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posedetection_msgs: add object_detection_aggregator #24
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,235 @@ | ||
| // -*- mode: C++ -*- | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2019, JSK Robotics Lab. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/o2r other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the JSK Lab 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 OWNER 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. | ||
| *********************************************************************/ | ||
| /* | ||
| * object_detection_aggregator.cpp | ||
| * Author: Yuki Furuta <[email protected]> | ||
| */ | ||
|
|
||
| #include <algorithm> | ||
| #include <ros/ros.h> | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.h> | ||
| #include <tf2_ros/buffer_client.h> | ||
| #include <tf2_ros/transform_listener.h> | ||
|
|
||
| #include <geometry_msgs/PoseStamped.h> | ||
| #include <posedetection_msgs/ObjectDetection.h> | ||
|
|
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| namespace posedetection_msgs { | ||
|
|
||
| bool compareMessageByStamp(const posedetection_msgs::ObjectDetection& a, | ||
| const posedetection_msgs::ObjectDetection& b) { | ||
| return a.header.stamp < b.header.stamp; | ||
| } | ||
|
|
||
| std::string validateFrameId(const std::string& frame_id) { | ||
| for (size_t i = 0; i < frame_id.length(); ++i) { | ||
| if (frame_id[i] != '/') { | ||
| return frame_id.substr(i, frame_id.length() - i); | ||
| } | ||
| } | ||
| return frame_id; | ||
| } | ||
|
|
||
| class ObjectDetectionAggregator { | ||
| public: | ||
| ObjectDetectionAggregator() | ||
| : nh_("") | ||
| , pnh_("~") | ||
| , subscribed_(false) { | ||
| // initialize parameters | ||
| pnh_.param("always_subscribe", always_subscribe_, false); | ||
| pnh_.param("pub_rate", pub_rate_, 1.0); | ||
| pnh_.param("queue_size", queue_size_, 10); | ||
| std::string target_frame_id; | ||
| pnh_.param("target_frame_id", target_frame_id, std::string()); | ||
| target_frame_id_ = validateFrameId(target_frame_id); | ||
| if (!target_frame_id_.empty()) { | ||
| ROS_INFO("Target frame id is set: %s", target_frame_id_.c_str()); | ||
| } | ||
|
|
||
| // initialize transform listener | ||
| tf_buffer_client_ = boost::make_shared<tf2_ros::BufferClient>("/tf2_buffer_server"); | ||
| if (!tf_buffer_client_->waitForServer(ros::Duration(5.0))) { | ||
| ROS_WARN("/tf2_buffer_server not found."); | ||
| tf_buffer_client_.reset(); | ||
| tf_buffer_ = boost::make_shared<tf2_ros::Buffer>(); | ||
| tf2_ros::TransformListener tf_listener(*tf_buffer_); | ||
| } | ||
|
|
||
| // advertise aggregated topic | ||
| ros::SubscriberStatusCallback connect_cb | ||
| = boost::bind(&ObjectDetectionAggregator::connectionCallback, this, _1); | ||
| pub_ = nh_.advertise<posedetection_msgs::ObjectDetection>( | ||
| "ObjectDetection_agg", 1, | ||
| connect_cb, connect_cb, | ||
| ros::VoidConstPtr(), /* latch= */false); | ||
|
|
||
| // start publish timer | ||
| timer_ = nh_.createTimer(ros::Duration(1.0 / pub_rate_), | ||
| &ObjectDetectionAggregator::periodicCallback, this); | ||
| } | ||
|
|
||
| void connectionCallback(const ros::SingleSubscriberPublisher&) { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
|
|
||
| if (always_subscribe_) { | ||
| if (!subscribed_) { | ||
| subscribe(); | ||
| subscribed_ = true; | ||
| } | ||
| } else { | ||
| if (!subscribed_ && pub_.getNumSubscribers() > 0) { | ||
| subscribe(); | ||
| subscribed_ = true; | ||
| } else if (subscribed_ && pub_.getNumSubscribers() == 0) { | ||
| unsubscribe(); | ||
| subscribed_ = false; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| void subscribe() { | ||
| sub_ = nh_.subscribe("ObjectDetection", queue_size_, | ||
| &ObjectDetectionAggregator::messageCallback, this); | ||
| } | ||
|
|
||
| void unsubscribe() { | ||
| sub_.shutdown(); | ||
| } | ||
|
|
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| void messageCallback(const posedetection_msgs::ObjectDetection::ConstPtr& msg) { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
|
|
||
| // if ~target_frame_id param is empty, | ||
| // use the header.frame_id of the first message as target frame. | ||
| std::string frame_id = validateFrameId(msg->header.frame_id); | ||
| if (target_frame_id_.empty()) { | ||
| target_frame_id_ = frame_id; | ||
| ROS_INFO("Target frame id is set: %s", target_frame_id_.c_str()); | ||
| } | ||
|
|
||
| // transform pose frame to target_frame_id_ | ||
| if (target_frame_id_ != frame_id) { | ||
| posedetection_msgs::ObjectDetection transformed_msg; | ||
| transformed_msg.header = msg->header; | ||
| transformed_msg.header.frame_id = target_frame_id_; | ||
| transformed_msg.objects.resize(msg->objects.size()); | ||
| try { | ||
| geometry_msgs::PoseStamped pose_in, pose_out; | ||
| pose_in.header = msg->header; | ||
| pose_in.header.frame_id = frame_id; | ||
| for (size_t i = 0; i < msg->objects.size(); ++i) { | ||
| pose_in.pose = msg->objects[i].pose; | ||
| if (tf_buffer_client_) { | ||
| tf_buffer_client_->transform(pose_in, pose_out, target_frame_id_); | ||
| } else { | ||
| tf_buffer_->transform(pose_in, pose_out, target_frame_id_); | ||
| } | ||
| posedetection_msgs::Object6DPose& pose6d = transformed_msg.objects[i]; | ||
| pose6d.pose = pose_out.pose; | ||
| pose6d.reliability = msg->objects[i].reliability; | ||
| pose6d.type = msg->objects[i].type; | ||
| } | ||
| messages_.push_back(transformed_msg); | ||
| } catch (tf2::TransformException &err) { | ||
| ROS_ERROR_THROTTLE(1.0, "Failed to transform: %s", err.what()); | ||
| } | ||
| } else { | ||
| messages_.push_back(*msg); | ||
| } | ||
| } | ||
|
|
||
| void periodicCallback(const ros::TimerEvent& ev) { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
|
|
||
| if (messages_.empty()) return; | ||
|
|
||
| // sort by stamp | ||
| std::sort(messages_.begin(), messages_.end(), compareMessageByStamp); | ||
|
|
||
| // aggregate detections | ||
| // - use the latest most reliable pose for each type | ||
| posedetection_msgs::ObjectDetection pub_msg; | ||
| pub_msg.header = messages_[messages_.size()-1].header; | ||
| std::map<std::string, posedetection_msgs::Object6DPose> m; | ||
| for (size_t i = 0; i < messages_.size(); ++i) { | ||
| posedetection_msgs::ObjectDetection& d = messages_[i]; | ||
| for (size_t j = 0; j < d.objects.size(); ++j) { | ||
| posedetection_msgs::Object6DPose& p = d.objects[j]; | ||
| if (!m.count(p.type) || | ||
| m[p.type].reliability <= p.reliability) { | ||
| m[p.type] = p; | ||
| } | ||
| } | ||
| } | ||
|
|
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| for (std::map<std::string, posedetection_msgs::Object6DPose>::iterator it = m.begin(); | ||
| it != m.end(); ++it) { | ||
| pub_msg.objects.push_back(it->second); | ||
| } | ||
|
|
||
| pub_.publish(pub_msg); | ||
| messages_.clear(); | ||
| } | ||
|
|
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| // variables | ||
| boost::mutex mutex_; | ||
| ros::NodeHandle nh_, pnh_; | ||
| ros::Publisher pub_; | ||
| ros::Subscriber sub_; | ||
| ros::Timer timer_; | ||
| boost::shared_ptr<tf2_ros::BufferClient> tf_buffer_client_; | ||
| boost::shared_ptr<tf2_ros::Buffer> tf_buffer_; | ||
| bool subscribed_; | ||
| bool always_subscribe_; | ||
| double pub_rate_; | ||
| int queue_size_; | ||
| std::string target_frame_id_; | ||
| std::vector<posedetection_msgs::ObjectDetection> messages_; | ||
|
|
||
| }; // class | ||
| } // namespace | ||
|
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|
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| int main(int argc, char** argv) | ||
| { | ||
| ros::init(argc, argv, "object_detection_aggregator"); | ||
|
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| posedetection_msgs::ObjectDetectionAggregator agg; | ||
|
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| ros::spin(); | ||
|
|
||
| return 0; | ||
| } |
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please separate style change and your contribution, when I first see this patch, it seems you have increased a lot of dependencies and since the
jsk_common_msgsis the root node of jsk repositories, it is not acceptable.