Eigen::Vector3d obj_axe_2_points_next(int i_head,int i_center){
pcl::PointXYZRGB center,head;
center = cloud->at(i_center); //x1 y1 z1
head = cloud->at(i_head); //x2 y2 z2
Eigen::Vector3d vector_l;
vector_l(0)=5*(head.x - center.x);
vector_l(1)=5*(head.y - center.y);
vector_l(2)=5*(head.z - center.z);
return vector_l;
}
void App::VisZ(TUMDataSetVisualizer * viewer) {
float const maxZ = max_element(Input_->begin(), Input_->end(),
[] (PointType const& lft, PointType const& rgh) {
if (pcl_isfinite(lft.z) && pcl_isfinite(rgh.z)) {
return lft.z < rgh.z;
} else {
return ! pcl_isfinite(lft.z);
}
})->z;
viewer->EasyAdd(Input_, "input", [this, &maxZ] (int i) { // #6
float const relZ = Input_->at(i).z / maxZ;
return Color({static_cast<int>(relZ * 255), 0, static_cast<int>((1 - relZ) * 255)});
});
}
int ObjectAspect::calculate(const cv::Mat &image, const PointCloud::Ptr &pointcloud) {
cv::Mat gray,timg;
image.copyTo(this->image);
this->points = pointcloud;
#if 1
cv::cvtColor(image,gray,CV_BGR2HLS);
//gray = planes[2]-planes[1];
std::vector<cv::Mat> planes;
cv::split(gray,planes);
gray = planes[1];
cv::merge(&planes[0],(size_t)3,timg);
cv::cvtColor(timg,timg,CV_HSV2BGR);
#else
timg = image;
#endif
#ifdef DEBUG_VIS
cv::cvtColor(gray,timg,CV_GRAY2BGR);
#endif
const int HessianThreshold = 500;
cv::SURF bug(HessianThreshold);
bug.extended = false;
bug(gray,255*cv::Mat::ones(gray.rows,gray.cols,CV_8U),keypoints,descriptors);
for(size_t i = 0; i < keypoints.size(); i++) {
cv::KeyPoint kp = keypoints[i];
PointType pt3d = pointcloud->at(kp.pt.x,kp.pt.y);
pt3d.rgb = kp.response;
if(!isnan(pt3d.x)/*&&(kp.response/1000>3)*/) {
keypoints3D->points.push_back(pt3d);
map2D3D.insert(std::make_pair<int,int>(i,keypoints3D->points.size()-1));
map2D3Dinv.insert(std::make_pair<int,int>(keypoints3D->points.size()-1,i));
}
}
#ifdef DEBUG_VIS
plotKeypoints(timg);
cv::namedWindow("surf");
cv::imshow("surf",timg);
#endif
return 0;
}
void App::VisOriginal(TUMDataSetVisualizer * viewer) {
viewer->EasyAdd(Input_, "input", [this] (int i) {
return Color(Input_->at(i));
});
}
bool send2(brio_assembly_vision_new::TrasformStampedRequest &req, brio_assembly_vision_new::TrasformStampedResponse &res)
{
request_a_new_cluster =true;
if(find_cloud_from_kinect_head==true && final ==false)
{
brio_assembly_vision_new::Container * cont = new brio_assembly_vision_new::Container();
while((cont=client_call())==NULL)
{
std::this_thread::sleep_for (std::chrono::seconds(1)); //wait for a good response
}
if(first_time==true)
{
initial_cluster_size=cont->date_container.size();
}
first_time=false;
if(cont->date_container.size()>0) //after moving objects size is decreased
{
int i=0; //start with the lowest index
std::string object_with_shape_requested = model[model_step];
while(cont->date_container[i].piece_type!=object_with_shape_requested && i<cont->date_container.size()-1) //
{
i++;
}
//end while when cluster_vector[i] has the requested shape or when the search index is bigger then cluster_vector
if(i<=cont->date_container.size()-1) // if i<=cluster_vector.size() then we did find requested object at indices i
{
Eigen::Vector3d z_axe,x_or_y_axe;
Eigen::Vector4d translation;
z_axe=estimate_plane_normals(cloud);
int i_center = cont->date_container[i].center_index;
int i_head = cont->date_container[i].head_conn_index;
x_or_y_axe= obj_axe_2_points_next(i_head,i_center);
pcl::PointXYZRGB center = cloud->at(cont->date_container[i].center_index);
translation[0] = center.x;
translation[1] = center.y;
translation[2] = center.z;
calculate_transformation(x_or_y_axe,z_axe ,translation);
ROS_INFO("Send TransformedPose");
Eigen::Quaternionf quat;
quat = createQuaternion();
res.msg.child_frame_id = "brio_piece_frame";
res.msg.header.frame_id = "head_mount_kinect_rgb_optical_frame";
res.msg.transform.translation.x = transformata_finala(0,3);
res.msg.transform.translation.y = transformata_finala(1,3);
res.msg.transform.translation.z = transformata_finala(2,3);
res.msg.transform.rotation.w = (double)quat.w();
res.msg.transform.rotation.x = (double)quat.x();
res.msg.transform.rotation.y = (double)quat.y();
res.msg.transform.rotation.z = (double)quat.z();
if(model_step<initial_cluster_size-1)
model_step++;
else
{ final=true;
//return false;
}
return true;
}