_subscriber[0] = it.subscribeCamera(DEPTH_TOPIC, 1, imageDepthCallback, 0); g_camera_subscriber[1] = it.subscribeCamera(COLOR_TOPIC, 1, imageColorCallback, 0); - g_camera_subscriber[2] = it.subscribeCamera(IR1_TOPIC, 1, imageInfrared1Callback, 0); + g_camera_subscriber[2] = it.subscribeCamera(IR_TOPIC, 1, imageInfrared1Callback, 0); if (g_camera.find("R200") != std::string::npos) { g_camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); From 48e437e78443388a882e54e4b03ed694ffe1101f Mon Sep 17 00:00:00 2001 From: rjingar Date: Sun, 26 Jun 2016 12:48:56 -0700 Subject: [PATCH 119/124] Refactored code to reduce reliance on base class member variables --- realsense_camera/include/base_nodelet.h | 73 +++------ realsense_camera/include/r200_nodelet.h | 7 +- realsense_camera/src/base_nodelet.cpp | 208 +++++++++++++----------- realsense_camera/src/r200_nodelet.cpp | 31 ++-- 4 files changed, 153 insertions(+), 166 deletions(-) diff --git a/realsense_camera/include/base_nodelet.h b/realsense_camera/include/base_nodelet.h index f9c3b693f9..0ec7333f21 100644 --- a/realsense_camera/include/base_nodelet.h +++ b/realsense_camera/include/base_nodelet.h @@ -80,66 +80,38 @@ namespace realsense_camera protected: // Member Variables. - boost::shared_ptr stream_thread_; - boost::shared_ptr transform_thread_; + ros::NodeHandle nh_; + ros::NodeHandle pnh_; rs_error *rs_error_ = 0; rs_context *rs_context_; rs_device *rs_device_; - std::vector rs_detected_devices_; - - int num_of_cameras_; - std::string serial_no_; - std::string usb_port_id_; - int color_height_; - int color_width_; - int depth_height_; - int depth_width_; - int depth_fps_; - int color_fps_; + int height_[STREAM_COUNT]; + int width_[STREAM_COUNT]; + int fps_[STREAM_COUNT]; + int stream_step_[STREAM_COUNT]; + int stream_ts_[STREAM_COUNT]; + int num_streams_ = 3; + int max_z_ = -1; bool is_device_started_; bool enable_color_; bool enable_depth_; bool enable_pointcloud_; bool enable_tf_; - std::string base_frame_id_; - std::string depth_frame_id_; - std::string color_frame_id_; - std::string depth_optical_frame_id_; - std::string color_optical_frame_id_; - std::string ir_frame_id_; - std::string camera_; + + std::string frame_id_[STREAM_COUNT]; + std::string stream_encoding_[STREAM_COUNT]; std::string nodelet_name_; const uint16_t *image_depth16_; - int num_streams_ = 3; - int max_z_ = -1; cv::Mat image_[STREAM_COUNT]; - rs_option edge_options_[4] = { - RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, - RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE - }; - double edge_values_[4]; - - sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; - sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; image_transport::CameraPublisher camera_publisher_[STREAM_COUNT]; - - ros::Time time_stamp_; + sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; ros::Publisher pointcloud_publisher_; - ros::ServiceServer get_options_service_; - ros::NodeHandle nh_; - ros::NodeHandle pnh_; - std::string frame_id_[STREAM_COUNT]; - std::string stream_encoding_[STREAM_COUNT]; - std::string mode_; - std::map config_; - int stream_step_[STREAM_COUNT]; - int stream_ts_[STREAM_COUNT]; + boost::shared_ptr stream_thread_; + boost::shared_ptr transform_thread_; struct CameraOptions { @@ -149,21 +121,20 @@ namespace realsense_camera std::vector camera_options_; // Member Functions. + virtual void listCameras(int num_of_camera); + virtual bool connectToCamera(); virtual void enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps); - virtual void prepareStreamCalibData(rs_stream stream_index); virtual void disableStream(rs_stream stream_index); - virtual void fillStreamEncoding(); - virtual void setStreamOptions(); + virtual void prepareStreamCalibData(rs_stream stream_index); virtual void prepareStreamData(rs_stream rs_strm); - - virtual void getCameraOptions(); virtual void allocateResources(); - virtual void listCameras(); - virtual bool connectToCamera(); + virtual void fillStreamEncoding(); + virtual void setStreamOptions(); virtual void setStaticCameraOptions() { return; } // must be defined in derived class + virtual void getCameraOptions(); virtual void checkError(); - virtual void publishPointCloud(cv::Mat & image_rgb); + virtual void publishPointCloud(cv::Mat & image_rgb, ros::Time time_stamp); }; } #endif diff --git a/realsense_camera/include/r200_nodelet.h b/realsense_camera/include/r200_nodelet.h index 77d7665162..2871dd263a 100644 --- a/realsense_camera/include/r200_nodelet.h +++ b/realsense_camera/include/r200_nodelet.h @@ -49,7 +49,12 @@ namespace realsense_camera protected: // Member Variables. - std::string ir2_frame_id_; + rs_option edge_options_[4] = { + RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE + }; boost::shared_ptr> dynamic_reconf_server_; // Member Functions. diff --git a/realsense_camera/src/base_nodelet.cpp b/realsense_camera/src/base_nodelet.cpp index 0f23620fb1..7d9df22df9 100644 --- a/realsense_camera/src/base_nodelet.cpp +++ b/realsense_camera/src/base_nodelet.cpp @@ -72,7 +72,7 @@ namespace realsense_camera for (int i = 0; i < num_streams_; ++i) { - camera_info_[i] = NULL; + camera_info_ptr_[i] = NULL; stream_ts_[i] = -1; } @@ -84,11 +84,6 @@ namespace realsense_camera ros::shutdown(); } - // Set up the topics. - frame_id_[RS_STREAM_DEPTH] = depth_optical_frame_id_; - frame_id_[RS_STREAM_COLOR] = color_optical_frame_id_; - frame_id_[RS_STREAM_INFRARED] = ir_frame_id_; - // Advertise the various topics and services. image_transport::ImageTransport it (nh_); camera_publisher_[RS_STREAM_COLOR] = it.advertiseCamera(COLOR_TOPIC, 1); @@ -97,7 +92,7 @@ namespace realsense_camera pointcloud_publisher_ = nh_.advertise(PC_TOPIC, 1); - get_options_service_ = nh_.advertiseService(SETTINGS_SERVICE, &BaseNodelet::getCameraOptionValues, this); + ros::ServiceServer get_options_service = nh_.advertiseService(SETTINGS_SERVICE, &BaseNodelet::getCameraOptionValues, this); // Poll for camera and connect if found while (!connectToCamera()) @@ -122,8 +117,11 @@ namespace realsense_camera */ void BaseNodelet::enableStream(rs_stream stream_index, int width, int height, rs_format format, int fps) { + std::string stream_mode; + pnh_.param("mode", stream_mode, DEFAULT_MODE); + // Enable streams. - if (mode_.compare("manual") == 0) + if (stream_mode.compare("manual") == 0) { ROS_INFO_STREAM(nodelet_name_ << " - Enabling " << STREAM_DESC[stream_index] << " stream: manual mode"); rs_enable_stream(rs_device_, stream_index, width, height, format, fps, &rs_error_); @@ -136,7 +134,7 @@ namespace realsense_camera checkError(); } - if (camera_info_[stream_index] == NULL) + if (camera_info_ptr_[stream_index] == NULL) { prepareStreamCalibData(stream_index); } @@ -165,14 +163,17 @@ namespace realsense_camera bool BaseNodelet::connectToCamera() { + std::string serial_no; + std::string usb_port_id; + rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_); checkError(); - num_of_cameras_ = rs_get_device_count(rs_context_, &rs_error_); + int num_of_cameras = rs_get_device_count(rs_context_, &rs_error_); checkError(); // Exit with error if no cameras are connected. - if (num_of_cameras_ < 1) + if (num_of_cameras < 1) { ROS_ERROR_STREAM(nodelet_name_ << " - No cameras detected!"); rs_delete_context(rs_context_, &rs_error_); @@ -181,10 +182,13 @@ namespace realsense_camera } // Print list of all cameras found - listCameras(); + listCameras(num_of_cameras); + + pnh_.getParam("serial_no", serial_no); + pnh_.getParam("usb_port_id", usb_port_id); // Exit with error if no serial number or usb_port_id is specified and multiple cameras are detected. - if (serial_no_.empty() && usb_port_id_.empty() && num_of_cameras_ > 1) + if (serial_no.empty() && usb_port_id.empty() && num_of_cameras > 1) { ROS_ERROR_STREAM(nodelet_name_ << " - Multiple cameras detected but no input serial_no or usb_port_id specified"); rs_delete_context(rs_context_, &rs_error_); @@ -196,12 +200,13 @@ namespace realsense_camera rs_device_ = nullptr; // find camera - for (int i = 0; i < num_of_cameras_; i++) + for (int i = 0; i < num_of_cameras; i++) { rs_device* rs_detected_device = rs_get_device(rs_context_, i, &rs_error_); + // check serial_no and usb_port_id - if ((serial_no_.empty() || serial_no_ == rs_get_device_serial(rs_detected_device, &rs_error_)) && - (usb_port_id_.empty() || usb_port_id_ == rs_get_device_usb_port_id(rs_detected_device, &rs_error_))) + if ((serial_no.empty() || serial_no == rs_get_device_serial(rs_detected_device, &rs_error_)) && + (usb_port_id.empty() || usb_port_id == rs_get_device_usb_port_id(rs_detected_device, &rs_error_))) { // device found rs_device_= rs_detected_device; @@ -213,9 +218,11 @@ namespace realsense_camera { // camera not found string error_msg = " - Couldn't find camera to connect with "; - error_msg += "serial_no = " + serial_no_ + ", "; - error_msg += "usb_port_id = " + usb_port_id_; + error_msg += "serial_no = " + serial_no + ", "; + error_msg += "usb_port_id = " + usb_port_id; + ROS_ERROR_STREAM(nodelet_name_ << error_msg); + rs_delete_context(rs_context_, &rs_error_); checkError(); return false; @@ -230,12 +237,12 @@ namespace realsense_camera // Enable streams. if (enable_color_ == true) { - enableStream(RS_STREAM_COLOR, color_width_, color_height_, COLOR_FORMAT, color_fps_); + enableStream(RS_STREAM_COLOR, width_[RS_STREAM_COLOR], height_[RS_STREAM_COLOR], COLOR_FORMAT, fps_[RS_STREAM_COLOR]); } if (enable_depth_ == true) { - enableStream(RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_); - enableStream(RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_); + enableStream(RS_STREAM_DEPTH, width_[RS_STREAM_DEPTH], height_[RS_STREAM_DEPTH], DEPTH_FORMAT, fps_[RS_STREAM_DEPTH]); + enableStream(RS_STREAM_INFRARED, width_[RS_STREAM_DEPTH], height_[RS_STREAM_DEPTH], IR_FORMAT, fps_[RS_STREAM_DEPTH]); } getCameraOptions(); setStaticCameraOptions(); @@ -252,14 +259,15 @@ namespace realsense_camera return true; } - void BaseNodelet::listCameras() + void BaseNodelet::listCameras(int num_of_cameras) { // print list of detected cameras std::string detected_camera_msg = " - Detected the following cameras:"; - for (int i = 0; i < num_of_cameras_; i++) + for (int i = 0; i < num_of_cameras; i++) { // get device rs_device* rs_detected_device = rs_get_device(rs_context_, i, &rs_error_); + // print device details detected_camera_msg = detected_camera_msg + "\n\t\t\t\t- Serial No: " + rs_get_device_serial(rs_detected_device, &rs_error_) + @@ -283,6 +291,7 @@ namespace realsense_camera if (rs_device_supports_option(rs_device_, o.opt, &rs_error_)) { rs_get_device_option_range(rs_device_, o.opt, &o.min, &o.max, &o.step, 0); + // Skip the camera options where min and max values are the same. if (o.min != o.max) { @@ -301,9 +310,9 @@ namespace realsense_camera // Prepare camera for enabled streams (color/depth/infrared) fillStreamEncoding(); - image_[(uint32_t) RS_STREAM_COLOR] = cv::Mat(color_height_, color_width_, CV_8UC3, cv::Scalar (0, 0, 0)); - image_[(uint32_t) RS_STREAM_DEPTH] = cv::Mat(depth_height_, depth_width_, CV_16UC1, cv::Scalar (0)); - image_[(uint32_t) RS_STREAM_INFRARED] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + image_[RS_STREAM_COLOR] = cv::Mat(height_[RS_STREAM_COLOR], width_[RS_STREAM_COLOR], CV_8UC3, cv::Scalar (0, 0, 0)); + image_[RS_STREAM_DEPTH] = cv::Mat(height_[RS_STREAM_DEPTH], width_[RS_STREAM_DEPTH], CV_16UC1, cv::Scalar (0)); + image_[RS_STREAM_INFRARED] = cv::Mat(height_[RS_STREAM_DEPTH], width_[RS_STREAM_DEPTH], CV_8UC1, cv::Scalar (0)); } /* @@ -315,33 +324,33 @@ namespace realsense_camera rs_get_stream_intrinsics(rs_device_, stream_index, &intrinsic, &rs_error_); checkError(); - camera_info_[stream_index] = new sensor_msgs::CameraInfo(); - camera_info_ptr_[stream_index] = sensor_msgs::CameraInfoPtr (camera_info_[stream_index]); + sensor_msgs::CameraInfo * camera_info = new sensor_msgs::CameraInfo(); + camera_info_ptr_[stream_index] = sensor_msgs::CameraInfoPtr (camera_info); - camera_info_[stream_index]->header.frame_id = frame_id_[stream_index]; - camera_info_[stream_index]->width = intrinsic.width; - camera_info_[stream_index]->height = intrinsic.height; + camera_info->header.frame_id = frame_id_[stream_index]; + camera_info->width = intrinsic.width; + camera_info->height = intrinsic.height; - camera_info_[stream_index]->K.at(0) = intrinsic.fx; - camera_info_[stream_index]->K.at(2) = intrinsic.ppx; - camera_info_[stream_index]->K.at(4) = intrinsic.fy; - camera_info_[stream_index]->K.at(5) = intrinsic.ppy; - camera_info_[stream_index]->K.at(8) = 1; + camera_info->K.at(0) = intrinsic.fx; + camera_info->K.at(2) = intrinsic.ppx; + camera_info->K.at(4) = intrinsic.fy; + camera_info->K.at(5) = intrinsic.ppy; + camera_info->K.at(8) = 1; - camera_info_[stream_index]->P.at(0) = camera_info_[stream_index]->K.at(0); - camera_info_[stream_index]->P.at(1) = 0; - camera_info_[stream_index]->P.at(2) = camera_info_[stream_index]->K.at(2); - camera_info_[stream_index]->P.at(3) = 0; + camera_info->P.at(0) = camera_info->K.at(0); + camera_info->P.at(1) = 0; + camera_info->P.at(2) = camera_info->K.at(2); + camera_info->P.at(3) = 0; - camera_info_[stream_index]->P.at(4) = 0; - camera_info_[stream_index]->P.at(5) = camera_info_[stream_index]->K.at(4); - camera_info_[stream_index]->P.at(6) = camera_info_[stream_index]->K.at(5); - camera_info_[stream_index]->P.at(7) = 0; + camera_info->P.at(4) = 0; + camera_info->P.at(5) = camera_info->K.at(4); + camera_info->P.at(6) = camera_info->K.at(5); + camera_info->P.at(7) = 0; - camera_info_[stream_index]->P.at(8) = 0; - camera_info_[stream_index]->P.at(9) = 0; - camera_info_[stream_index]->P.at(10) = 1; - camera_info_[stream_index]->P.at(11) = 0; + camera_info->P.at(8) = 0; + camera_info->P.at(9) = 0; + camera_info->P.at(10) = 1; + camera_info->P.at(11) = 0; if (stream_index == RS_STREAM_DEPTH) { @@ -349,27 +358,27 @@ namespace realsense_camera rs_extrinsics z_extrinsic; rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError(); - camera_info_[stream_index]->P.at(3) = z_extrinsic.translation[0]; // Tx - camera_info_[stream_index]->P.at(7) = z_extrinsic.translation[1]; // Ty - camera_info_[stream_index]->P.at(11) = z_extrinsic.translation[2]; // Tz + camera_info->P.at(3) = z_extrinsic.translation[0]; // Tx + camera_info->P.at(7) = z_extrinsic.translation[1]; // Ty + camera_info->P.at(11) = z_extrinsic.translation[2]; // Tz } - camera_info_[stream_index]->distortion_model = "plumb_bob"; + camera_info->distortion_model = "plumb_bob"; // set R (rotation matrix) values to identity matrix - camera_info_[stream_index]->R.at(0) = (double) 1; - camera_info_[stream_index]->R.at(1) = (double) 0; - camera_info_[stream_index]->R.at(2) = (double) 0; - camera_info_[stream_index]->R.at(3) = (double) 0; - camera_info_[stream_index]->R.at(4) = (double) 1; - camera_info_[stream_index]->R.at(5) = (double) 0; - camera_info_[stream_index]->R.at(6) = (double) 0; - camera_info_[stream_index]->R.at(7) = (double) 0; - camera_info_[stream_index]->R.at(8) = (double) 1; + camera_info->R.at(0) = (double) 1; + camera_info->R.at(1) = (double) 0; + camera_info->R.at(2) = (double) 0; + camera_info->R.at(3) = (double) 0; + camera_info->R.at(4) = (double) 1; + camera_info->R.at(5) = (double) 0; + camera_info->R.at(6) = (double) 0; + camera_info->R.at(7) = (double) 0; + camera_info->R.at(8) = (double) 1; for (int i = 0; i < 5; i++) { - camera_info_[stream_index]->D.push_back(intrinsic.coeffs[i]); + camera_info->D.push_back(intrinsic.coeffs[i]); } } @@ -400,26 +409,19 @@ namespace realsense_camera */ void BaseNodelet::setStreamOptions() { - pnh_.getParam("serial_no", serial_no_); - pnh_.getParam("usb_port_id", usb_port_id_); - pnh_.getParam("camera", camera_); - pnh_.param("mode", mode_, DEFAULT_MODE); pnh_.param("enable_depth", enable_depth_, ENABLE_DEPTH); pnh_.param("enable_color", enable_color_, ENABLE_COLOR); pnh_.param("enable_pointcloud", enable_pointcloud_, ENABLE_PC); pnh_.param("enable_tf", enable_tf_, ENABLE_TF); - pnh_.param("depth_width", depth_width_, DEPTH_WIDTH); - pnh_.param("depth_height", depth_height_, DEPTH_HEIGHT); - pnh_.param("color_width", color_width_, COLOR_WIDTH); - pnh_.param("color_height", color_height_, COLOR_HEIGHT); - pnh_.param("depth_fps", depth_fps_, DEPTH_FPS); - pnh_.param("color_fps", color_fps_, COLOR_FPS); - pnh_.param("base_frame_id", base_frame_id_, DEFAULT_BASE_FRAME_ID); - pnh_.param("depth_frame_id", depth_frame_id_, DEFAULT_DEPTH_FRAME_ID); - pnh_.param("color_frame_id", color_frame_id_, DEFAULT_COLOR_FRAME_ID); - pnh_.param("depth_optical_frame_id", depth_optical_frame_id_, DEFAULT_DEPTH_OPTICAL_FRAME_ID); - pnh_.param("color_optical_frame_id", color_optical_frame_id_, DEFAULT_COLOR_OPTICAL_FRAME_ID); - pnh_.param("ir_frame_id", ir_frame_id_, DEFAULT_IR_FRAME_ID); + 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); + pnh_.param("color_height", height_[RS_STREAM_COLOR], COLOR_HEIGHT); + pnh_.param("depth_fps", fps_[RS_STREAM_DEPTH], DEPTH_FPS); + pnh_.param("color_fps", fps_[RS_STREAM_COLOR], COLOR_FPS); + pnh_.param("depth_optical_frame_id", frame_id_[RS_STREAM_DEPTH], DEFAULT_DEPTH_OPTICAL_FRAME_ID); + pnh_.param("color_optical_frame_id", frame_id_[RS_STREAM_COLOR], DEFAULT_COLOR_OPTICAL_FRAME_ID); + pnh_.param("ir_frame_id", frame_id_[RS_STREAM_INFRARED], DEFAULT_IR_FRAME_ID); } @@ -442,12 +444,12 @@ namespace realsense_camera */ void BaseNodelet::fillStreamEncoding() { - stream_encoding_[(uint32_t) RS_STREAM_COLOR] = "rgb8"; - stream_step_[(uint32_t) RS_STREAM_COLOR] = color_width_ * sizeof (unsigned char) * 3; - stream_encoding_[(uint32_t) RS_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; - stream_step_[(uint32_t) RS_STREAM_DEPTH] = depth_width_ * sizeof (uint16_t); - stream_encoding_[(uint32_t) RS_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_8UC1; - stream_step_[(uint32_t) RS_STREAM_INFRARED] = depth_width_ * sizeof (unsigned char); + stream_encoding_[RS_STREAM_COLOR] = "rgb8"; + stream_step_[RS_STREAM_COLOR] = width_[RS_STREAM_COLOR] * sizeof (unsigned char) * 3; + stream_encoding_[RS_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; + stream_step_[RS_STREAM_DEPTH] = width_[RS_STREAM_DEPTH] * sizeof (uint16_t); + stream_encoding_[RS_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_8UC1; + stream_step_[RS_STREAM_INFRARED] = width_[RS_STREAM_DEPTH] * sizeof (unsigned char); } /* @@ -487,8 +489,8 @@ namespace realsense_camera checkError(); } - enableStream(RS_STREAM_DEPTH, depth_width_, depth_height_, DEPTH_FORMAT, depth_fps_); - enableStream(RS_STREAM_INFRARED, depth_width_, depth_height_, IR_FORMAT, depth_fps_); + enableStream(RS_STREAM_DEPTH, width_[RS_STREAM_DEPTH], height_[RS_STREAM_DEPTH], DEPTH_FORMAT, fps_[RS_STREAM_DEPTH]); + enableStream(RS_STREAM_INFRARED, width_[RS_STREAM_DEPTH], height_[RS_STREAM_DEPTH], IR_FORMAT, fps_[RS_STREAM_DEPTH]); if (rs_is_device_streaming(rs_device_, 0) == 0) { @@ -502,7 +504,8 @@ namespace realsense_camera { rs_wait_for_frames(rs_device_, &rs_error_); checkError(); - time_stamp_ = ros::Time::now(); + + ros::Time time_stamp = ros::Time::now(); bool duplicate_depth_color = false; for (int stream_index = 0; stream_index < num_streams_; ++stream_index) @@ -521,7 +524,7 @@ namespace realsense_camera image_[stream_index]).toImageMsg(); msg->header.frame_id = frame_id_[stream_index]; - msg->header.stamp = time_stamp_; // Publish timestamp to synchronize frames. + msg->header.stamp = time_stamp; // Publish timestamp to synchronize frames. msg->width = image_[stream_index].cols; msg->height = image_[stream_index].rows; msg->is_bigendian = false; @@ -545,15 +548,15 @@ namespace realsense_camera rs_is_stream_enabled(rs_device_, RS_STREAM_DEPTH, 0) == 1 && enable_pointcloud_ == true && (duplicate_depth_color == false)) // Skip publishing PointCloud if Depth and/or Color frame was duplicate { - if (camera_publisher_[(uint32_t) RS_STREAM_DEPTH].getNumSubscribers() <= 0) + if (camera_publisher_[RS_STREAM_DEPTH].getNumSubscribers() <= 0) { prepareStreamData(RS_STREAM_DEPTH); } - if (camera_publisher_[(uint32_t) RS_STREAM_COLOR].getNumSubscribers() <= 0) + if (camera_publisher_[RS_STREAM_COLOR].getNumSubscribers() <= 0) { prepareStreamData(RS_STREAM_COLOR); } - publishPointCloud(image_[(uint32_t) RS_STREAM_COLOR]); + publishPointCloud(image_[RS_STREAM_COLOR], time_stamp); } } } @@ -562,7 +565,7 @@ namespace realsense_camera /* * Publish pointcloud. */ - void BaseNodelet::publishPointCloud (cv::Mat & image_color) + void BaseNodelet::publishPointCloud (cv::Mat & image_color, ros::Time time_stamp) { // Publish pointcloud only if there is at least one subscriber. if (pointcloud_publisher_.getNumSubscribers() > 0) @@ -584,9 +587,9 @@ namespace realsense_camera // Convert pointcloud from the camera to pointcloud object for ROS. sensor_msgs::PointCloud2 msg_pointcloud; - msg_pointcloud.width = depth_width_; - msg_pointcloud.height = depth_height_; - msg_pointcloud.header.stamp = time_stamp_; + msg_pointcloud.width = width_[RS_STREAM_DEPTH]; + msg_pointcloud.height = height_[RS_STREAM_DEPTH]; + msg_pointcloud.header.stamp = time_stamp; msg_pointcloud.is_dense = true; sensor_msgs::PointCloud2Modifier modifier(msg_pointcloud); @@ -688,6 +691,13 @@ namespace realsense_camera rs_get_device_extrinsics(rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); checkError(); + std::string base_frame_id; + std::string color_frame_id; + std::string depth_frame_id; + pnh_.param("base_frame_id", base_frame_id, DEFAULT_BASE_FRAME_ID); + pnh_.param("color_frame_id", color_frame_id, DEFAULT_COLOR_FRAME_ID); + pnh_.param("depth_frame_id", depth_frame_id, DEFAULT_DEPTH_FRAME_ID); + ros::Duration sleeper(0.1); // 100ms while (ros::ok()) @@ -698,24 +708,24 @@ namespace realsense_camera // transform base frame to depth frame tr.setOrigin(tf::Vector3(z_extrinsic.translation[2], -z_extrinsic.translation[0], -z_extrinsic.translation[1])); tr.setRotation(tf::Quaternion(0, 0, 0, 1)); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id_, depth_frame_id_)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id, depth_frame_id)); // 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 ); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, depth_frame_id_, depth_optical_frame_id_)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, depth_frame_id, frame_id_[RS_STREAM_DEPTH])); // transform base frame to color frame (these are the same) tr.setOrigin(tf::Vector3(0,0,0)); tr.setRotation(tf::Quaternion(0, 0, 0, 1)); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id_, color_frame_id_)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, base_frame_id, color_frame_id)); // 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 ); - tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, color_frame_id_, color_optical_frame_id_)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, color_frame_id, frame_id_[RS_STREAM_COLOR])); sleeper.sleep(); // need sleep or transform won't publish correctly } diff --git a/realsense_camera/src/r200_nodelet.cpp b/realsense_camera/src/r200_nodelet.cpp index 92e94bfec2..40f84f0287 100644 --- a/realsense_camera/src/r200_nodelet.cpp +++ b/realsense_camera/src/r200_nodelet.cpp @@ -45,10 +45,10 @@ namespace realsense_camera { // set member vars used in base class nodelet_name_ = getName(); - num_streams_ = R200_STREAM_COUNT; - max_z_ = R200_MAX_Z; nh_ = getNodeHandle(); pnh_ = getPrivateNodeHandle(); + num_streams_ = R200_STREAM_COUNT; + max_z_ = R200_MAX_Z; // create dynamic reconfigure server - this must be done before calling base class onInit() // onInit() calls setStaticCameraOptions() which relies on this being set already @@ -58,7 +58,6 @@ namespace realsense_camera BaseNodelet::onInit(); // Set up the IR2 frame and topics - frame_id_[RS_STREAM_INFRARED2] = ir2_frame_id_; image_transport::ImageTransport it (nh_); camera_publisher_[RS_STREAM_INFRARED2] = it.advertiseCamera(IR2_TOPIC, 1); @@ -74,7 +73,7 @@ namespace realsense_camera BaseNodelet::enableStream(stream_index, width, height, format, fps); if (stream_index == RS_STREAM_INFRARED) { - enableStream(RS_STREAM_INFRARED2, depth_width_, depth_height_, IR_FORMAT, depth_fps_); + enableStream(RS_STREAM_INFRARED2, width_[RS_STREAM_DEPTH], height_[RS_STREAM_DEPTH], IR_FORMAT, fps_[RS_STREAM_DEPTH]); } } @@ -135,22 +134,24 @@ namespace realsense_camera if (config.r200_lr_auto_exposure_enabled == 1) { - if (config.r200_auto_exposure_top_edge >= depth_height_) + if (config.r200_auto_exposure_top_edge >= height_[RS_STREAM_DEPTH]) { - config.r200_auto_exposure_top_edge = depth_height_ - 1; + config.r200_auto_exposure_top_edge = height_[RS_STREAM_DEPTH] - 1; } - if (config.r200_auto_exposure_bottom_edge >= depth_height_) + if (config.r200_auto_exposure_bottom_edge >= height_[RS_STREAM_DEPTH]) { - config.r200_auto_exposure_bottom_edge = depth_height_ - 1; + config.r200_auto_exposure_bottom_edge = height_[RS_STREAM_DEPTH] - 1; } - if (config.r200_auto_exposure_left_edge >= depth_width_) + if (config.r200_auto_exposure_left_edge >= width_[RS_STREAM_DEPTH]) { - config.r200_auto_exposure_left_edge = depth_width_ - 1; + config.r200_auto_exposure_left_edge = width_[RS_STREAM_DEPTH] - 1; } - if (config.r200_auto_exposure_right_edge >= depth_width_) + if (config.r200_auto_exposure_right_edge >= width_[RS_STREAM_DEPTH]) { - config.r200_auto_exposure_right_edge = depth_width_ - 1; + config.r200_auto_exposure_right_edge = width_[RS_STREAM_DEPTH] - 1; } + + double edge_values_[4]; edge_values_[0] = config.r200_auto_exposure_left_edge; edge_values_[1] = config.r200_auto_exposure_top_edge; edge_values_[2] = config.r200_auto_exposure_right_edge; @@ -168,7 +169,7 @@ namespace realsense_camera // call base class method first BaseNodelet::allocateResources(); // set IR2 image buffer - image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(depth_height_, depth_width_, CV_8UC1, cv::Scalar (0)); + image_[(uint32_t) RS_STREAM_INFRARED2] = cv::Mat(height_[RS_STREAM_DEPTH], width_[RS_STREAM_DEPTH], CV_8UC1, cv::Scalar (0)); } /* @@ -179,7 +180,7 @@ namespace realsense_camera // call base class method first BaseNodelet::setStreamOptions(); // setup R200 specific frame - pnh_.param("ir2_frame_id", ir2_frame_id_, DEFAULT_IR2_FRAME_ID); + pnh_.param("ir2_frame_id", frame_id_[RS_STREAM_INFRARED2], DEFAULT_IR2_FRAME_ID); } /* @@ -191,7 +192,7 @@ namespace realsense_camera BaseNodelet::fillStreamEncoding(); // Setup IR2 stream stream_encoding_[(uint32_t) RS_STREAM_INFRARED2] = sensor_msgs::image_encodings::TYPE_8UC1; - stream_step_[(uint32_t) RS_STREAM_INFRARED2] = depth_width_ * sizeof (unsigned char); + stream_step_[(uint32_t) RS_STREAM_INFRARED2] = width_[RS_STREAM_DEPTH] * sizeof (unsigned char); } /* From c451c81f7e35851b427a672562f4150cd9a2e346 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Fri, 24 Jun 2016 21:01:20 -0700 Subject: [PATCH 120/124] Refactored launch and test files realsense_r200_nodelet.launch.xml ==> nodelet_rgbd.launch.xml realsense_r200_multiple_cameras.launch.xml ==> nodelet.launch.xml realsense_r200_nodelet_standalone_preset.launch ==> r200_nodelet_default.launch realsense_r200_nodelet_standalone_manual.launch ==> r200_nodelet_modify_params.launch realsense_r200_rgbd.launch ==> r200_nodelet_rgbd.launch realsense_r200_multiple_cameras.launch ==> r200_nodelet_multiple_cameras.launch Removed realsense_r200_navigation.launch realsense_r200_color_only.test ==> r200_nodelet_disable_depth.test realsense_r200_depth_only.test ==> r200_nodelet_disable_color.test realsense_r200_rgbd.test ==> r200_nodelet_rgbd.test realsense_r200_resolution.test ==> r200_nodelet_resolution.test realsense_r200_stream_options_params.launch ==> r200_nodelet_modify_params.test realsense_r200_static_camera_options_params.launch ==> r200_nodelet_static_params.launch realsense_r200_dynamic_camera_options_params.launch ==> r200_nodelet_dynamic_params.launch --- realsense_camera/README.md | 30 +++++------- .../launch/includes/nodelet.launch.xml | 35 ++++++++++++++ ...let.launch.xml => nodelet_rgbd.launch.xml} | 31 +++++++------ ...realsense_r200_multiple_cameras.launch.xml | 31 ------------- .../launch/r200_nodelet_default.launch | 18 ++++++++ .../launch/r200_nodelet_modify_params.launch | 46 +++++++++++++++++++ .../r200_nodelet_multiple_cameras.launch | 24 ++++++++++ ...0_rgbd.launch => r200_nodelet_rgbd.launch} | 32 +++++++------ .../realsense_r200_multiple_cameras.launch | 28 ----------- .../launch/realsense_r200_navigation.launch | 23 ---------- ...ense_r200_nodelet_standalone_manual.launch | 36 --------------- ...ense_r200_nodelet_standalone_preset.launch | 23 ---------- .../test/r200_nodelet_disable_color.test | 16 +++++++ .../test/r200_nodelet_disable_depth.test | 16 +++++++ ...nch => r200_nodelet_dynamic_params.launch} | 2 +- .../test/r200_nodelet_modify_params.test | 28 +++++++++++ .../test/r200_nodelet_resolution.test | 26 +++++++++++ realsense_camera/test/r200_nodelet_rgbd.test | 8 ++++ ...unch => r200_nodelet_static_params.launch} | 2 +- .../test/realsense_r200_color_only.test | 9 ---- .../test/realsense_r200_depth_only.test | 9 ---- .../test/realsense_r200_resolution.test | 14 ------ .../test/realsense_r200_rgbd.test | 7 --- ...ealsense_r200_stream_options_params.launch | 43 ----------------- 24 files changed, 266 insertions(+), 271 deletions(-) create mode 100644 realsense_camera/launch/includes/nodelet.launch.xml rename realsense_camera/launch/includes/{realsense_r200_nodelet.launch.xml => nodelet_rgbd.launch.xml} (81%) delete mode 100644 realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml create mode 100644 realsense_camera/launch/r200_nodelet_default.launch create mode 100644 realsense_camera/launch/r200_nodelet_modify_params.launch create mode 100644 realsense_camera/launch/r200_nodelet_multiple_cameras.launch rename realsense_camera/launch/{realsense_r200_rgbd.launch => r200_nodelet_rgbd.launch} (85%) delete mode 100644 realsense_camera/launch/realsense_r200_multiple_cameras.launch delete mode 100644 realsense_camera/launch/realsense_r200_navigation.launch delete mode 100644 realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch delete mode 100644 realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch create mode 100644 realsense_camera/test/r200_nodelet_disable_color.test create mode 100644 realsense_camera/test/r200_nodelet_disable_depth.test rename realsense_camera/test/{realsense_r200_dynamic_camera_options_params.launch => r200_nodelet_dynamic_params.launch} (98%) create mode 100644 realsense_camera/test/r200_nodelet_modify_params.test create mode 100644 realsense_camera/test/r200_nodelet_resolution.test create mode 100644 realsense_camera/test/r200_nodelet_rgbd.test rename realsense_camera/test/{realsense_r200_static_camera_options_params.launch => r200_nodelet_static_params.launch} (97%) delete mode 100644 realsense_camera/test/realsense_r200_color_only.test delete mode 100644 realsense_camera/test/realsense_r200_depth_only.test delete mode 100644 realsense_camera/test/realsense_r200_resolution.test delete mode 100644 realsense_camera/test/realsense_r200_rgbd.test delete mode 100644 realsense_camera/test/realsense_r200_stream_options_params.launch diff --git a/realsense_camera/README.md b/realsense_camera/README.md index bf3d96c0a8..e4e6337f74 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -26,10 +26,10 @@ If this does not work, you should first fix this issue before continuing with th Successful execution of command will build target “realsense_camera_nodelet” Sample launch files are available in "realsense_camera/launch" directory -* realsense_r200_rgbd.launch -* realsense_r200_nodelet_standalone_preset.launch -* realsense_r200_nodelet_standalone_manual.launch -* realsense_r200_multiple_cameras.launch +* r200_nodelet_rgbd.launch +* r200_nodelet_default.launch +* r200_nodelet_modify_params.launch +* r200_nodelet_multiple_cameras.launch ###Package Features: @@ -79,8 +79,7 @@ IR2 camera Stream parameters: serial_no (string, default: blank) Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet. - You may get the serial_no from the info stream by launching "realsense_r200_nodelet_standalone_preset.launch" - one at a time for each camera. + You may get the serial_no from the info stream by launching "r200_nodelet_default.launch" usb_port_id (string, default: blank) Alternatively to serial_no, this can be used to connect to a camera by its USB Port ID, which is a Bus Number-Port Number in the format "Bus#-Port#". If used with serial_no, both must match correctly for @@ -185,7 +184,7 @@ Command to change dynamic parameters using commandline: ####Getting Started Use the following command to launch the camera nodelet. You will notice the camera light up. - $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch + $ roslaunch realsense_camera r200_nodelet_default.launch If you would like to create or use your own launch files, the nodelet name for the R200 camera is R200Nodelet. See the sample launch files for examples of how to launch the nodelet. @@ -227,11 +226,10 @@ For viewing supported camera settings with current values: ####Launching Multiple Cameras For running multiple cameras simultaneously: Option 1: Using single nodelet manager for all the cameras -* Use "realsense_r200_multiple_cameras.launch". - * For the "num_worker_threads" argument, allocate at least 1 thread for each camera. +* Use "r200_nodelet_multiple_cameras.launch". Option 2: Using separate nodelet manager for each camera -* Create ".launch" files similar to "realsense_r200_rgbd.launch" for each camera. +* Create ".launch" files similar to "r200_nodelet_rgbd.launch" for each camera. * You may choose to include (or not) the "processing.launch.xml" based on your requirement. * Launch the ".launch" files for each camera in separate terminals. @@ -248,11 +246,11 @@ The Unit Tests can be executed using either of the methods: Using `rostest` command with test files $ rostest realsense_camera - E.g. rostest realsense_camera realsense_r200_depth_only.test + E.g. rostest realsense_camera r200_nodelet_disable_color.test Using `rosrun` command - $ roslaunch realsense_camera realsense_r200_nodelet_standalone_manual.launch + $ roslaunch realsense_camera r200_nodelet_modify_params.launch $ rosrun realsense_camera realsense_camera_test E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 @@ -260,10 +258,6 @@ Using `rosrun` command Both these methods first starts the nodelet and then executes all the unit tests. Sample test files are available in "realsense_camera/test" directory -* realsense_r200_rgbd.test -* realsense_r200_color_only.test -* realsense_r200_depth_only.test -* realsense_r200_resolution.test ###Developer API: Refer to the following: @@ -280,11 +274,11 @@ Refer to the following: * Generating a Depth Registered Point Cloud is very memory intensive. The topic /camera/depth_registered/points, generated by launch file -"realsense_r200_rgbd.launch", works best at 30 fps using 640x480 resolution +"r200_nodelet_rgbd.launch", works best at 30 fps using 640x480 resolution on a system with 16GB of RAM. * The camera does not provide hardware based depth registration/projector data. -Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: +Hence the launch file "r200_nodelet_rgbd.launch" will not generate data for the following topics: * /camera/depth_registered/hw_registered/image_rect_raw * /camera/depth_registered/hw_registered/image_rect * /camera/depth_registered/image diff --git a/realsense_camera/launch/includes/nodelet.launch.xml b/realsense_camera/launch/includes/nodelet.launch.xml new file mode 100644 index 0000000000..6a25be991b --- /dev/null +++ b/realsense_camera/launch/includes/nodelet.launch.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml b/realsense_camera/launch/includes/nodelet_rgbd.launch.xml similarity index 81% rename from realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml rename to realsense_camera/launch/includes/nodelet_rgbd.launch.xml index 804a666b77..1735a58844 100644 --- a/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml +++ b/realsense_camera/launch/includes/nodelet_rgbd.launch.xml @@ -1,7 +1,7 @@ + - - + @@ -12,37 +12,38 @@ - + + - - + + - - - + + + - - + - + - - + + diff --git a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml b/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml deleted file mode 100644 index 33f3f702aa..0000000000 --- a/realsense_camera/launch/includes/realsense_r200_multiple_cameras.launch.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/realsense_camera/launch/r200_nodelet_default.launch b/realsense_camera/launch/r200_nodelet_default.launch new file mode 100644 index 0000000000..2d189cacd6 --- /dev/null +++ b/realsense_camera/launch/r200_nodelet_default.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/r200_nodelet_modify_params.launch b/realsense_camera/launch/r200_nodelet_modify_params.launch new file mode 100644 index 0000000000..7b706a2cef --- /dev/null +++ b/realsense_camera/launch/r200_nodelet_modify_params.launch @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/r200_nodelet_multiple_cameras.launch b/realsense_camera/launch/r200_nodelet_multiple_cameras.launch new file mode 100644 index 0000000000..d5ea1879a3 --- /dev/null +++ b/realsense_camera/launch/r200_nodelet_multiple_cameras.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/launch/realsense_r200_rgbd.launch b/realsense_camera/launch/r200_nodelet_rgbd.launch similarity index 85% rename from realsense_camera/launch/realsense_r200_rgbd.launch rename to realsense_camera/launch/r200_nodelet_rgbd.launch index 9d3446429b..76d16fe737 100644 --- a/realsense_camera/launch/realsense_r200_rgbd.launch +++ b/realsense_camera/launch/r200_nodelet_rgbd.launch @@ -1,15 +1,18 @@ - + - + + + + - + @@ -18,9 +21,6 @@ - - - @@ -28,6 +28,13 @@ + + + + @@ -52,7 +59,6 @@ - @@ -63,26 +69,26 @@ + file="$(find realsense_camera)/launch/includes/nodelet_rgbd.launch.xml"> + + - - + - - + + - diff --git a/realsense_camera/launch/realsense_r200_multiple_cameras.launch b/realsense_camera/launch/realsense_r200_multiple_cameras.launch deleted file mode 100644 index d2ff3e6b98..0000000000 --- a/realsense_camera/launch/realsense_r200_multiple_cameras.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/realsense_camera/launch/realsense_r200_navigation.launch b/realsense_camera/launch/realsense_r200_navigation.launch deleted file mode 100644 index c98e022896..0000000000 --- a/realsense_camera/launch/realsense_r200_navigation.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch deleted file mode 100644 index da4eacde9d..0000000000 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_manual.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch b/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch deleted file mode 100644 index 57dce5b176..0000000000 --- a/realsense_camera/launch/realsense_r200_nodelet_standalone_preset.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/realsense_camera/test/r200_nodelet_disable_color.test b/realsense_camera/test/r200_nodelet_disable_color.test new file mode 100644 index 0000000000..bee6c68eca --- /dev/null +++ b/realsense_camera/test/r200_nodelet_disable_color.test @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/realsense_camera/test/r200_nodelet_disable_depth.test b/realsense_camera/test/r200_nodelet_disable_depth.test new file mode 100644 index 0000000000..5e878b899b --- /dev/null +++ b/realsense_camera/test/r200_nodelet_disable_depth.test @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch b/realsense_camera/test/r200_nodelet_dynamic_params.launch similarity index 98% rename from realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch rename to realsense_camera/test/r200_nodelet_dynamic_params.launch index f1846e1de8..dc9149eeaa 100644 --- a/realsense_camera/test/realsense_r200_dynamic_camera_options_params.launch +++ b/realsense_camera/test/r200_nodelet_dynamic_params.launch @@ -2,7 +2,7 @@ Launch file for testing if the dynamic camera options get set correctly using params. Steps: - roslaunch realsense_camera realsense_r200_dynamic_camera_options_params.launch + roslaunch realsense_camera r200_nodelet_dynamic_params.launch rosrun realsense_camera tests_camera_core color_backlight_compensation 3 color_brightness 10 color_contrast 16 color_gain 18 color_gamma 100 color_hue 20 color_saturation 21 color_sharpness 7 color_enable_auto_white_balance 0 color_white_balance 3000 r200_lr_gain 200 r200_emitter_enabled 1 r200_lr_exposure 27 Verify that the "testCameraOptions" test pass. --> diff --git a/realsense_camera/test/r200_nodelet_modify_params.test b/realsense_camera/test/r200_nodelet_modify_params.test new file mode 100644 index 0000000000..d404a53a2c --- /dev/null +++ b/realsense_camera/test/r200_nodelet_modify_params.test @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/test/r200_nodelet_resolution.test b/realsense_camera/test/r200_nodelet_resolution.test new file mode 100644 index 0000000000..2d3b5daae2 --- /dev/null +++ b/realsense_camera/test/r200_nodelet_resolution.test @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/test/r200_nodelet_rgbd.test b/realsense_camera/test/r200_nodelet_rgbd.test new file mode 100644 index 0000000000..a51a254b55 --- /dev/null +++ b/realsense_camera/test/r200_nodelet_rgbd.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_camera/test/realsense_r200_static_camera_options_params.launch b/realsense_camera/test/r200_nodelet_static_params.launch similarity index 97% rename from realsense_camera/test/realsense_r200_static_camera_options_params.launch rename to realsense_camera/test/r200_nodelet_static_params.launch index c362384a7f..170d9190b4 100644 --- a/realsense_camera/test/realsense_r200_static_camera_options_params.launch +++ b/realsense_camera/test/r200_nodelet_static_params.launch @@ -2,7 +2,7 @@ Launch file for testing if the static camera options get set correctly using params. Steps: - roslaunch realsense_camera realsense_r200_static_camera_options_params.launch + roslaunch realsense_camera r200_nodelet_static_params.launch rosrun realsense_camera tests_camera_core r200_depth_units 2 r200_depth_clamp_min 3 r200_depth_clamp_max 4 r200_depth_control_estimate_median_decrement 5 r200_depth_control_estimate_median_increment 6 r200_depth_control_median_threshold 7 r200_depth_control_score_minimum_threshold 8 r200_depth_control_score_maximum_threshold 9 r200_depth_control_texture_count_threshold 10 r200_depth_control_texture_difference_threshold 11 r200_depth_control_second_peak_threshold 12 r200_depth_control_neighbor_threshold 13 r200_depth_control_lr_threshold 14 Verify that the "testCameraOptions" test pass. --> diff --git a/realsense_camera/test/realsense_r200_color_only.test b/realsense_camera/test/realsense_r200_color_only.test deleted file mode 100644 index 5e1867033f..0000000000 --- a/realsense_camera/test/realsense_r200_color_only.test +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - diff --git a/realsense_camera/test/realsense_r200_depth_only.test b/realsense_camera/test/realsense_r200_depth_only.test deleted file mode 100644 index be924c0b17..0000000000 --- a/realsense_camera/test/realsense_r200_depth_only.test +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - diff --git a/realsense_camera/test/realsense_r200_resolution.test b/realsense_camera/test/realsense_r200_resolution.test deleted file mode 100644 index ef34a1f5cb..0000000000 --- a/realsense_camera/test/realsense_r200_resolution.test +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - diff --git a/realsense_camera/test/realsense_r200_rgbd.test b/realsense_camera/test/realsense_r200_rgbd.test deleted file mode 100644 index 8ed6427103..0000000000 --- a/realsense_camera/test/realsense_r200_rgbd.test +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/realsense_camera/test/realsense_r200_stream_options_params.launch b/realsense_camera/test/realsense_r200_stream_options_params.launch deleted file mode 100644 index 4175ef4df7..0000000000 --- a/realsense_camera/test/realsense_r200_stream_options_params.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 2df7adc966ed80d2546748804f5e85490312d0eb Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Tue, 28 Jun 2016 16:29:07 -0700 Subject: [PATCH 121/124] Updated artifacts to disable native pointcloud by default Due to performance issues, native pointcloud has been disbaled by default. --- realsense_camera/README.md | 5 +++-- realsense_camera/include/constants.h | 2 +- realsense_camera/test/r200_nodelet_disable_color.test | 4 ++++ 3 files changed, 8 insertions(+), 3 deletions(-) diff --git a/realsense_camera/README.md b/realsense_camera/README.md index e4e6337f74..3d9d24055a 100644 --- a/realsense_camera/README.md +++ b/realsense_camera/README.md @@ -51,7 +51,7 @@ Depth camera camera/depth/camera_info Calibration data camera/depth/points (sensor_msgs/PointCloud2) - Registered XYZRGB point cloud. + Registered XYZRGB point cloud. By default, pointcloud is disabled. IR camera @@ -101,8 +101,9 @@ IR2 camera Specify the depth camera FPS enable_color (bool, default: true) Specify if to enable or not the color camera. - enable_pointcloud (bool, default: true) + enable_pointcloud (bool, default: false) Specify if to enable or not the point cloud camera. + By default, it is set to false due to performance issues. enable_tf (bool, default: true) Specify if to enable or not the transform frames. base_frame_id (string, default: camera_link) diff --git a/realsense_camera/include/constants.h b/realsense_camera/include/constants.h index 9ba4feeb65..917159e345 100644 --- a/realsense_camera/include/constants.h +++ b/realsense_camera/include/constants.h @@ -44,7 +44,7 @@ namespace realsense_camera const int COLOR_FPS = 60; const bool ENABLE_DEPTH = true; const bool ENABLE_COLOR = true; - const bool ENABLE_PC = true; + const bool ENABLE_PC = false; const bool ENABLE_TF = true; const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; diff --git a/realsense_camera/test/r200_nodelet_disable_color.test b/realsense_camera/test/r200_nodelet_disable_color.test index bee6c68eca..5835f8e8ba 100644 --- a/realsense_camera/test/r200_nodelet_disable_color.test +++ b/realsense_camera/test/r200_nodelet_disable_color.test @@ -3,8 +3,12 @@ + + + From 66a6ea2897be36398d4bd233f1b4ae0937117df9 Mon Sep 17 00:00:00 2001 From: Reagan Lopez Date: Wed, 29 Jun 2016 13:53:33 -0700 Subject: [PATCH 122/124] Added navigation package changes related to camera package refactor --- .../launch/r200_nodelet_navigation.launch | 29 +++++++++++++++++++ .../navigation/turtlebot/README.md | 4 +-- .../robot_description/r200.launch.xml | 2 +- 3 files changed, 32 insertions(+), 3 deletions(-) create mode 100644 realsense_camera/launch/r200_nodelet_navigation.launch diff --git a/realsense_camera/launch/r200_nodelet_navigation.launch b/realsense_camera/launch/r200_nodelet_navigation.launch new file mode 100644 index 0000000000..6414d5e200 --- /dev/null +++ b/realsense_camera/launch/r200_nodelet_navigation.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_camera/navigation/turtlebot/README.md b/realsense_camera/navigation/turtlebot/README.md index d44d6c12c7..1ae0a2d50e 100644 --- a/realsense_camera/navigation/turtlebot/README.md +++ b/realsense_camera/navigation/turtlebot/README.md @@ -39,13 +39,13 @@ alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=he ## B - Mapping -The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_navigation.launch`. +The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera r200_nodelet_navigation.launch`. So, the normal flow would be : ```bash roslaunch turtlebot_bringup minimal.launch -roslaunch realsense_camera realsense_r200_navigation.launch +roslaunch realsense_camera r200_nodelet_navigation.launch roslaunch realsense_navigation gmapping.launch roslaunch turtlebot_rviz_launchers view_navigation.launch ``` diff --git a/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml index 1e764e3c03..85814d0d1d 100644 --- a/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml +++ b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml @@ -31,5 +31,5 @@ - + From 2353eb4c9b4fded638c32bff33015d5beaa43067 Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Thu, 30 Jun 2016 18:20:50 -0700 Subject: [PATCH 123/124] Update for ROS librealsense Package Release Migrate package.xml to format 2. Update the package dependencies. --- realsense_camera/CMakeLists.txt | 14 +++++++-- realsense_camera/package.xml | 50 +++++++++++++++------------------ 2 files changed, 35 insertions(+), 29 deletions(-) diff --git a/realsense_camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt index c748806a6d..4a90135bc9 100644 --- a/realsense_camera/CMakeLists.txt +++ b/realsense_camera/CMakeLists.txt @@ -14,6 +14,10 @@ set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") # Flags shared libraries set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now") +find_library(REALSENSE_LIB realsense) + +# This is optional until the first release of librealsense as a ROS package +find_package(catkin OPTIONAL_COMPONENTS librealsense) find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure roscpp @@ -55,6 +59,8 @@ generate_dynamic_reconfigure_options( # DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include + CATKIN_DEPENDS librealsense std_msgs message_runtime sensor_msgs + LIBRARIES ${PROJECT_NAME}_nodelet ) # Specify additional locations of header files @@ -66,9 +72,11 @@ include_directories( add_library(${PROJECT_NAME}_nodelet src/base_nodelet.cpp src/r200_nodelet.cpp) target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} - realsense + # This should be removed once librealsense is a required component + ${REALSENSE_LIB} ) add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) +add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS}) add_executable(tests_camera_core test/camera_core.cpp) target_link_libraries(tests_camera_core @@ -76,6 +84,7 @@ target_link_libraries(tests_camera_core ${GTEST_LIBRARIES} ) add_dependencies(tests_camera_core ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) +add_dependencies(tests_camera_core ${catkin_EXPORTED_TARGETS}) add_executable(tests_rgbd_topics test/rgbd_topics.cpp) target_link_libraries(tests_rgbd_topics @@ -83,6 +92,7 @@ target_link_libraries(tests_rgbd_topics ${GTEST_LIBRARIES} ) add_dependencies(tests_rgbd_topics ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(tests_rgbd_topics ${catkin_EXPORTED_TARGETS}) # Install nodelet library install(TARGETS ${PROJECT_NAME}_nodelet LIBRARY @@ -105,6 +115,6 @@ install(DIRECTORY rviz/ ) # Install xml files -install(FILES package.xml nodelet_plugins.xml +install(FILES nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/realsense_camera/package.xml b/realsense_camera/package.xml index b254b4d421..39225f7fed 100644 --- a/realsense_camera/package.xml +++ b/realsense_camera/package.xml @@ -1,11 +1,12 @@ - + realsense_camera 1.1.0 RealSense Camera package allowing access to Intel 3D cameras and advanced modules Rajvi Jingar Reagan Lopez + Mark Horn BSD 3-clause. See license attached @@ -16,32 +17,27 @@ Matt Hansen catkin - roscpp - nodelet - cv_bridge - image_transport - camera_info_manager - tf - message_generation - std_msgs - sensor_msgs - rostest - pcl_ros - dynamic_reconfigure - - roscpp - nodelet - cv_bridge - image_transport - camera_info_manager - tf - message_generation - std_msgs - sensor_msgs - rostest - pcl_ros - dynamic_reconfigure - rgbd_launch + + message_runtime + + roscpp + rostest + nodelet + cv_bridge + image_transport + camera_info_manager + tf + message_generation + std_msgs + sensor_msgs + pcl_ros + dynamic_reconfigure + + rgbd_launch + + librealsense + librealsense + librealsense From 3035e9c0a975f10ecf71b0995fabb45e72f8826b Mon Sep 17 00:00:00 2001 From: Mark D Horn Date: Wed, 13 Jul 2016 16:59:10 -0700 Subject: [PATCH 124/124] 1.2.1 --- realsense_camera/CHANGELOG.rst | 5 +++++ realsense_camera/package.xml | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/realsense_camera/CHANGELOG.rst b/realsense_camera/CHANGELOG.rst index c210c91061..3adea94727 100644 --- a/realsense_camera/CHANGELOG.rst +++ b/realsense_camera/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package realsense_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.2.1 (2016-07-13) +------------------ +* Fix starting /camera/get_settings Service +* Correct ROS Dependencies Install command + 1.2.0 (2016-06-30) ------------------ * Update for ROS librealsense Package Release diff --git a/realsense_camera/package.xml b/realsense_camera/package.xml index 8fec33a31b..9887c2c27b 100644 --- a/realsense_camera/package.xml +++ b/realsense_camera/package.xml @@ -1,7 +1,7 @@ realsense_camera - 1.2.0 + 1.2.1 RealSense Camera package allowing access to Intel 3D cameras and advanced modules Rajvi Jingar

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