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main_ros.cpp
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137 lines (114 loc) · 5.12 KB
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#include "infinite_sense.h"
#include "mv_cam.h"
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Imu.h>
struct cam_config {
bool onboard_imu = true;// 使用内部IMU
bool extern_imu = false;// 使用外部IMU,TODO
std::string imu_name = "imu_1";
// 相机名称 + 设备ID
std::pair<std::string, int> CAM1 = {"cam_1", 1};
std::pair<std::string, int> CAM2 = {"cam_2", -1};
std::pair<std::string, int> CAM3 = {"cam_3", -1};
std::pair<std::string, int> CAM4 = {"cam_4", -1}; // -1 代表没有
// 通信方式
int type = 0; // 0 --> 串口通信 1 --> 网口通信
std::string uart_dev = "/dev/ttyACM0";
std::string net_ip = "192.168.1.188";
int net_port = 8888;
};
cam_config cfg;
using namespace infinite_sense;
inline ros::Time CreateRosTimestamp(const uint64_t mico_sec) {
uint32_t nsec_per_second = 1e9;
auto u64 = mico_sec * 1000;
uint32_t sec = u64 / nsec_per_second;
uint32_t nsec = u64 - (sec * nsec_per_second);
return {sec, nsec};
}
class CamDriver {
public:
CamDriver(ros::NodeHandle &nh) : node_(nh), it_(node_) {}
void ImuCallback(const void *msg, size_t) {
const auto *imu_data = static_cast<const ImuData *>(msg);
sensor_msgs::Imu imu_msg_data;
imu_msg_data.header.frame_id = "map";
imu_msg_data.header.stamp = CreateRosTimestamp(imu_data->time_stamp_us);
imu_msg_data.angular_velocity.x = imu_data->g[0];
imu_msg_data.angular_velocity.y = imu_data->g[1];
imu_msg_data.angular_velocity.z = imu_data->g[2];
imu_msg_data.linear_acceleration.x = imu_data->a[0];
imu_msg_data.linear_acceleration.y = imu_data->a[1];
imu_msg_data.linear_acceleration.z = imu_data->a[2];
imu_msg_data.orientation.w = imu_data->q[0];
imu_msg_data.orientation.x = imu_data->q[1];
imu_msg_data.orientation.y = imu_data->q[2];
imu_msg_data.orientation.z = imu_data->q[3];
imu_pub_.publish(imu_msg_data);
}
// 自定义回调函数
void ImageCallback(const void *msg, size_t) {
const auto *cam_data = static_cast<const CamData *>(msg);
const cv::Mat image_mat(cam_data->image.rows, cam_data->image.cols, CV_8UC1, cam_data->image.data);
sensor_msgs::ImagePtr image_msg =
// mono8:灰度类型,bgr8:彩图，具体需要根据相机类型进行修改
cv_bridge::CvImage(std_msgs::Header(), "mono8", image_mat).toImageMsg();
image_msg->header.stamp = CreateRosTimestamp(cam_data->time_stamp_us);
image_pubs_[cam_data->name].publish(image_msg);
}
void Init() {
if (cfg.type == 0) {
synchronizer_.SetUsbLink(cfg.uart_dev, 921600);
} else if (cfg.type == 1) {
synchronizer_.SetNetLink(cfg.net_ip, cfg.net_port);
}
mv_cam_ = std::make_shared<MvCam>();
synchronizer_.UseSensor(mv_cam_);
if (cfg.onboard_imu) {
imu_pub_ = node_.advertise<sensor_msgs::Imu>(cfg.imu_name, 1000);
}
if (cfg.CAM1.second >= 0) mv_cam_->SetParams({{cfg.CAM1.first, CAM_1}});
if (cfg.CAM2.second >= 0) mv_cam_->SetParams({{cfg.CAM2.first, CAM_2}});
if (cfg.CAM3.second >= 0) mv_cam_->SetParams({{cfg.CAM3.first, CAM_3}});
if (cfg.CAM4.second >= 0) mv_cam_->SetParams({{cfg.CAM4.first, CAM_4}});
if (cfg.CAM1.second >= 0) image_pubs_[cfg.CAM1.first] = it_.advertise(cfg.CAM1.first, 30);
if (cfg.CAM2.second >= 0) image_pubs_[cfg.CAM2.first] = it_.advertise(cfg.CAM2.first, 30);
if (cfg.CAM3.second >= 0) image_pubs_[cfg.CAM3.first] = it_.advertise(cfg.CAM3.first, 30);
if (cfg.CAM4.second >= 0) image_pubs_[cfg.CAM4.first] = it_.advertise(cfg.CAM4.first, 30);
synchronizer_.Start();
std::this_thread::sleep_for(std::chrono::milliseconds(5000));
if (cfg.onboard_imu) {
Messenger::GetInstance().SubStruct(
cfg.imu_name, std::bind(&CamDriver::ImuCallback, this, std::placeholders::_1, std::placeholders::_2));
}
if (cfg.CAM1.second >= 0) Messenger::GetInstance().SubStruct(cfg.CAM1.first, std::bind(&CamDriver::ImageCallback, this, std::placeholders::_1, std::placeholders::_2));
if (cfg.CAM2.second >= 0) Messenger::GetInstance().SubStruct(cfg.CAM2.first, std::bind(&CamDriver::ImageCallback, this, std::placeholders::_1, std::placeholders::_2));
if (cfg.CAM3.second >= 0) Messenger::GetInstance().SubStruct(cfg.CAM3.first, std::bind(&CamDriver::ImageCallback, this, std::placeholders::_1, std::placeholders::_2));
if (cfg.CAM4.second >= 0) Messenger::GetInstance().SubStruct(cfg.CAM4.first, std::bind(&CamDriver::ImageCallback, this, std::placeholders::_1, std::placeholders::_2));
}
void Run() {
ros::Rate loop_rate(1000);
while (ros::ok()) {
ros::spinOnce();
loop_rate.sleep();
}
synchronizer_.Stop();
}
private:
ros::NodeHandle &node_;
ros::Publisher imu_pub_;
image_transport::ImageTransport it_;
std::unordered_map<std::string, image_transport::Publisher> image_pubs_;
std::shared_ptr<MvCam> mv_cam_;
Synchronizer synchronizer_;
};
int main(int argc, char **argv) {
ros::init(argc, argv, "ros_demo", ros::init_options::NoSigintHandler);
ros::NodeHandle node;
CamDriver demo_node(node);
demo_node.Init();
demo_node.Run();
return 0;
}