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realsense_component.cc
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realsense_component.cc
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#include "modules/sensors/realsense_component.h"
#include <chrono>
#include <iomanip>
#include <iostream>
#include <mutex>
#include <thread>
#include <utility>
#include "librealsense2/rs.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/opencv.hpp"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "cyber/time/time.h"
#include "modules/sensors/proto/sensors.pb.h"
#include "modules/sensors/realsense.h"
namespace apollo {
namespace sensors {
using apollo::cyber::Rate;
using apollo::cyber::Time;
using apollo::sensors::Acc;
using apollo::sensors::Gyro;
using apollo::sensors::Image;
using apollo::sensors::Pose;
rs2::device get_device(const std::string& serial_number = "") {
rs2::context ctx;
while (true) {
for (auto&& dev : ctx.query_devices()) {
if (((serial_number.empty() &&
std::strstr(dev.get_info(RS2_CAMERA_INFO_NAME), "T265")) ||
std::strcmp(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER),
serial_number.c_str()) == 0))
return dev;
}
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
/**
* @brief device and sensor init
*
* @return true
* @return false
*/
bool RealsenseComponent::Init() {
device_ = get_device(serial_number_);
// print device information
RealSense::printDeviceInformation(device_);
AINFO << "Got device with serial number "
<< device_.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
cyber::SleepFor(std::chrono::milliseconds(device_wait_));
sensor_ = device_.first<rs2::sensor>();
// print sensor option to log
RealSense::getSensorOption(sensor_);
sensor_.set_option(RS2_OPTION_FRAMES_QUEUE_SIZE, 0);
sensor_.open(sensor_.get_stream_profiles());
Calibration();
pose_writer_ = node_->CreateWriter<Pose>("/realsense/pose");
image_left_writer_ = node_->CreateWriter<Image>("/realsense/left_image");
image_right_writer_ = node_->CreateWriter<Image>("/realsense/right_image");
acc_writer_ = node_->CreateWriter<Acc>("/realsense/acc");
gyro_writer_ = node_->CreateWriter<Gyro>("/realsense/gyro");
sensor_.start([this](rs2::frame f) {
q_.enqueue(std::move(f)); // enqueue any new frames into q
});
async_result_ =
std::async(std::launch::async, &RealsenseComponent::run, this);
return true;
}
/**
* [RealSense:: collect frames of T265]
* @return [description]
*/
void RealsenseComponent::run() {
while (!cyber::IsShutdown()) {
// wait for device is ready. in case of device is busy
if (!device_) {
device_ = get_device();
continue;
}
// wait until new frame is available and dequeue it
// handle frames in the main event loop
rs2::frame f = q_.wait_for_frame();
// core of data write to channel
if (f.get_profile().stream_type() == RS2_STREAM_POSE) {
auto pose_frame = f.as<rs2::pose_frame>();
auto pose_data = pose_frame.get_pose_data();
AINFO << "pose " << pose_data.translation;
OnPose(pose_data, pose_frame.get_frame_number());
} else if (f.get_profile().stream_type() == RS2_STREAM_GYRO) {
auto gyro_frame = f.as<rs2::motion_frame>();
rs2_vector gyro = gyro_frame.get_motion_data();
AINFO << "Gyro:" << gyro.x << ", " << gyro.y << ", " << gyro.z;
OnGyro(gyro, gyro_frame.get_frame_number());
} else if (f.get_profile().stream_type() == RS2_STREAM_ACCEL) {
auto accel_frame = f.as<rs2::motion_frame>();
rs2_vector accel = accel_frame.get_motion_data();
AINFO << "Accel:" << accel.x << ", " << accel.y << ", " << accel.z;
OnAcc(accel, accel_frame.get_frame_number());
} else if (f.get_profile().stream_type() == RS2_STREAM_FISHEYE &&
f.get_profile().stream_index() == 1) {
// left fisheye
// this is one of the fisheye imagers
auto fisheye_frame = f.as<rs2::video_frame>();
AINFO << "fisheye " << f.get_profile().stream_index() << ", "
<< fisheye_frame.get_width() << "x" << fisheye_frame.get_height();
cv::Mat image(
cv::Size(fisheye_frame.get_width(), fisheye_frame.get_height()),
CV_8U, (void*)fisheye_frame.get_data(), cv::Mat::AUTO_STEP);
cv::Mat dst;
cv::remap(image, dst, map1_, map2_, cv::INTER_LINEAR);
OnImage(dst, fisheye_frame.get_frame_number(), f.get_profile().stream_index());
} else if (f.get_profile().stream_type() == RS2_STREAM_FISHEYE &&
f.get_profile().stream_index() == 2) {
// right fisheye
auto fisheye_frame = f.as<rs2::video_frame>();
AINFO << "fisheye " << f.get_profile().stream_index() << ", "
<< fisheye_frame.get_width() << "x" << fisheye_frame.get_height();
cv::Mat image(
cv::Size(fisheye_frame.get_width(), fisheye_frame.get_height()),
CV_8U, (void*)fisheye_frame.get_data(), cv::Mat::AUTO_STEP);
cv::Mat dst;
cv::remap(image, dst, map1_, map2_, cv::INTER_LINEAR);
OnImage(dst, fisheye_frame.get_frame_number(), f.get_profile().stream_index());
}
}
}
/**
* @brief fisheye calibration
*
*/
void RealsenseComponent::Calibration() {
cv::Mat intrinsicsL;
cv::Mat distCoeffsL;
rs2_intrinsics left = sensor_.get_stream_profiles()[0]
.as<rs2::video_stream_profile>()
.get_intrinsics();
intrinsicsL = (cv::Mat_<double>(3, 3) << left.fx, 0, left.ppx, 0, left.fy,
left.ppy, 0, 0, 1);
distCoeffsL = cv::Mat(1, 4, CV_32F, left.coeffs);
cv::Mat R = cv::Mat::eye(3, 3, CV_32F);
cv::Mat P = (cv::Mat_<double>(3, 4) << left.fx, 0, left.ppx, 0, 0, left.fy,
left.ppy, 0, 0, 0, 1, 0);
cv::fisheye::initUndistortRectifyMap(intrinsicsL, distCoeffsL, R, P,
cv::Size(848, 816), CV_16SC2, map1_,
map2_);
}
/**
* @brief callback of Image data
*
* @param dst
* @return true
* @return false
*/
void RealsenseComponent::OnImage(cv::Mat dst, uint64 frame_no, int stream_index) {
auto image_proto = std::make_shared<Image>();
image_proto->set_frame_no(frame_no);
image_proto->set_encoding(rs2_format_to_string(RS2_FORMAT_Y8));
image_proto->set_measurement_time(Time::Now().ToSecond());
auto m_size = dst.rows * dst.cols * dst.elemSize();
image_proto->set_data(dst.data, m_size);
if(stream_index == 1) {
image_left_writer_->Write(image_proto);
} else {
image_right_writer_->Write(image_proto);
}
}
/**
* @brief callback of Pose data
*
* @param pose_data
* @return true
* @return false
*/
void RealsenseComponent::OnPose(rs2_pose pose_data, uint64 frame_no) {
auto pose_proto = std::make_shared<Pose>();
pose_proto->set_frame_no(frame_no);
auto translation = pose_proto->mutable_translation();
translation->set_x(pose_data.translation.x);
translation->set_y(pose_data.translation.y);
translation->set_z(pose_data.translation.z);
auto velocity = pose_proto->mutable_velocity();
velocity->set_x(pose_data.velocity.x);
velocity->set_y(pose_data.velocity.y);
velocity->set_z(pose_data.velocity.z);
auto rotation = pose_proto->mutable_rotation();
rotation->set_x(pose_data.rotation.x);
rotation->set_y(pose_data.rotation.y);
rotation->set_z(pose_data.rotation.z);
rotation->set_w(pose_data.rotation.w);
auto angular_velocity = pose_proto->mutable_angular_velocity();
angular_velocity->set_x(pose_data.angular_velocity.x);
angular_velocity->set_y(pose_data.angular_velocity.y);
angular_velocity->set_z(pose_data.angular_velocity.z);
pose_proto->set_trancker_confidence(pose_data.tracker_confidence);
pose_proto->set_mapper_confidence(pose_data.mapper_confidence);
pose_writer_->Write(pose_proto);
}
void RealsenseComponent::OnAcc(rs2_vector acc, uint64 frame_no) {
auto proto_accel = std::make_shared<Acc>();
proto_accel->mutable_acc()->set_x(acc.x);
proto_accel->mutable_acc()->set_y(acc.y);
proto_accel->mutable_acc()->set_z(acc.z);
acc_writer_->Write(proto_accel);
}
void RealsenseComponent::OnGyro(rs2_vector gyro, uint64 frame_no) {
auto proto_gyro = std::make_shared<Gyro>();
proto_gyro->mutable_gyro()->set_x(gyro.x);
proto_gyro->mutable_gyro()->set_y(gyro.y);
proto_gyro->mutable_gyro()->set_z(gyro.z);
gyro_writer_->Write(proto_gyro);
}
RealsenseComponent::~RealsenseComponent() {
sensor_.stop();
sensor_.close();
async_result_.wait();
}
} // namespace sensors
} // namespace apollo