void ARMultiPublisher::getTransformationCallback (const sensor_msgs::ImageConstPtr & image_msg)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, k, j;
/* Get the image from ROSTOPIC
* NOTE: the dataPtr format is BGR because the ARToolKit library was
* build with V4L, dataPtr format change according to the
* ARToolKit configure option (see config.h).*/
#if ROS_VERSION_MINIMUM(1, 9, 0)
try
{
capture_ = cv_bridge::toCvCopy (image_msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
}
dataPtr = (ARUint8 *) ((IplImage) capture_->image).imageData;
#else
try
{
capture_ = bridge_.imgMsgToCv (image_msg, "bgr8");
}
catch (sensor_msgs::CvBridgeException & e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
}
dataPtr = (ARUint8 *) capture_->imageData;
#endif
// detect the markers in the video frame
if (arDetectMarker (dataPtr, threshold_, &marker_info, &marker_num) < 0)
{
argCleanup ();
ROS_BREAK ();
}
arPoseMarkers_.markers.clear ();
// check for known patterns
for (i = 0; i < objectnum; i++)
{
k = -1;
for (j = 0; j < marker_num; j++)
{
if (object[i].id == marker_info[j].id)
{
if (k == -1)
k = j;
else // make sure you have the best pattern (highest confidence factor)
if (marker_info[k].cf < marker_info[j].cf)
k = j;
}
}
if (k == -1)
{
object[i].visible = 0;
continue;
}
// calculate the transform for each marker
if (object[i].visible == 0)
{
arGetTransMat (&marker_info[k], object[i].marker_center, object[i].marker_width, object[i].trans);
}
else
{
arGetTransMatCont (&marker_info[k], object[i].trans,
object[i].marker_center, object[i].marker_width, object[i].trans);
}
object[i].visible = 1;
double arQuat[4], arPos[3];
//arUtilMatInv (object[i].trans, cam_trans);
arUtilMat2QuatPos (object[i].trans, arQuat, arPos);
// **** convert to ROS frame
double quat[4], pos[3];
pos[0] = arPos[0] * AR_TO_ROS;
pos[1] = arPos[1] * AR_TO_ROS;
pos[2] = arPos[2] * AR_TO_ROS;
quat[0] = -arQuat[0];
quat[1] = -arQuat[1];
quat[2] = -arQuat[2];
quat[3] = arQuat[3];
ROS_DEBUG (" Object num %i ------------------------------------------------", i);
ROS_DEBUG (" QUAT: Pos x: %3.5f y: %3.5f z: %3.5f", pos[0], pos[1], pos[2]);
ROS_DEBUG (" Quat qx: %3.5f qy: %3.5f qz: %3.5f qw: %3.5f", quat[0], quat[1], quat[2], quat[3]);
// **** publish the marker
ar_pose::ARMarker ar_pose_marker;
ar_pose_marker.header.frame_id = image_msg->header.frame_id;
ar_pose_marker.header.stamp = image_msg->header.stamp;
ar_pose_marker.id = object[i].id;
ar_pose_marker.pose.pose.position.x = pos[0];
ar_pose_marker.pose.pose.position.y = pos[1];
ar_pose_marker.pose.pose.position.z = pos[2];
ar_pose_marker.pose.pose.orientation.x = quat[0];
ar_pose_marker.pose.pose.orientation.y = quat[1];
ar_pose_marker.pose.pose.orientation.z = quat[2];
ar_pose_marker.pose.pose.orientation.w = quat[3];
ar_pose_marker.confidence = round(marker_info->cf * 100);
arPoseMarkers_.markers.push_back (ar_pose_marker);
// **** publish transform between camera and marker
#if ROS_VERSION_MINIMUM(1, 9, 0)
tf::Quaternion rotation (quat[0], quat[1], quat[2], quat[3]);
tf::Vector3 origin (pos[0], pos[1], pos[2]);
tf::Transform t (rotation, origin);
#else
// DEPRECATED: Fuerte support ends when Hydro is released
btQuaternion rotation (quat[0], quat[1], quat[2], quat[3]);
btVector3 origin (pos[0], pos[1], pos[2]);
btTransform t (rotation, origin);
#endif
if (publishTf_)
{
tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, object[i].name);
broadcaster_.sendTransform(camToMarker);
}
// **** publish visual marker
if (publishVisualMarkers_)
{
#if ROS_VERSION_MINIMUM(1, 9, 0)
tf::Vector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS);
tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin);
tf::Transform markerPose = t * m; // marker pose in the camera frame
#else
// DEPRECATED: Fuerte support ends when Hydro is released
btVector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS);
btTransform m (btQuaternion::getIdentity (), markerOrigin);
btTransform markerPose = t * m; // marker pose in the camera frame
#endif
tf::poseTFToMsg (markerPose, rvizMarker_.pose);
rvizMarker_.header.frame_id = image_msg->header.frame_id;
rvizMarker_.header.stamp = image_msg->header.stamp;
rvizMarker_.id = object[i].id;
rvizMarker_.scale.x = 1.0 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.scale.y = 1.0 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.scale.z = 0.5 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.ns = "basic_shapes";
rvizMarker_.type = visualization_msgs::Marker::CUBE;
rvizMarker_.action = visualization_msgs::Marker::ADD;
switch (i)
{
case 0:
rvizMarker_.color.r = 0.0f;
rvizMarker_.color.g = 0.0f;
rvizMarker_.color.b = 1.0f;
rvizMarker_.color.a = 1.0;
break;
case 1:
rvizMarker_.color.r = 1.0f;
rvizMarker_.color.g = 0.0f;
rvizMarker_.color.b = 0.0f;
rvizMarker_.color.a = 1.0;
break;
default:
rvizMarker_.color.r = 0.0f;
rvizMarker_.color.g = 1.0f;
rvizMarker_.color.b = 0.0f;
rvizMarker_.color.a = 1.0;
}
rvizMarker_.lifetime = ros::Duration (1.0);
rvizMarkerPub_.publish(rvizMarker_);
ROS_DEBUG ("Published visual marker");
}
}
arMarkerPub_.publish(arPoseMarkers_);
ROS_DEBUG ("Published ar_multi markers");
}
void ARSinglePublisher::getTransformationCallback (const sensor_msgs::ImageConstPtr & image_msg)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, k;
/* Get the image from ROSTOPIC
* NOTE: the dataPtr format is BGR because the ARToolKit library was
* build with V4L, dataPtr format change according to the
* ARToolKit configure option (see config.h).*/
try
{
capture_ = bridge_.imgMsgToCv (image_msg, "bgr8");
}
catch (sensor_msgs::CvBridgeException & e)
{
ROS_ERROR ("Could not convert from '%s' to 'bgr8'.", image_msg->encoding.c_str ());
}
//cvConvertImage(capture_,capture_,CV_CVTIMG_FLIP); //flip image
dataPtr = (ARUint8 *) capture_->imageData;
// detect the markers in the video frame
if (arDetectMarker (dataPtr, threshold_, &marker_info, &marker_num) < 0)
{
ROS_FATAL ("arDetectMarker failed");
ROS_BREAK (); // FIXME: I don't think this should be fatal... -Bill
}
// check for known patterns
k = -1;
for (i = 0; i < marker_num; i++)
{
if (marker_info[i].id == patt_id_)
{
ROS_DEBUG ("Found pattern: %d ", patt_id_);
// make sure you have the best pattern (highest confidence factor)
if (k == -1)
k = i;
else if (marker_info[k].cf < marker_info[i].cf)
k = i;
}
}
if (k != -1)
{
// **** get the transformation between the marker and the real camera
double arQuat[4], arPos[3];
if (!useHistory_ || contF == 0)
arGetTransMat (&marker_info[k], marker_center_, markerWidth_, marker_trans_);
else
arGetTransMatCont (&marker_info[k], marker_trans_, marker_center_, markerWidth_, marker_trans_);
contF = 1;
//arUtilMatInv (marker_trans_, cam_trans);
arUtilMat2QuatPos (marker_trans_, arQuat, arPos);
// **** convert to ROS frame
double quat[4], pos[3];
pos[0] = arPos[0] * AR_TO_ROS;
pos[1] = arPos[1] * AR_TO_ROS;
pos[2] = arPos[2] * AR_TO_ROS;
quat[0] = -arQuat[0];
quat[1] = -arQuat[1];
quat[2] = -arQuat[2];
quat[3] = arQuat[3];
ROS_DEBUG (" QUAT: Pos x: %3.5f y: %3.5f z: %3.5f", pos[0], pos[1], pos[2]);
ROS_DEBUG (" Quat qx: %3.5f qy: %3.5f qz: %3.5f qw: %3.5f", quat[0], quat[1], quat[2], quat[3]);
// **** publish the marker
ar_pose_marker_.header.frame_id = image_msg->header.frame_id;
ar_pose_marker_.header.stamp = image_msg->header.stamp;
ar_pose_marker_.id = marker_info->id;
ar_pose_marker_.pose.pose.position.x = pos[0];
ar_pose_marker_.pose.pose.position.y = pos[1];
ar_pose_marker_.pose.pose.position.z = pos[2];
ar_pose_marker_.pose.pose.orientation.x = quat[0];
ar_pose_marker_.pose.pose.orientation.y = quat[1];
ar_pose_marker_.pose.pose.orientation.z = quat[2];
ar_pose_marker_.pose.pose.orientation.w = quat[3];
ar_pose_marker_.confidence = marker_info->cf;
arMarkerPub_.publish(ar_pose_marker_);
ROS_DEBUG ("Published ar_single marker");
// **** publish transform between camera and marker
btQuaternion rotation (quat[0], quat[1], quat[2], quat[3]);
btVector3 origin(pos[0], pos[1], pos[2]);
btTransform t(rotation, origin);
if(publishTf_)
{
if(reverse_transform_)
{
tf::StampedTransform markerToCam (t.inverse(), image_msg->header.stamp, markerFrame_.c_str(), image_msg->header.frame_id);
broadcaster_.sendTransform(markerToCam);
} else {
tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, markerFrame_.c_str());
broadcaster_.sendTransform(camToMarker);
}
}
// **** publish visual marker
if(publishVisualMarkers_)
{
btVector3 markerOrigin(0, 0, 0.25 * markerWidth_ * AR_TO_ROS);
btTransform m(btQuaternion::getIdentity(), markerOrigin);
btTransform markerPose = t * m; // marker pose in the camera frame
tf::poseTFToMsg(markerPose, rvizMarker_.pose);
rvizMarker_.header.frame_id = image_msg->header.frame_id;
rvizMarker_.header.stamp = image_msg->header.stamp;
rvizMarker_.id = 1;
rvizMarker_.scale.x = 1.0 * markerWidth_ * AR_TO_ROS;
rvizMarker_.scale.y = 1.0 * markerWidth_ * AR_TO_ROS;
rvizMarker_.scale.z = 0.5 * markerWidth_ * AR_TO_ROS;
rvizMarker_.ns = "basic_shapes";
rvizMarker_.type = visualization_msgs::Marker::CUBE;
rvizMarker_.action = visualization_msgs::Marker::ADD;
rvizMarker_.color.r = 0.0f;
rvizMarker_.color.g = 1.0f;
rvizMarker_.color.b = 0.0f;
rvizMarker_.color.a = 1.0;
rvizMarker_.lifetime = ros::Duration();
rvizMarkerPub_.publish(rvizMarker_);
ROS_DEBUG ("Published visual marker");
}
}
else
{
contF = 0;
ROS_DEBUG ("Failed to locate marker");
}
}
