void frecuency_multiplication(Image<T> &img,const char *filename, int num_kernel = 0){
int Ncols = (img.cols == (1<<(log_2(img.cols))-1))? img.cols : 1<<(log_2(img.cols));
int Nrows = (img.rows == (1<<(log_2(img.rows))-1))? img.rows : 1<<(log_2(img.rows));
Ncols = Nrows = max(Ncols,Nrows);
cout<<Ncols<<" "<<Nrows<<endl;
Image<cpx> ori(Nrows,Ncols);
Image<cpx> kernel(Nrows,Ncols);
Image<cpx> kernel_frec(Nrows,Ncols);
Image<T> init_kernel(3,3);
Image<cpx> dest(Nrows,Ncols);
Image<cpx> final(Nrows,Ncols);
Image<T> final2(Nrows,Ncols);
initialize_kernel(init_kernel,num_kernel);
cp_and_padding(ori,img);
cp_and_padding(kernel,init_kernel);
FFT_image(ori,dest);
FFT_image(kernel,kernel_frec);
multiply(dest,kernel_frec,final);
FFT_image(final,ori,-1);
for(int i = 0; i < final.rows; ++i)
for(int j = 0; j < final.cols; ++j){
//final2(i,j) = ori(i,j).a / (Nrows*Ncols); // REAL
final2(i,j) = sqrt(ori(i,j).modsq()) / (Nrows*Ncols); // Magnitude
assert(ori(i,j).b < 1e-4);
}
final2.normalize(400);
save_image(filename, final2);
}
void My_Filter::pclCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud){
pcl::PCLPointCloud2::Ptr pcl_pc(new pcl::PCLPointCloud2 ());
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr final (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr final2 (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2::Ptr cloud_out (new pcl::PCLPointCloud2 ());
sensor_msgs::PointCloud2 pc2;
std::vector<int> inliers;
// Transformation into PCL type PointCloud2
pcl_conversions::toPCL((*cloud), *(pcl_pc));
// Transformation into PCL type PointCloud<pcl::PointXYZRGB>
pcl::fromPCLPointCloud2(*(pcl_pc), *(pcl_cloud));
std::list<geometry_msgs::PoseStamped> tmp_list;
int robot_counter = 0;
for (std::list<geometry_msgs::PoseStamped>::iterator it = robots.begin() ; it != robots.end(); ++it)
{
if(it->pose.orientation.x > 0.001)
{ // Robot currently not seen
////////////////////////
// PassThrough filter //
////////////////////////
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud (pcl_cloud);
pass.setFilterFieldName ("x");
pass.setFilterLimits (it->pose.position.x-DETECTION_DISTANCE-it->pose.orientation.x*0.002,
it->pose.position.x+DETECTION_DISTANCE+it->pose.orientation.x*0.002);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pass.setInputCloud (final2);
pass.setFilterFieldName ("y");
pass.setFilterLimits (it->pose.position.y-DETECTION_DISTANCE-it->pose.orientation.x*0.002,
it->pose.position.y+DETECTION_DISTANCE+it->pose.orientation.x*0.002);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
}
else
{ // Robot seen
////////////////////////
// PassThrough filter //
////////////////////////
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud (pcl_cloud);
pass.setFilterFieldName ("x");
pass.setFilterLimits (it->pose.position.x-DETECTION_DISTANCE, it->pose.position.x+DETECTION_DISTANCE);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pass.setInputCloud (final2);
pass.setFilterFieldName ("y");
pass.setFilterLimits (it->pose.position.y-DETECTION_DISTANCE, it->pose.position.y+DETECTION_DISTANCE);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pcl::ConditionOr<pcl::PointXYZ>::Ptr range_cond (new pcl::ConditionOr<pcl::PointXYZ> ());
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("x", pcl::ComparisonOps::GT, it->pose.position.x+DETECTION_DISTANCE)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("x", pcl::ComparisonOps::LT, it->pose.position.x-DETECTION_DISTANCE)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("y", pcl::ComparisonOps::GT, it->pose.position.y+DETECTION_DISTANCE)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("y", pcl::ComparisonOps::LT, it->pose.position.y-DETECTION_DISTANCE)));
// build the filter
pcl::ConditionalRemoval<pcl::PointXYZ> condrem (range_cond);
condrem.setInputCloud (pcl_cloud);
condrem.setKeepOrganized(true);
// apply filter
condrem.filter (*pcl_cloud);
}
if(final2->size() > 2)
{ // Something in the box
double meanX = 0.0;
double meanY = 0.0;
for(int i = 0; i < final2->size(); i++)
{
meanX += final2->at(i).x;
meanY += final2->at(i).y;
}
meanX = meanX / final2->size();
meanY = meanY / final2->size();
//robots.at(robot_counter).pose.position.x = meanX;
//robots.at(robot_counter).pose.position.y = meanY;
it->pose.position.x = meanX;
it->pose.position.y = meanY;
char numstr[50];
sprintf(numstr, "/robot_%s_link", it->header.frame_id.c_str());
t = tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(0.0), tf::Vector3(meanX, meanY, 0.0)),
ros::Time::now(), "/world", numstr);
t.stamp_ = ros::Time::now();
broadcaster.sendTransform(t);
it->pose.orientation.x = 0.0;
tmp_list.push_front(*it);
//std::cout << "size : " << final2->size() << std::endl;
}
else
{ // Nothing found in the box
it->pose.orientation.x += 1.0;
if(it->pose.orientation.x > 100.0)
{
it->pose.orientation.x = 100.0;
}
//std::cout << "coef : " << it->pose.orientation.x << std::endl;
geometry_msgs::PoseStamped tmp = *it;
//robots.push_back(*it);
//robots.erase(it);
//robots.push_back(tmp);
tmp_list.push_back(*it);
}
robot_counter++;
}
robots = tmp_list;
/////////////////////////////////
// Statistical Outlier Removal //
/////////////////////////////////
/* pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
sor.setInputCloud (pcl_cloud);
sor.setMeanK (200);
sor.setStddevMulThresh (1.0);
sor.filter (*final);
*/
//////////////////////////////////
// Euclidian Cluster Extraction //
//////////////////////////////////
// Creating the KdTree object for the search method of the extraction
/* pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud (pcl_cloud);
std::vector<pcl::PointIndices> cluster_indices;
pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
ec.setClusterTolerance (0.05); // 2cm
ec.setMinClusterSize (5);
ec.setMaxClusterSize (50);
ec.setSearchMethod (tree);
ec.setInputCloud (pcl_cloud);
ec.extract (cluster_indices);
std::cout << cluster_indices.size() << std::endl;
double x = 0.0;
double y = 0.0;
for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
{
x = 0.0;
y = 0.0;
for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
{
x +=pcl_cloud->points[*pit].x;
y +=pcl_cloud->points[*pit].y;
}
x = x / it->indices.size();
y = y / it->indices.size();
std::cout << "x : " << x << " y : " << y << " size : " << it->indices.size() << std::endl;
}
*/
// Transformation into ROS type
pcl::toPCLPointCloud2(*(pcl_cloud), *(cloud_out));
pcl_conversions::moveFromPCL(*(cloud_out), pc2);
point_cloud_publisher_.publish(pc2);
}
void topicCallback_input_cloud(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
/* protected region user implementation of subscribe callback for input_cloud on begin */
pcl::PCLPointCloud2::Ptr pcl_pc(new pcl::PCLPointCloud2 ());
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr final (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr final2 (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2::Ptr cloud_out (new pcl::PCLPointCloud2 ());
sensor_msgs::PointCloud2 pc2;
std::vector<int> inliers;
// Transformation into PCL type PointCloud2
pcl_conversions::toPCL((*msg), *(pcl_pc));
// Transformation into PCL type PointCloud<pcl::PointXYZRGB>
pcl::fromPCLPointCloud2(*(pcl_pc), *(pcl_cloud));
std::list<geometry_msgs::PoseStamped> tmp_list;
int robot_counter = 0;
for (std::list<geometry_msgs::PoseStamped>::iterator it = robots.begin() ; it != robots.end(); ++it)
{
if(it->pose.orientation.x > 0.001)
{ // Robot currently not seen
////////////////////////
// PassThrough filter //
////////////////////////
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud (pcl_cloud);
pass.setFilterFieldName ("x");
pass.setFilterLimits (it->pose.position.x-localconfig.detection_distance-it->pose.orientation.x*0.002,
it->pose.position.x+localconfig.detection_distance+it->pose.orientation.x*0.002);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pass.setInputCloud (final2);
pass.setFilterFieldName ("y");
pass.setFilterLimits (it->pose.position.y-localconfig.detection_distance-it->pose.orientation.x*0.002,
it->pose.position.y+localconfig.detection_distance+it->pose.orientation.x*0.002);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
}
else
{ // Robot seen
////////////////////////
// PassThrough filter //
////////////////////////
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud (pcl_cloud);
pass.setFilterFieldName ("x");
pass.setFilterLimits (it->pose.position.x-localconfig.detection_distance, it->pose.position.x+localconfig.detection_distance);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pass.setInputCloud (final2);
pass.setFilterFieldName ("y");
pass.setFilterLimits (it->pose.position.y-localconfig.detection_distance, it->pose.position.y+localconfig.detection_distance);
//pass.setFilterLimitsNegative (true);
pass.filter (*final2);
pcl::ConditionOr<pcl::PointXYZ>::Ptr range_cond (new pcl::ConditionOr<pcl::PointXYZ> ());
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("x", pcl::ComparisonOps::GT, it->pose.position.x+localconfig.detection_distance)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("x", pcl::ComparisonOps::LT, it->pose.position.x-localconfig.detection_distance)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("y", pcl::ComparisonOps::GT, it->pose.position.y+localconfig.detection_distance)));
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("y", pcl::ComparisonOps::LT, it->pose.position.y-localconfig.detection_distance)));
// build the filter
pcl::ConditionalRemoval<pcl::PointXYZ> condrem (range_cond);
condrem.setInputCloud (pcl_cloud);
condrem.setKeepOrganized(true);
// apply filter
condrem.filter (*pcl_cloud);
}
if(final2->size() > 2)
{ // Something in the box
double meanX = 0.0;
double meanY = 0.0;
for(int i = 0; i < final2->size(); i++)
{
meanX += final2->at(i).x;
meanY += final2->at(i).y;
}
meanX = meanX / final2->size();
meanY = meanY / final2->size();
//robots.at(robot_counter).pose.position.x = meanX;
//robots.at(robot_counter).pose.position.y = meanY;
it->pose.position.x = (meanX + it->pose.position.x) / 2.0;
it->pose.position.y = (meanY + it->pose.position.y) / 2.0;
char numstr[50];
sprintf(numstr, "/robot_%s_link", it->header.frame_id.c_str());
t = tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(0.0), tf::Vector3(meanX, meanY, 0.0)),
ros::Time::now(), "/world", numstr);
t.stamp_ = ros::Time::now();
broadcaster.sendTransform(t);
it->pose.orientation.x = 0.0;
tmp_list.push_front(*it);
if(it->header.frame_id == "0")
{
robot1_output_ready = true;
}
else
{
robot2_output_ready = true;
}
//std::cout << "size : " << final2->size() << std::endl;
}
else
{ // Nothing found in the box
it->pose.orientation.x += 1.0;
if(it->pose.orientation.x > 100.0)
{
it->pose.orientation.x = 100.0;
}
//std::cout << "coef : " << it->pose.orientation.x << std::endl;
geometry_msgs::PoseStamped tmp = *it;
//robots.push_back(*it);
//robots.erase(it);
//robots.push_back(tmp);
tmp_list.push_back(*it);
}
robot_counter++;
}
robots = tmp_list;
/* protected region user implementation of subscribe callback for input_cloud end */
}
