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Totally removed OpenCV dependency #272

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Merged
adujardin merged 6 commits into from
Sep 13, 2018
Merged

Totally removed OpenCV dependency #272

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7b4f73d
Removed OpenCV utilization for datatype conversion
Myzhar Sep 13, 2018
83c7aea
Fully removed OpenCV dependency
Myzhar Sep 13, 2018
3b7201d
Added missing OPENNI conversion if the parameter `openni_depth_mode` is
Myzhar Sep 13, 2018
3962a1a
Improved OPENNI conversion
Myzhar Sep 13, 2018
fdf169e
OPENNI and Disparity conversions even improved
Myzhar Sep 13, 2018
6dea32e
Code formatting and comments removal
Myzhar Sep 13, 2018
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Code formatting and comments removal
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@Myzhar
Myzhar committed Sep 13, 2018
commit 6dea32e8566d04d7274d42e5d9f48ce425a49b7a
53 changes: 16 additions & 37 deletions zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,10 +168,6 @@ namespace zed_wrapper {
<< (publishTf ? "TRUE" : "FALSE") << "]");
NODELET_INFO_STREAM("Camera Flip [" << (cameraFlip ? "TRUE" : "FALSE") << "]");

// Status of odometry TF
// NODELET_INFO_STREAM("Publish " << odometry_frame_id << " [" << (publish_tf
// ? "TRUE" : "FALSE") << "]");

std::string img_topic = "image_rect_color";
std::string img_raw_topic = "image_raw_color";

Expand Down Expand Up @@ -454,27 +450,20 @@ namespace zed_wrapper {
NODELET_INFO_STREAM("Advertized on topic " << point_cloud_topic);

// Camera info publishers
pubRgbCamInfo =
nh.advertise<sensor_msgs::CameraInfo>(rgb_cam_info_topic, 1); // rgb
pubRgbCamInfo = nh.advertise<sensor_msgs::CameraInfo>(rgb_cam_info_topic, 1); // rgb
NODELET_INFO_STREAM("Advertized on topic " << rgb_cam_info_topic);
pubLeftCamInfo =
nh.advertise<sensor_msgs::CameraInfo>(left_cam_info_topic, 1); // left
pubLeftCamInfo = nh.advertise<sensor_msgs::CameraInfo>(left_cam_info_topic, 1); // left
NODELET_INFO_STREAM("Advertized on topic " << left_cam_info_topic);
pubRightCamInfo =
nh.advertise<sensor_msgs::CameraInfo>(right_cam_info_topic, 1); // right
pubRightCamInfo = nh.advertise<sensor_msgs::CameraInfo>(right_cam_info_topic, 1); // right
NODELET_INFO_STREAM("Advertized on topic " << right_cam_info_topic);
pubDepthCamInfo =
nh.advertise<sensor_msgs::CameraInfo>(depth_cam_info_topic, 1); // depth
pubDepthCamInfo = nh.advertise<sensor_msgs::CameraInfo>(depth_cam_info_topic, 1); // depth
NODELET_INFO_STREAM("Advertized on topic " << depth_cam_info_topic);
// Raw
pubRgbCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(
rgb_cam_info_raw_topic, 1); // raw rgb
pubRgbCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(rgb_cam_info_raw_topic, 1); // raw rgb
NODELET_INFO_STREAM("Advertized on topic " << rgb_cam_info_raw_topic);
pubLeftCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(
left_cam_info_raw_topic, 1); // raw left
pubLeftCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(left_cam_info_raw_topic, 1); // raw left
NODELET_INFO_STREAM("Advertized on topic " << left_cam_info_raw_topic);
pubRightCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(
right_cam_info_raw_topic, 1); // raw right
pubRightCamInfoRaw = nh.advertise<sensor_msgs::CameraInfo>(right_cam_info_raw_topic, 1); // raw right
NODELET_INFO_STREAM("Advertized on topic " << right_cam_info_raw_topic);

// Odometry and Map publisher
Expand All @@ -486,12 +475,10 @@ namespace zed_wrapper {
// Imu publisher
if (imuPubRate > 0 && realCamModel == sl::MODEL_ZED_M) {
pubImu = nh.advertise<sensor_msgs::Imu>(imu_topic, 500);
NODELET_INFO_STREAM("Advertized on topic " << imu_topic << " @ "
<< imuPubRate << " Hz");
NODELET_INFO_STREAM("Advertized on topic " << imu_topic << " @ " << imuPubRate << " Hz");

pubImuRaw = nh.advertise<sensor_msgs::Imu>(imu_topic_raw, 500);
NODELET_INFO_STREAM("Advertized on topic " << imu_topic_raw << " @ "
<< imuPubRate << " Hz");
NODELET_INFO_STREAM("Advertized on topic " << imu_topic_raw << " @ " << imuPubRate << " Hz");

imuTime = ros::Time::now();
pubImuTimer = nhNs.createTimer(ros::Duration(1.0 / imuPubRate),
Expand All @@ -504,12 +491,9 @@ namespace zed_wrapper {
}

// Service
srvSetInitPose = nh.advertiseService("set_initial_pose",
&ZEDWrapperNodelet::on_set_pose, this);
srvResetOdometry = nh.advertiseService(
"reset_odometry", &ZEDWrapperNodelet::on_reset_odometry, this);
srvResetTracking = nh.advertiseService(
"reset_tracking", &ZEDWrapperNodelet::on_reset_tracking, this);
srvSetInitPose = nh.advertiseService("set_initial_pose", &ZEDWrapperNodelet::on_set_pose, this);
srvResetOdometry = nh.advertiseService("reset_odometry", &ZEDWrapperNodelet::on_reset_odometry, this);
srvResetTracking = nh.advertiseService("reset_tracking", &ZEDWrapperNodelet::on_reset_tracking, this);

// Start Pointcloud thread
mPcThread = std::thread(&ZEDWrapperNodelet::pointcloud_thread, this);
Expand Down Expand Up @@ -1548,8 +1532,6 @@ namespace zed_wrapper {
zed.retrieveMeasure(confMapZEDMat, sl::MEASURE_CONFIDENCE, sl::MEM_CPU,
matWidth, matHeight);

//confMapFloat = sl_tools::toCVMat(confMapZEDMat);

pubConfMap.publish(imageToROSmsg(confMapZEDMat, confidenceOptFrameId, t));
}

Expand Down Expand Up @@ -1594,11 +1576,8 @@ namespace zed_wrapper {
}

// Publish the odometry if someone has subscribed to
if (pose_SubNumber > 0 || odom_SubNumber > 0 || cloud_SubNumber > 0 ||
depth_SubNumber >


0 || imu_SubNumber > 0 || imu_RawSubNumber > 0) {
if (pose_SubNumber > 0 || odom_SubNumber > 0 || cloud_SubNumber > 0 || depth_SubNumber > 0 ||
imu_SubNumber > 0 || imu_RawSubNumber > 0) {
if (!initOdomWithPose) {
sl::Pose deltaOdom;
zed.getPosition(deltaOdom, sl::REFERENCE_FRAME_CAMERA);
Expand Down Expand Up @@ -1635,8 +1614,8 @@ namespace zed_wrapper {
}

// Publish the zed camera pose if someone has subscribed to
if (pose_SubNumber > 0 || odom_SubNumber > 0 || cloud_SubNumber > 0 ||
depth_SubNumber > 0 || imu_SubNumber > 0 || imu_RawSubNumber > 0) {
if (pose_SubNumber > 0 || odom_SubNumber > 0 || cloud_SubNumber > 0 || depth_SubNumber > 0 ||
imu_SubNumber > 0 || imu_RawSubNumber > 0) {
sl::Pose zed_pose; // Sensor to Map transform
zed.getPosition(zed_pose, sl::REFERENCE_FRAME_WORLD);

Expand Down