bool
VirtualTrackball::mouseMoved ( const MouseEvent* event )
{
if ( !event->isLeftButtonPressed() ) return false;
const Eigen::Vector3f p0 = this->_oldp;
const Eigen::Vector3f p1 = this->project_on_sphere ( event->x(), event->y() );
this->_oldp = p1;
if ( ( p0 - p1 ).norm() < this->_eps ) return false; // do nothing
//何か間違ってそうなので訂正してみる
float radian = std::acos( p0.dot ( p1 ) )*0.5;
const float cost = std::cos(radian);
const float sint = std::sin(radian);
//const float cost = p0.dot ( p1 );
//const float sint = std::sqrt ( 1 - cost * cost );
const Eigen::Vector3f axis = p0.cross ( p1 ).normalized();
const Eigen::Quaternionf q ( -cost, sint * axis.x(), sint * axis.y(), sint * axis.z() );
if( ( q.x()!=q.x() )|| ( q.y()!=q.y() )|| ( q.z()!=q.z() )|| ( q.w()!=q.w() ) ) return false;
/*
Eigen::Vector3f bmin , bmax;
Mesh mesh;
mesh = this->_model.getMesh();
mesh.getBoundingBox(bmin,bmax);
Eigen::Vector3f mc = (bmin + bmax)*0.5;
Eigen::Vector3f c = Eigen::Matrix3f(q) * ( this->_model.getCamera().getCenter() - mc ) + mc ;
this->_model.setCameraPosition(c.x(),c.y(),c.z());*/
//this->_model.addRotation ( q );
return true;
}
Eigen::Quaternionf AdafruitWidget::getQuaternion()
{
Eigen::Quaternionf quat = myIMU->returnPose();
QString label = QString("%1 / %2 / %3 / %4").arg(quat.w()).arg(quat.x()).arg(quat.y()).arg(quat.z());
ui->label_Quaternion->setText(label);
return myIMU->returnPose();
}
void UrdfModelMarker::addInvisibleMeshMarkerControl(visualization_msgs::InteractiveMarker &int_marker, boost::shared_ptr<const Link> link, const std_msgs::ColorRGBA &color){
visualization_msgs::InteractiveMarkerControl control;
// ps.pose = UrdfPose2Pose(link->visual->origin);
visualization_msgs::Marker marker;
//if (use_color) marker.color = color;
marker.type = visualization_msgs::Marker::CYLINDER;
double scale=0.01;
marker.scale.x = scale;
marker.scale.y = scale * 1;
marker.scale.z = scale * 40;
marker.color = color;
//marker.pose = stamped.pose;
//visualization_msgs::InteractiveMarkerControl control;
boost::shared_ptr<Joint> parent_joint = link->parent_joint;
Eigen::Vector3f origin_x(0,0,1);
Eigen::Vector3f dest_x(parent_joint->axis.x, parent_joint->axis.y, parent_joint->axis.z);
Eigen::Quaternionf qua;
qua.setFromTwoVectors(origin_x, dest_x);
marker.pose.orientation.x = qua.x();
marker.pose.orientation.y = qua.y();
marker.pose.orientation.z = qua.z();
marker.pose.orientation.w = qua.w();
control.markers.push_back( marker );
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::BUTTON;
control.always_visible = true;
int_marker.controls.push_back(control);
return;
}
/*
* Gets the current rotation matrix.
*
* Returns a pointer to the consecutive values that are used as the elements
* of a rotation matrix. The elements are specified in column order. That is,
* if we have 16 elements and we are specifying a 4 x 4 matrix, then the first
* 4 elements represent the first column, and so on.
*
* The actual form of the rotation matrix is specified in HW3 notes. All we
* need to do is get the current rotation quaternion and translate it to
* matrix form.
*/
float *get_rotation_matrix() {
Eigen::Quaternionf q = get_current_rotation();
float qs = q.w();
float qx = q.x();
float qy = q.y();
float qz = q.z();
float *matrix = new float[16];
MatrixXf m(4, 4);
m <<
1 - 2 * qy * qy - 2 * qz * qz, 2 * (qx * qy - qz * qs),
2 * (qx * qz + qy * qs), 0,
2 * (qx * qy + qz * qs), 1 - 2 * qx * qx - 2 * qz * qz,
2 * (qy * qz - qx * qs), 0,
2 * (qx * qz - qy * qs), 2 * (qy * qz + qx * qs),
1 - 2 * qx * qx - 2 * qy * qy, 0,
0, 0, 0, 1;
// Manually copy eigen data into float array, otherwise we run into
// memory issues
int count = 0;
for (int col = 0; col < 4; col++) {
for (int row = 0; row < 4; row++) {
matrix[count] = m(row, col);
count++;
}
}
return matrix;
}
bool CommandSubscriber::getForcedTfFrame(Eigen::Affine3f & result) const
{
tf::StampedTransform transform;
try
{
m_tf_listener.lookupTransform(m_forced_tf_frame_reference,m_forced_tf_frame_name,ros::Time(0),transform);
}
catch (tf::TransformException ex)
{
ROS_ERROR("kinfu: hint was forced by TF, but retrieval failed because: %s",ex.what());
return false;
}
Eigen::Vector3f vec;
vec.x() = transform.getOrigin().x();
vec.y() = transform.getOrigin().y();
vec.z() = transform.getOrigin().z();
Eigen::Quaternionf quat;
quat.x() = transform.getRotation().x();
quat.y() = transform.getRotation().y();
quat.z() = transform.getRotation().z();
quat.w() = transform.getRotation().w();
result.linear() = Eigen::AngleAxisf(quat).matrix();
result.translation() = vec;
return true;
}
void makeJointMarker(std::string jointName)
{
boost::shared_ptr<const urdf::Joint> targetJoint = huboModel.getJoint(jointName);
// The marker must be created in the parent frame so you don't get feedback when you move it
visualization_msgs::InteractiveMarker marker;
marker.scale = .125;
marker.name = jointName;
marker.header.frame_id = targetJoint->parent_link_name;
geometry_msgs::Pose controlPose = hubo_motion_ros::toPose( targetJoint->parent_to_joint_origin_transform);
marker.pose = controlPose;
visualization_msgs::InteractiveMarkerControl control;
Eigen::Quaternionf jointAxis;
Eigen::Vector3f axisVector = hubo_motion_ros::toEVector3(targetJoint->axis);
jointAxis.setFromTwoVectors(Eigen::Vector3f::UnitX(), axisVector);
control.orientation.w = jointAxis.w();
control.orientation.x = jointAxis.x();
control.orientation.y = jointAxis.y();
control.orientation.z = jointAxis.z();
control.always_visible = true;
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
control.orientation_mode = visualization_msgs::InteractiveMarkerControl::INHERIT;
marker.controls.push_back(control);
gIntServer->insert(marker);
gIntServer->setCallback(marker.name, &processFeedback);
}
bool CObjTreePlugin::srvGetPlane(srs_env_model::GetPlane::Request &req, srs_env_model::GetPlane::Response &res)
{
const objtree::Object *object = m_octree.object(req.object_id);
//Object hasn't been found
if(!object) return true;
if(object->type() != objtree::Object::PLANE) return true;
const objtree::Plane *plane = (const objtree::Plane*)object;
res.plane.id = req.object_id;
res.plane.pose.position.x = plane->pos().x;
res.plane.pose.position.y = plane->pos().y;
res.plane.pose.position.z = plane->pos().z;
//Quaternion from normal
Eigen::Vector3f normal(plane->normal().x, plane->normal().y, plane->normal().z);
Eigen::Quaternionf q;
q.setFromTwoVectors(upVector, normal.normalized());
res.plane.pose.orientation.x = q.x();
res.plane.pose.orientation.y = q.y();
res.plane.pose.orientation.z = q.z();
res.plane.pose.orientation.w = q.w();
res.plane.scale.x = plane->boundingMax().x-plane->boundingMin().x;
res.plane.scale.y = plane->boundingMax().y-plane->boundingMin().y;
res.plane.scale.z = plane->boundingMax().z-plane->boundingMin().z;
return true;
}
void EKFGyroAcc::reset(Eigen::Quaternionf att)
{
this->x.setZero();
this->x(0, 0) = att.w();
this->x(1, 0) = att.x();
this->x(2, 0) = att.y();
this->x(3, 0) = att.z();
}
void PlayWindow::on_pushButton_Quat_clicked()
{
Eigen::Quaternionf cal = ada->GetQuat();
ui->label_W->setText(QString::number(cal.w()));
ui->label_X->setText(QString::number(cal.x()));
ui->label_Y->setText(QString::number(cal.y()));
ui->label_Z->setText(QString::number(cal.z()));
if (ui->checkBox_Save->isChecked())
{
QFile file(ui->lineEdit_Path->text().append("Adafruit Results ").append(QDateTime::currentDateTime().toString()));
file.open(QFile::ReadWrite);
QString result = QString("%1 %2 %3 %4").arg(cal.w()).arg(cal.x()).arg(cal.y()).arg(cal.z());
file.write(result.toUtf8());
file.close();
}
return;
}
// Callback function for "segment_plans" service
bool segment (segment_plans_objects::PlantopSegmentation::Request &req,
segment_plans_objects::PlantopSegmentation::Response &res) {
cout << "Query received !" << endl;
if (current_cloud->empty()) {
res.result = 1;
cout << "Error : segment_plans_objects : no current cloud" << endl;
return false;
}
cout << "Segmenting..." << endl;
res.result = 4;
if (segmenter.segment_plans (current_cloud) == 0)
res.result = 2;
else if (segmenter.segment_clusters (current_cloud) == 0)
res.result = 3;
else if (segmenter.segment_rgb (current_rgb) == 0)
res.result = 3;
cout << "Segmentation done." << endl;
// TODO Remplir le header pour la pose de la table
Eigen::Vector3f t = segmenter.get_prefered_plan_translation ();
res.table.pose.header = current_cloud->header;
res.table.pose.pose.position.x = t(0);
res.table.pose.pose.position.y = t(1);
res.table.pose.pose.position.z = t(2);
Eigen::Quaternionf q = segmenter.get_prefered_plan_orientation ();
// Be carefull here, eigen quaternion ordering is : w, x, y, z
// while ROS is : x, y, z, w
res.table.pose.pose.orientation.x = q.x();
res.table.pose.pose.orientation.y = q.y();
res.table.pose.pose.orientation.z = q.z();
res.table.pose.pose.orientation.w = q.w();
Eigen::Vector4f min, max;
min = segmenter.get_prefered_plan_min ();
max = segmenter.get_prefered_plan_max ();
res.table.x_min = min(0);
res.table.x_max = max(0);
res.table.y_min = min(1);
res.table.y_max = max(1);
for (size_t i=0; i < segmenter.get_num_clusters(); ++i) {
sensor_msgs::PointCloud2 tmp;
pcl::toROSMsg(*(segmenter.get_cluster(i)), tmp);
res.clusters.push_back(tmp);
}
for (size_t i=0; i < segmenter.get_num_rgbs(); ++i) {
cv_bridge::CvImagePtr cv_ptr (new cv_bridge::CvImage);
//cv_ptr->header = ; TODO fill the header with current image header
cv_ptr->encoding = enc::BGR8;
cv_ptr->image = *(segmenter.get_rgb_cluster(i));
res.cluster_images.push_back(*cv_ptr->toImageMsg());
}
return true;
}
void imageCallback(const sensor_msgs::ImageConstPtr& image_msg)
{
try
{
input_bridge_ = cv_bridge::toCvCopy(image_msg, "mono8");
output_bridge_ = cv_bridge::toCvCopy(image_msg, "bgr8");
}
catch (cv_bridge::Exception& ex)
{
ROS_ERROR("[calibrate] Failed to convert image");
return;
}
Eigen::Vector3f translation;
Eigen::Quaternionf orientation;
if (!pattern_detector_.detectPattern(input_bridge_->image, translation, orientation, output_bridge_->image))
{
ROS_INFO("[calibrate] Couldn't detect checkerboard, make sure it's visible in the image.");
return;
}
tf::Transform target_transform;
tf::StampedTransform base_transform;
try
{
ros::Time acquisition_time = image_msg->header.stamp;
ros::Duration timeout(1.0 / 30.0);
target_transform.setOrigin( tf::Vector3(translation.x(), translation.y(), translation.z()) );
target_transform.setRotation( tf::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w()) );
tf_broadcaster_.sendTransform(tf::StampedTransform(target_transform, image_msg->header.stamp, image_msg->header.frame_id, target_frame));
}
catch (tf::TransformException& ex)
{
ROS_WARN("[calibrate] TF exception:\n%s", ex.what());
return;
}
publishCloud(ideal_points_, target_transform, image_msg->header.frame_id);
overlayPoints(ideal_points_, target_transform, output_bridge_);
// Publish calibration image
pub_.publish(output_bridge_->toImageMsg());
pcl_ros::transformPointCloud(ideal_points_, image_points_, target_transform);
cout << "Got an image callback!" << endl;
calibrate(image_msg->header.frame_id);
ros::shutdown();
}
// This formula comes from Sebastian O.H. Madgwick's 2010 paper:
// "An efficient orientation filter for inertial and inertial/magnetic sensor arrays"
// https://www.samba.org/tridge/UAV/madgwick_internal_report.pdf
void
psmove_alignment_compute_objective_jacobian(
const Eigen::Quaternionf &q, const Eigen::Vector3f &d, Eigen::Matrix<float, 4, 3> &J)
{
/*
* The Jacobian of a function is a matrix of partial derivatives that relates rates of changes in inputs to outputs
*
* In this case the inputs are the components of the quaternion q (qw, qx, qy, and qz)
* and the outputs are the components of the error vector f(fx, fy, fz)
* Where f= q^-1*[0 dx dy dz]*q - s, d= initial field vector, s= target field vector
*
* Since there are 4 input vars (q1,q2,q3,q4) and 3 output vars (fx, fy, fz)
* The Jacobian is a 3x4 matrix that looks like this:
*
* | df_x/dq_1 df_x/dq_2 df_x/dq_3 df_x/dq_4 |
* | df_y/dq_1 df_y/dq_2 df_y/dq_3 df_y/dq_4 |
* | df_z/dq_1 df_z/dq_2 df_z/dq_3 df_z/dq_4 |
*/
const float two_dxq1 = 2.f*d.x()*q.w();
const float two_dxq2 = 2.f*d.x()*q.x();
const float two_dxq3 = 2.f*d.x()*q.y();
const float two_dxq4 = 2.f*d.x()*q.z();
const float two_dyq1 = 2.f*d.y()*q.w();
const float two_dyq2 = 2.f*d.y()*q.x();
const float two_dyq3 = 2.f*d.y()*q.y();
const float two_dyq4 = 2.f*d.y()*q.z();
const float two_dzq1 = 2.f*d.z()*q.w();
const float two_dzq2 = 2.f*d.z()*q.x();
const float two_dzq3 = 2.f*d.z()*q.y();
const float two_dzq4 = 2.f*d.z()*q.z();
J(0, 0) = two_dyq4 - two_dzq3; J(0, 1) = -two_dxq4 + two_dzq2; J(0, 2) = two_dxq3 - two_dyq2;
J(1, 0) = two_dyq3 + two_dzq4; J(1, 1) = two_dxq3 - 2.f*two_dyq2 + two_dzq1; J(1, 2) = two_dxq4 - two_dyq1 - 2.f*two_dzq2;
J(2, 0) = -2.f*two_dxq3 + two_dyq2 - two_dzq1; J(2, 1) = two_dxq2 + two_dzq4; J(2, 2) = two_dxq1 + two_dyq4 - 2.f*two_dzq3;
J(3, 0) = -2.f*two_dxq4 + two_dyq1 + two_dzq2; J(3, 1) = -two_dxq1 - 2.f*two_dyq4 + two_dzq3; J(3, 2) = two_dxq2 + two_dyq3;
}
int main( int argc, char* argv[] ) {
//
Eigen::Vector3f trans;
Eigen::Quaternionf q;
double a, b, c;
std::string gOriginalFile;
int v;
while( (v=getopt(argc,argv,"x:y:z:r:p:q:n:a:b:c:f:h")) != -1 ) {
switch(v) {
case 'f': { gOriginalFile.assign(optarg); } break;
case 'x': { trans(0) = atof(optarg); } break;
case 'y': { trans(1) = atof(optarg); } break;
case 'z': { trans(2) = atof(optarg); } break;
case 'r': { q.x() = atof(optarg); } break;
case 'p': { q.y() = atof(optarg); } break;
case 'q': { q.z() = atof(optarg); } break;
case 'n': { q.w() = atof(optarg); } break;
case 'a': { a = atof(optarg); } break;
case 'b': { b = atof(optarg); } break;
case 'c': { c = atof(optarg); } break;
}
}
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("Viz"));
viewer->initCameraParameters ();
viewer->addCoordinateSystem(0.2);
// Add pointcloud
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZRGBA>() );
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr table( new pcl::PointCloud<pcl::PointXYZRGBA>() );
pcl::io::loadPCDFile<pcl::PointXYZRGBA> (gOriginalFile, *cloud);
pcl::io::loadPCDFile<pcl::PointXYZRGBA> ("data_july_18/table_points.pcd", *table);
viewer->addPointCloud( cloud, "cloud_original");
viewer->addPointCloud( table, "table");
// Add point
pcl::PointXYZ cp;
cp.x = trans(0); cp.y = trans(1); cp.z = trans(2);
viewer->addSphere( cp, 0.005, "sphere" );
// Add cube
viewer->addCube( trans, q, 2*a,2*b,2*c);
while (!viewer->wasStopped ()) {
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
void detectCB(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg)
{
// make sure that the action is active
if (!as_.isActive())
return;
ROS_INFO("%s: Received image, performing detection", action_name_.c_str());
// Convert image message
try
{
img_bridge_ = cv_bridge::toCvCopy(image_msg, "mono8");
}
catch (cv_bridge::Exception& ex)
{
ROS_ERROR("[calibrate] Failed to convert image");
return;
}
ROS_INFO("%s: created cv::Mat", action_name_.c_str());
cam_model_.fromCameraInfo(info_msg);
detector_.setCameraMatrices(cam_model_.intrinsicMatrix(), cam_model_.distortionCoeffs());
Eigen::Vector3f translation;
Eigen::Quaternionf orientation;
if (detector_.detectPattern(img_bridge_->image, translation, orientation))
{
ROS_INFO("detected fiducial");
tf::Transform fiducial_transform;
fiducial_transform.setOrigin( tf::Vector3(translation.x(), translation.y(), translation.z()) );
fiducial_transform.setRotation( tf::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w()) );
tf::StampedTransform fiducial_transform_stamped(fiducial_transform, image_msg->header.stamp, cam_model_.tfFrame(), "fiducial_frame");
tf_broadcaster_.sendTransform(fiducial_transform_stamped);
tf::Pose fiducial_pose;
fiducial_pose.setRotation(tf::Quaternion(0, 0, 0, 1.0));
fiducial_pose = fiducial_transform * fiducial_pose;
tf::Stamped<tf::Pose> fiducial_pose_stamped(fiducial_pose, image_msg->header.stamp, cam_model_.tfFrame());
tf::poseStampedTFToMsg(fiducial_pose_stamped, result_.pose);
as_.setSucceeded(result_);
pub_timer_.stop();
sub_.shutdown();
}
}
void addCoordinateFrame (geometry_msgs::Pose pose) {
cloud_viewer.addCoordinateSystem (0.5);
Eigen::Vector3f t;
t(0) = pose.position.x;
t(1) = pose.position.y;
t(2) = -pose.position.z; // PCL seems to have a strange Z axis
Eigen::Quaternionf q;
q.x() = pose.orientation.x;
q.y() = pose.orientation.y;
q.z() = pose.orientation.z;
q.w() = pose.orientation.w;
Eigen::Matrix3f R = q.toRotationMatrix();
Eigen::Vector3f r = R.eulerAngles(0, 1, 2);
Eigen::Affine3f A;
pcl::getTransformation (t(0), t(1), t(2), r(0), r(1), r(2), A);
cloud_viewer.addCoordinateSystem (0.2, A);
}
TEST (PCL, WarpPointRigid6DFloat)
{
WarpPointRigid6D<PointXYZ, PointXYZ, float> warp;
Eigen::Quaternionf q (0.4455f, 0.9217f, 0.3382f, 0.3656f);
q.normalize ();
Eigen::Vector3f t (0.82550f, 0.11697f, 0.44864f);
Eigen::VectorXf p (6);
p[0] = t.x (); p[1] = t.y (); p[2] = t.z (); p[3] = q.x (); p[4] = q.y (); p[5] = q.z ();
warp.setParam (p);
PointXYZ pin (1, 2, 3), pout;
warp.warpPoint (pin, pout);
EXPECT_NEAR (pout.x, 4.15963f, 1e-5);
EXPECT_NEAR (pout.y, -1.51363f, 1e-5);
EXPECT_NEAR (pout.z, 0.922648f, 1e-5);
}
void ImageMessageListener::cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& msg) {
cerr << "got camera matrix for topic: " << _camera_info_topic << endl;
if (_listener) {
char buffer[1024];
buffer[0] = 0;
tf::StampedTransform transform;
try{
_listener->waitForTransform(_base_link_frame_id, msg->header.frame_id,
msg->header.stamp,
ros::Duration(0.5) );
_listener->lookupTransform (_base_link_frame_id, msg->header.frame_id,
msg->header.stamp,
transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
return;
}
Eigen::Quaternionf q;
q.x() = transform.getRotation().x();
q.y() = transform.getRotation().y();
q.z() = transform.getRotation().z();
q.w() = transform.getRotation().w();
_camera_offset.linear()=q.toRotationMatrix();
_camera_offset.translation()=Eigen::Vector3f(transform.getOrigin().x(),
transform.getOrigin().y(),
transform.getOrigin().z());
}
int i;
for (int r=0; r<3; r++)
for (int c=0; c<3; c++, i++)
_K(r,c) = msg->K[i];
_K.row(2) << 0,0,1;
_has_camera_matrix = true;
_camera_info_subscriber.shutdown();
}
bool Geometry::GetMVBB(const Geometry::VertexSet &vertices, Box &box) {
ApproxMVBB::Vector3List v;
for (Geometry::VertexSet::const_iterator it = vertices.begin(); it!=vertices.end();++it){
pcl::PointXYZ p;
Vertex2Point(*it,p);
v.emplace_back(p.x,p.y,p.z);
}
ApproxMVBB::Matrix3Dyn points(3,v.size());
for(int i=0;i<v.size();i++)
points.col(i)=v[i];
//NOTE parameters see:https://github.com/gabyx/ApproxMVBB
ApproxMVBB::OOBB oobb = ApproxMVBB::approximateMVBB(points,0.001,8,5,0,5);
Eigen::Vector3f centroid(
(const float &) ((oobb.m_minPoint.x()+oobb.m_maxPoint.x())/2),
(const float &) ((oobb.m_minPoint.y()+oobb.m_maxPoint.y())/2),
(const float &) ((oobb.m_minPoint.z()+oobb.m_maxPoint.z())/2));
//upper/lower point in OOBB frame
double width = oobb.m_maxPoint.x()-oobb.m_minPoint.x();
double height = oobb.m_maxPoint.y()-oobb.m_minPoint.y();
double depth = oobb.m_maxPoint.z()-oobb.m_minPoint.z();
if (width<=0 || height<=0 ||depth<=0)
return false;
// coordinate transformation A_IK matrix from OOBB frame K to world frame I
Eigen::Quaternionf q;
q.x()= (float) oobb.m_q_KI.x();
q.y()= (float) oobb.m_q_KI.y();
q.z()= (float) oobb.m_q_KI.z();
q.w()= (float) oobb.m_q_KI.w();
centroid=q.matrix()*centroid;
// a translation to apply to the cube from 0,0,0
box.centroid=centroid;
// a quaternion-based rotation to apply to the cube
box.quanternion=q.inverse();
box.depth=depth;
box.height=height;
box.width=width;
return true;
}
void UrdfModelMarker::addMoveMarkerControl(visualization_msgs::InteractiveMarker &int_marker, boost::shared_ptr<const Link> link, bool root){
visualization_msgs::InteractiveMarkerControl control;
if(root){
im_helpers::add6DofControl(int_marker,false);
for(int i=0; i<int_marker.controls.size(); i++){
int_marker.controls[i].always_visible = true;
}
}else{
boost::shared_ptr<Joint> parent_joint = link->parent_joint;
Eigen::Vector3f origin_x(1,0,0);
Eigen::Vector3f dest_x(parent_joint->axis.x, parent_joint->axis.y, parent_joint->axis.z);
Eigen::Quaternionf qua;
qua.setFromTwoVectors(origin_x, dest_x);
control.orientation.x = qua.x();
control.orientation.y = qua.y();
control.orientation.z = qua.z();
control.orientation.w = qua.w();
int_marker.scale = 0.5;
switch(parent_joint->type){
case Joint::REVOLUTE:
case Joint::CONTINUOUS:
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
int_marker.controls.push_back(control);
break;
case Joint::PRISMATIC:
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
int_marker.controls.push_back(control);
break;
default:
break;
}
}
}
/**
* @brief Callback for feedback subscriber for getting the transformation of moved markers
*
* @param feedback subscribed from geometry_map/map/feedback
*/
void ShapeVisualization::setShapePosition(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)//,const cob_3d_mapping_msgs::Shape& shape)
{
cob_3d_mapping_msgs::ShapeArray map_msg;
map_msg.header.frame_id="/map";
map_msg.header.stamp = ros::Time::now();
int shape_id,index;
index=-1;
stringstream name(feedback->marker_name);
Eigen::Quaternionf quat;
Eigen::Matrix3f rotationMat;
Eigen::MatrixXf rotationMatInit;
Eigen::Vector3f normalVec;
Eigen::Vector3f normalVecNew;
Eigen::Vector3f newCentroid;
Eigen::Matrix4f transSecondStep;
if (feedback->marker_name != "Text"){
name >> shape_id ;
cob_3d_mapping::Polygon p;
for(int i=0;i<sha.shapes.size();++i)
{
if (sha.shapes[i].id == shape_id)
{
index = i;
}
}
// temporary fix.
//do nothing if index of shape is not found
// this is not supposed to occur , but apparently it does
if(index==-1){
ROS_WARN("shape not in map array");
return;
}
cob_3d_mapping::fromROSMsg (sha.shapes.at(index), p);
if (feedback->event_type == 2 && feedback->menu_entry_id == 5){
quatInit.x() = (float)feedback->pose.orientation.x ; //normalized
quatInit.y() = (float)feedback->pose.orientation.y ;
quatInit.z() = (float)feedback->pose.orientation.z ;
quatInit.w() = (float)feedback->pose.orientation.w ;
oldCentroid (0) = (float)feedback->pose.position.x ;
oldCentroid (1) = (float)feedback->pose.position.y ;
oldCentroid (2) = (float)feedback->pose.position.z ;
quatInit.normalize() ;
rotationMatInit = quatInit.toRotationMatrix() ;
transInit.block(0,0,3,3) << rotationMatInit ;
transInit.col(3).head(3) << oldCentroid(0) , oldCentroid(1), oldCentroid(2) ;
transInit.row(3) << 0,0,0,1 ;
transInitInv = transInit.inverse() ;
Eigen::Affine3f affineInitFinal (transInitInv) ;
affineInit = affineInitFinal ;
std::cout << "transInit : " << "\n" << affineInitFinal.matrix() << "\n" ;
}
if (feedback->event_type == 5){
/* the name of the marker is arrows_shape_.id, we need to erase the "arrows_" part */
//string strName(feedback->marker_name);
//strName.erase(strName.begin(),strName.begin()+7);
// stringstream name(strName);
stringstream name(feedback->marker_name);
name >> shape_id ;
cob_3d_mapping::Polygon p;
cob_3d_mapping::fromROSMsg (sha.shapes.at(index), p);
quat.x() = (float)feedback->pose.orientation.x ; //normalized
quat.y() = (float)feedback->pose.orientation.y ;
quat.z() = (float)feedback->pose.orientation.z ;
quat.w() = (float)feedback->pose.orientation.w ;
quat.normalize() ;
rotationMat = quat.toRotationMatrix() ;
normalVec << sha.shapes.at(index).params[0], //normalized
sha.shapes.at(index).params[1],
sha.shapes.at(index).params[2];
newCentroid << (float)feedback->pose.position.x ,
(float)feedback->pose.position.y ,
(float)feedback->pose.position.z ;
transSecondStep.block(0,0,3,3) << rotationMat ;
transSecondStep.col(3).head(3) << newCentroid(0) , newCentroid(1), newCentroid(2) ;
transSecondStep.row(3) << 0,0,0,1 ;
Eigen::Affine3f affineSecondStep(transSecondStep) ;
std::cout << "transfrom : " << "\n" << affineSecondStep.matrix() << "\n" ;
Eigen::Affine3f affineFinal(affineSecondStep*affineInit) ;
Eigen::Matrix4f matFinal = (transSecondStep*transInitInv) ;
normalVecNew = (matFinal.block(0,0,3,3))* normalVec;
// newCentroid = transFinal *OldCentroid ;
sha.shapes.at(index).centroid.x = newCentroid(0) ;
sha.shapes.at(index).centroid.y = newCentroid(1) ;
sha.shapes.at(index).centroid.z = newCentroid(2) ;
sha.shapes.at(index).params[0] = normalVecNew(0) ;
sha.shapes.at(index).params[1] = normalVecNew(1) ;
sha.shapes.at(index).params[2] = normalVecNew(2) ;
std::cout << "transfromFinal : " << "\n" << affineFinal.matrix() << "\n" ;
pcl::PointCloud<pcl::PointXYZ> pc;
pcl::PointXYZ pt;
sensor_msgs::PointCloud2 pc2;
for(unsigned int j=0; j<p.contours.size(); j++)
{
for(unsigned int k=0; k<p.contours[j].size(); k++)
{
p.contours[j][k] = affineFinal * p.contours[j][k];
pt.x = p.contours[j][k][0] ;
pt.y = p.contours[j][k][1] ;
pt.z = p.contours[j][k][2] ;
pc.push_back(pt) ;
}
}
pcl::toROSMsg (pc, pc2);
sha.shapes.at(index).points.clear() ;
sha.shapes.at(index).points.push_back (pc2);
// uncomment when using test_shape_array
// for(unsigned int i=0;i<sha.shapes.size();i++){
// map_msg.header = sha.shapes.at(i).header ;
// map_msg.shapes.push_back(sha.shapes.at(i)) ;
// }
// shape_pub_.publish(map_msg);
// end uncomment
modified_shapes_.shapes.push_back(sha.shapes.at(index));
}
void chatterCallback2(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
vector<string> sweep_xmls = semantic_map_load_utilties::getSweepXmls<PointType>(msg->data.c_str());
for (auto sweep_xml : sweep_xmls) {
int slash_pos = sweep_xml.find_last_of("/");
std::string sweep_folder = sweep_xml.substr(0, slash_pos) + "/";
printf("folder: %s\n",sweep_folder.c_str());
QStringList objectFiles = QDir(sweep_folder.c_str()).entryList(QStringList("*object*.xml"));
vector<ObjectData> objects = semantic_map_load_utilties::loadAllDynamicObjectsFromSingleSweep<PointType>(sweep_folder+"room.xml");
int object_id;
for (unsigned int i=0; i< objects.size(); i++){
if (objects[i].objectScanIndices.size() != 0){object_id = i;}
}
int index = objectFiles[object_id].toStdString().find_last_of(".");
string object_root_name = objectFiles[object_id].toStdString().substr(0,index);
for (auto object : objects){
if (!object.objectScanIndices.size()){continue;}
printf("%i\n",int(object.vAdditionalViews.size()));
std::vector<cv::Mat> viewrgbs;
std::vector<cv::Mat> viewdepths;
std::vector<cv::Mat> viewmasks;
std::vector<tf::StampedTransform > viewtfs;
std::vector<Eigen::Matrix4f> viewposes;
//std::stringstream ss_pose_file; ss_pose_file<<sweep_folder<<"/object_"<<object_id<<"/";
char buf [1024];
sprintf(buf,"%s/object_%i/poses.txt",sweep_folder.c_str(),object_id);
std::vector<Eigen::Matrix4f> poses = getRegisteredViewPoses(std::string(buf), object.vAdditionalViews.size());
cout<<"Loaded "<<poses.size()<<" registered poses."<<endl;
int step = std::max(1,int(0.5+double(object.vAdditionalViews.size())/10.0));
for (unsigned int i=0; i < 2000 && i<object.vAdditionalViews.size(); i+=step){
CloudPtr cloud = object.vAdditionalViews[i];
cv::Mat mask;
mask.create(cloud->height,cloud->width,CV_8UC1);
unsigned char * maskdata = (unsigned char *)mask.data;
cv::Mat rgb;
rgb.create(cloud->height,cloud->width,CV_8UC3);
unsigned char * rgbdata = (unsigned char *)rgb.data;
cv::Mat depth;
depth.create(cloud->height,cloud->width,CV_16UC1);
unsigned short * depthdata = (unsigned short *)depth.data;
unsigned int nr_data = cloud->height * cloud->width;
for(unsigned int j = 0; j < nr_data; j++){
maskdata[j] = 0;
PointType p = cloud->points[j];
rgbdata[3*j+0] = p.b;
rgbdata[3*j+1] = p.g;
rgbdata[3*j+2] = p.r;
depthdata[j] = short(5000.0 * p.z);
}
cout<<"Processing AV "<<i<<endl;
stringstream av_ss; av_ss<<object_root_name; av_ss<<"_additional_view_"; av_ss<<i; av_ss<<".txt";
string complete_av_mask_name = sweep_folder + av_ss.str();
ifstream av_mask_in(complete_av_mask_name);
if (!av_mask_in.is_open()){
cout<<"COULD NOT FIND AV MASK FILE "<<complete_av_mask_name<<endl;
continue;
}
CloudPtr av_mask(new Cloud);
int av_index;
while (av_mask_in.is_open() && !av_mask_in.eof()){
av_mask_in>>av_index;
av_mask->push_back(object.vAdditionalViews[i]->points[av_index]);
maskdata[av_index] = 255;
}
viewrgbs.push_back(rgb);
viewdepths.push_back(depth);
viewmasks.push_back(mask);
viewtfs.push_back(object.vAdditionalViewsTransforms[i]);
viewposes.push_back(poses[i+1]);
cv::namedWindow("rgbimage", cv::WINDOW_AUTOSIZE);
cv::imshow( "rgbimage", rgb);
cv::namedWindow("depthimage", cv::WINDOW_AUTOSIZE);
cv::imshow( "depthimage", depth);
cv::namedWindow("mask", cv::WINDOW_AUTOSIZE);
cv::imshow( "mask", mask);
cv::waitKey(30);
}
if(viewrgbs.size() > 0){
std::vector<int> fid;
std::vector<int> fadded;
for(unsigned int j = 0; j < viewrgbs.size(); j++){
cv::Mat rgbimage = viewrgbs[j];
cv::Mat depthimage = viewdepths[j];
tf::StampedTransform tf = viewtfs[j];
Eigen::Matrix4f m = viewposes[j];
geometry_msgs::TransformStamped tfstmsg;
tf::transformStampedTFToMsg (tf, tfstmsg);
geometry_msgs::Transform tfmsg = tfstmsg.transform;
printf("start adding frame %i\n",j);
Eigen::Quaternionf q = Eigen::Quaternionf(Eigen::Affine3f(m).rotation());
geometry_msgs::Pose pose;
// pose.orientation = tfmsg.rotation;
// pose.position.x = tfmsg.translation.x;
// pose.position.y = tfmsg.translation.y;
// pose.position.z = tfmsg.translation.z;
pose.orientation.x = q.x();
pose.orientation.y = q.y();
pose.orientation.z = q.z();
pose.orientation.w = q.w();
pose.position.x = m(0,3);
pose.position.y = m(1,3);
pose.position.z = m(2,3);
cv_bridge::CvImage rgbBridgeImage;
rgbBridgeImage.image = rgbimage;
rgbBridgeImage.encoding = "bgr8";
cv_bridge::CvImage depthBridgeImage;
depthBridgeImage.image = depthimage;
depthBridgeImage.encoding = "mono16";
quasimodo_msgs::index_frame ifsrv;
ifsrv.request.frame.capture_time = ros::Time();
ifsrv.request.frame.pose = pose;
ifsrv.request.frame.frame_id = -1;
ifsrv.request.frame.rgb = *(rgbBridgeImage.toImageMsg());
ifsrv.request.frame.depth = *(depthBridgeImage.toImageMsg());
if (index_frame_client.call(ifsrv)){//Add frame to model server
int frame_id = ifsrv.response.frame_id;
fadded.push_back(j);
fid.push_back(frame_id);
ROS_INFO("frame_id%i", frame_id );
}else{ROS_ERROR("Failed to call service index_frame");}
}
for(unsigned int j = 0; j < fadded.size(); j++){
cv::Mat mask = viewmasks[fadded[j]];
cv_bridge::CvImage maskBridgeImage;
maskBridgeImage.image = mask;
maskBridgeImage.encoding = "mono8";
quasimodo_msgs::model_from_frame mff;
mff.request.mask = *(maskBridgeImage.toImageMsg());
mff.request.isnewmodel = (j == (fadded.size()-1));
mff.request.frame_id = fid[j];
if (model_from_frame_client.call(mff)){//Build model from frame
int model_id = mff.response.model_id;
if(model_id > 0){
ROS_INFO("model_id%i", model_id );
}
}else{ROS_ERROR("Failed to call service index_frame");}
}
}
}
}
}
void
ShapeMarker::createMarker (visualization_msgs::InteractiveMarkerControl& im_ctrl)
{
marker.id = shape_.id;
marker.header = shape_.header;
//std::cout << marker.header.frame_id << std::endl;
//marker.header.stamp = ros::Time::now() ;
marker.type = visualization_msgs::Marker::TRIANGLE_LIST;
marker.ns = "shape visualization";
marker.action = visualization_msgs::Marker::ADD;
marker.lifetime = ros::Duration ();
//set color
marker.color.g = shape_.color.g;
marker.color.b = shape_.color.b;
marker.color.r = shape_.color.r;
if (arrows_ || deleted_){
marker.color.a = 0.5;
}
else
{
marker.color.a = shape_.color.a;
// marker.color.r = shape_.color.r;
}
//set scale
marker.scale.x = 1;
marker.scale.y = 1;
marker.scale.z = 1;
/* transform shape points to 2d and store 2d point in triangle list */
TPPLPartition pp;
list<TPPLPoly> polys, tri_list;
Eigen::Vector3f v, normal, origin;
if(shape_.type== cob_3d_mapping_msgs::Shape::CYLINDER)
{
cob_3d_mapping::Cylinder c;
cob_3d_mapping::fromROSMsg (shape_, c);
c.ParamsFromShapeMsg();
// make trinagulated cylinder strip
//transform cylinder in local coordinate system
c.makeCyl2D();
c.TransformContours(c.transform_from_world_to_plane);
//c.transform2tf(c.transform_from_world_to_plane);
//TODO: WATCH OUT NO HANDLING FOR MULTY CONTOUR CYLINDERS AND HOLES
TPPLPoly poly;
TPPLPoint pt;
for(size_t j=0;j<c.contours.size();j++){
poly.Init(c.contours[j].size());
poly.SetHole (shape_.holes[j]);
for(size_t i=0;i<c.contours[j].size();++i){
pt.x=c.contours[j][i][0];
pt.y=c.contours[j][i][1];
poly[i]=pt;
}
if (shape_.holes[j])
poly.SetOrientation (TPPL_CW);
else
poly.SetOrientation (TPPL_CCW);
polys.push_back(poly);
}
// triangualtion itno monotone triangles
pp.Triangulate_EC (&polys, &tri_list);
transformation_inv_ = c.transform_from_world_to_plane.inverse();
// optional refinement step
list<TPPLPoly> refined_tri_list;
triangle_refinement(tri_list,refined_tri_list);
tri_list=refined_tri_list;
}
if(shape_.type== cob_3d_mapping_msgs::Shape::POLYGON)
{
cob_3d_mapping::Polygon p;
if (shape_.params.size () == 4)
{
cob_3d_mapping::fromROSMsg (shape_, p);
normal (0) = shape_.params[0];
normal (1) = shape_.params[1];
normal (2) = shape_.params[2];
origin (0) = shape_.centroid.x;
origin (1) = shape_.centroid.y;
origin (2) = shape_.centroid.z;
v = normal.unitOrthogonal ();
pcl::getTransformationFromTwoUnitVectorsAndOrigin (v, normal, origin, transformation_);
transformation_inv_ = transformation_.inverse ();
}
for (size_t i = 0; i < shape_.points.size (); i++)
{
pcl::PointCloud<pcl::PointXYZ> pc;
TPPLPoly poly;
pcl::fromROSMsg (shape_.points[i], pc);
poly.Init (pc.points.size ());
poly.SetHole (shape_.holes[i]);
for (size_t j = 0; j < pc.points.size (); j++)
{
poly[j] = msgToPoint2D (pc[j]);
}
if (shape_.holes[i])
poly.SetOrientation (TPPL_CW);
else
poly.SetOrientation (TPPL_CCW);
polys.push_back (poly);
}
pp.Triangulate_EC (&polys, &tri_list);
}//Polygon
if(tri_list.size()==0)
{
ROS_WARN("Could not triangulate, will not display this shape! (ID: %d)", shape_.id);
}
//ROS_INFO(" creating markers for this shape.....");
marker.points.resize (/*it->GetNumPoints ()*/tri_list.size()*3);
TPPLPoint pt;
int ctr=0;
for (std::list<TPPLPoly>::iterator it = tri_list.begin (); it != tri_list.end (); it++)
{
//draw each triangle
switch(shape_.type)
{
case(cob_3d_mapping_msgs::Shape::POLYGON):
{
for (long i = 0; i < it->GetNumPoints (); i++)
{
pt = it->GetPoint (i);
marker.points[3*ctr+i].x = pt.x;
marker.points[3*ctr+i].y = pt.y;
marker.points[3*ctr+i].z = 0;
//if(shape_.id == 39) std::cout << pt.x << "," << pt.y << std::endl;
}
//std::cout << marker.points.size() << std::endl;
}
case(cob_3d_mapping_msgs::Shape::CYLINDER):
{
for (long i = 0; i < it->GetNumPoints (); i++)
{
pt = it->GetPoint(i);
//apply rerolling of cylinder analogous to cylinder class
if(shape_.params.size()!=10){
break;
}
double alpha=pt.x/shape_.params[9];
marker.points[3*ctr+i].x = shape_.params[9]*sin(-alpha);
marker.points[3*ctr+i].y = pt.y;
marker.points[3*ctr+i].z = shape_.params[9]*cos(-alpha);
////Keep Cylinder flat - Debuging
//marker.points[i].x = pt.x;
//marker.points[i].y = pt.y;
//marker.points[i].z = 0;
}
}
}
ctr++;
}
//set pose
Eigen::Quaternionf quat (transformation_inv_.rotation ());
Eigen::Vector3f trans (transformation_inv_.translation ());
marker.pose.position.x = trans (0);
marker.pose.position.y = trans (1);
marker.pose.position.z = trans (2);
marker.pose.orientation.x = quat.x ();
marker.pose.orientation.y = quat.y ();
marker.pose.orientation.z = quat.z ();
marker.pose.orientation.w = quat.w ();
im_ctrl.markers.push_back (marker);
// if(!arrows_) {
// Added For displaying the arrows on Marker Position
marker_.pose.position.x = marker.pose.position.x ;
marker_.pose.position.y = marker.pose.position.y ;
marker_.pose.position.z = marker.pose.position.z ;
marker_.pose.orientation.x = marker.pose.orientation.x ;
marker_.pose.orientation.y = marker.pose.orientation.y ;
marker_.pose.orientation.z = marker.pose.orientation.z ;
// end
}
bool SnapIt::processModelCylinder(jsk_pcl_ros::CallSnapIt::Request& req,
jsk_pcl_ros::CallSnapIt::Response& res) {
pcl::PointCloud<pcl::PointXYZ>::Ptr candidate_points (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
Eigen::Vector3f n, C_orig;
if (!extractPointsInsideCylinder(req.request.center,
req.request.direction,
req.request.radius,
req.request.height,
inliers, n, C_orig,
1.3)) {
return false;
}
if (inliers->indices.size() < 3) {
NODELET_ERROR("not enough points inside of the target_plane");
return false;
}
geometry_msgs::PointStamped centroid;
centroid.point.x = C_orig[0];
centroid.point.y = C_orig[1];
centroid.point.z = C_orig[2];
centroid.header = req.request.header;
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(input_);
extract.setIndices(inliers);
extract.filter(*candidate_points);
publishPointCloud(debug_candidate_points_pub_, candidate_points);
// first, to remove plane we estimate the plane
pcl::ModelCoefficients::Ptr plane_coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr plane_inliers (new pcl::PointIndices);
extractPlanePoints(candidate_points, plane_inliers, plane_coefficients,
n, req.request.eps_angle);
if (plane_inliers->indices.size() == 0) {
NODELET_ERROR ("plane estimation failed");
return false;
}
// remove the points blonging to the plane
pcl::PointCloud<pcl::PointXYZ>::Ptr points_inside_pole_wo_plane (new pcl::PointCloud<pcl::PointXYZ>);
extract.setInputCloud (candidate_points);
extract.setIndices (plane_inliers);
extract.setNegative (true);
extract.filter (*points_inside_pole_wo_plane);
publishPointCloud(debug_candidate_points_pub2_, points_inside_pole_wo_plane);
// normal estimation
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
ne.setSearchMethod (tree);
ne.setInputCloud (points_inside_pole_wo_plane);
ne.setKSearch (50);
ne.compute (*cloud_normals);
// segmentation
pcl::ModelCoefficients::Ptr cylinder_coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr cylinder_inliers (new pcl::PointIndices);
// Create the segmentation object
pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> seg;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_CYLINDER);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setRadiusLimits (0.01, req.request.radius * 1.2);
seg.setDistanceThreshold (0.05);
seg.setInputCloud(points_inside_pole_wo_plane);
seg.setInputNormals (cloud_normals);
seg.setMaxIterations (10000);
seg.setNormalDistanceWeight (0.1);
seg.setAxis(n);
if (req.request.eps_angle != 0.0) {
seg.setEpsAngle(req.request.eps_angle);
}
else {
seg.setEpsAngle(0.35);
}
seg.segment (*cylinder_inliers, *cylinder_coefficients);
if (cylinder_inliers->indices.size () == 0)
{
NODELET_ERROR ("Could not estimate a cylinder model for the given dataset.");
return false;
}
debug_centroid_pub_.publish(centroid);
pcl::PointCloud<pcl::PointXYZ>::Ptr cylinder_points (new pcl::PointCloud<pcl::PointXYZ>);
extract.setInputCloud (points_inside_pole_wo_plane);
extract.setIndices (cylinder_inliers);
extract.setNegative (false);
extract.filter (*cylinder_points);
publishPointCloud(debug_candidate_points_pub3_, cylinder_points);
Eigen::Vector3f n_prime;
Eigen::Vector3f C_new;
for (size_t i = 0; i < 3; i++) {
C_new[i] = cylinder_coefficients->values[i];
n_prime[i] = cylinder_coefficients->values[i + 3];
}
double radius = fabs(cylinder_coefficients->values[6]);
// inorder to compute centroid, we project all the points to the center line.
// and after that, get the minimum and maximum points in the coordinate system of the center line
double min_alpha = DBL_MAX;
double max_alpha = -DBL_MAX;
for (size_t i = 0; i < cylinder_points->points.size(); i++ ) {
pcl::PointXYZ q = cylinder_points->points[i];
double alpha = (q.getVector3fMap() - C_new).dot(n_prime);
if (alpha < min_alpha) {
min_alpha = alpha;
}
if (alpha > max_alpha) {
max_alpha = alpha;
}
}
// the center of cylinder
Eigen::Vector3f C_new_prime = C_new + (max_alpha + min_alpha) / 2.0 * n_prime;
Eigen::Vector3f n_cross = n.cross(n_prime);
if (n.dot(n_prime)) {
n_cross = - n_cross;
}
double theta = asin(n_cross.norm());
Eigen::Quaternionf trans (Eigen::AngleAxisf(theta, n_cross.normalized()));
Eigen::Vector3f C = trans * C_orig;
Eigen::Affine3f A = Eigen::Translation3f(C) * Eigen::Translation3f(C_new_prime - C) * trans * Eigen::Translation3f(C_orig).inverse();
tf::poseEigenToMsg((Eigen::Affine3d)A, res.transformation);
geometry_msgs::PointStamped centroid_transformed;
centroid_transformed.point.x = C_new_prime[0];
centroid_transformed.point.y = C_new_prime[1];
centroid_transformed.point.z = C_new_prime[2];
centroid_transformed.header = req.request.header;
debug_centroid_after_trans_pub_.publish(centroid_transformed);
// publish marker
visualization_msgs::Marker marker;
marker.type = visualization_msgs::Marker::CYLINDER;
marker.scale.x = radius;
marker.scale.y = radius;
marker.scale.z = (max_alpha - min_alpha);
marker.pose.position.x = C_new_prime[0];
marker.pose.position.y = C_new_prime[1];
marker.pose.position.z = C_new_prime[2];
// n_prime -> z
// n_cross.normalized() -> x
Eigen::Vector3f z_axis = n_prime.normalized();
Eigen::Vector3f y_axis = n_cross.normalized();
Eigen::Vector3f x_axis = (y_axis.cross(z_axis)).normalized();
Eigen::Matrix3f M;
for (size_t i = 0; i < 3; i++) {
M(i, 0) = x_axis[i];
M(i, 1) = y_axis[i];
M(i, 2) = z_axis[i];
}
Eigen::Quaternionf q (M);
marker.pose.orientation.x = q.x();
marker.pose.orientation.y = q.y();
marker.pose.orientation.z = q.z();
marker.pose.orientation.w = q.w();
marker.color.g = 1.0;
marker.color.a = 1.0;
marker.header = input_header_;
marker_pub_.publish(marker);
return true;
}
void simulate_callback (const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer::Ptr viewer = *static_cast<pcl::visualization::PCLVisualizer::Ptr *> (viewer_void);
// I choose v for virtual as s for simulate is takwen
if (event.getKeySym () == "v" && event.keyDown ())
{
std::cout << "v was pressed => simulate cloud" << std::endl;
std::vector<pcl::visualization::Camera> cams;
viewer->getCameras(cams);
if (cams.size() !=1){
std::cout << "n cams not 1 exiting\n"; // for now in case ...
return;
}
// cout << "n cams: " << cams.size() << "\n";
pcl::visualization::Camera cam = cams[0];
Eigen::Affine3f pose;
pose = viewer->getViewerPose() ;
std::cout << cam.pos[0] << " "
<< cam.pos[1] << " "
<< cam.pos[2] << " p\n";
Eigen::Matrix3f m;
m =pose.rotation();
//All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y
cout << pose(0,0) << " " << pose(0,1) << " " << pose(0,2) << " " << pose(0,3) << " x0\n";
cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
cout << pose(2,0) << " " << pose(2,1) << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
double yaw,pitch, roll;
wRo_to_euler(m,yaw,pitch,roll);
printf("RPY: %f %f %f\n", roll*180/M_PI,pitch*180/M_PI,yaw*180/M_PI);
// matrix->GetElement(1,0);
cout << m(0,0) << " " << m(0,1) << " " << m(0,2) << " " << " x0\n";
cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " " << " x1\n";
cout << m(2,0) << " " << m(2,1) << " " << m(2,2) << " "<< "x2\n\n";
Eigen::Quaternionf rf;
rf = Eigen::Quaternionf(m);
Eigen::Quaterniond r(rf.w(),rf.x(),rf.y(),rf.z());
Eigen::Isometry3d init_pose;
init_pose.setIdentity();
init_pose.translation() << cam.pos[0], cam.pos[1], cam.pos[2];
//Eigen::Quaterniond m = euler_to_quat(-1.54, 0, 0);
init_pose.rotate(r);
//
std::stringstream ss;
print_Isometry3d(init_pose,ss);
std::cout << "init_pose: " << ss.str() << "\n";
viewer->addCoordinateSystem (1.0,pose,"reference");
double tic = getTime();
std::stringstream ss2;
ss2.precision(20);
ss2 << "simulated_pcl_" << tic << ".pcd";
capture(init_pose);
cout << (getTime() -tic) << " sec\n";
}
}
void simulate_callback (const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
// I choose v for virtual as s for simulate is takwen
if (event.getKeySym () == "v" && event.keyDown ())
{
std::cout << "v was pressed => simulate cloud" << std::endl;
std::vector<pcl::visualization::Camera> cams;
viewer->getCameras(cams);
if (cams.size() !=1){
std::cout << "n cams not 1 exiting\n"; // for now in case ...
return;
}
// cout << "n cams: " << cams.size() << "\n";
pcl::visualization::Camera cam = cams[0];
Eigen::Affine3f pose;
pose = viewer->getViewerPose() ;
std::cout << cam.pos[0] << " "
<< cam.pos[1] << " "
<< cam.pos[2] << " p\n";
Eigen::Matrix3f m;
m =pose.rotation();
//All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y
cout << pose(0,0) << " " << pose(0,1) << " " << pose(0,2) << " " << pose(0,3) << " x0\n";
cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
cout << pose(2,0) << " " << pose(2,1) << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
double yaw,pitch, roll;
wRo_to_euler(m,yaw,pitch,roll);
printf("RPY: %f %f %f\n", roll*180/M_PI,pitch*180/M_PI,yaw*180/M_PI);
// matrix->GetElement(1,0);
cout << m(0,0) << " " << m(0,1) << " " << m(0,2) << " " << " x0\n";
cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " " << " x1\n";
cout << m(2,0) << " " << m(2,1) << " " << m(2,2) << " "<< "x2\n\n";
Eigen::Quaternionf rf;
rf = Eigen::Quaternionf(m);
Eigen::Quaterniond r(rf.w(),rf.x(),rf.y(),rf.z());
Eigen::Isometry3d init_pose;
init_pose.setIdentity();
init_pose.translation() << cam.pos[0], cam.pos[1], cam.pos[2];
//Eigen::Quaterniond m = euler_to_quat(-1.54, 0, 0);
init_pose.rotate(r);
//
std::stringstream ss;
print_Isometry3d(init_pose,ss);
std::cout << "init_pose: " << ss.str() << "\n";
viewer->addCoordinateSystem (1.0,pose);
double tic = getTime();
std::stringstream ss2;
ss2.precision(20);
ss2 << "simulated_pcl_" << tic << ".pcd";
capture(init_pose,ss2.str());
cout << (getTime() -tic) << " sec\n";
// these three variables determine the position and orientation of
// the camera.
// double lookat[3]; - focal location
// double eye[3]; - my location
// double up[3]; - updirection
// std::cout << view[0] << "," << view[1] << "," << view[2]
// cameras.back ().view[2] = renderer->GetActiveCamera ()->GetOrientationWXYZ()[2];
//ViewTransform->GetOrientationWXYZ();
// Superclass::OnKeyUp ();
// vtkSmartPointer<vtkCamera> cam = event.Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
// double clip[2], focal[3], pos[3], view[3];
// cam->GetClippingRange (clip);
/* cam->GetFocalPoint (focal);
cam->GetPosition (pos);
cam->GetViewUp (view);
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
std::cerr << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
<< endl;
*/
}
}
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;
}
void onGMM(const gaussian_mixture_model::GaussianMixture & mix)
{
visualization_msgs::MarkerArray msg;
ROS_INFO("gmm_rviz_converter: Received message.");
uint i;
for (i = 0; i < mix.gaussians.size(); i++)
{
visualization_msgs::Marker marker;
marker.header.frame_id = m_frame_id;
marker.header.stamp = ros::Time::now();
marker.ns = m_rviz_namespace;
marker.id = i;
marker.type = visualization_msgs::Marker::SPHERE;
marker.action = visualization_msgs::Marker::ADD;
marker.lifetime = ros::Duration();
Eigen::Vector3f coords;
for (uint ir = 0; ir < NUM_OUTPUT_COORDINATES; ir++)
coords[ir] = m_conversion_mask[ir]->GetMean(m_conversion_mask,mix.gaussians[i]);
marker.pose.position.x = coords.x();
marker.pose.position.y = coords.y();
marker.pose.position.z = coords.z();
Eigen::Matrix3f covmat;
for (uint ir = 0; ir < NUM_OUTPUT_COORDINATES; ir++)
for (uint ic = 0; ic < NUM_OUTPUT_COORDINATES; ic++)
covmat(ir,ic) = m_conversion_mask[ir]->GetCov(m_conversion_mask,mix.gaussians[i],ic);
Eigen::EigenSolver<Eigen::Matrix3f> evsolver(covmat);
Eigen::Matrix3f eigenvectors = evsolver.eigenvectors().real();
if (eigenvectors.determinant() < 0.0)
eigenvectors.col(0) = - eigenvectors.col(0);
Eigen::Matrix3f rotation = eigenvectors;
Eigen::Quaternionf quat = Eigen::Quaternionf(Eigen::AngleAxisf(rotation));
marker.pose.orientation.x = quat.x();
marker.pose.orientation.y = quat.y();
marker.pose.orientation.z = quat.z();
marker.pose.orientation.w = quat.w();
Eigen::Vector3f eigenvalues = evsolver.eigenvalues().real();
Eigen::Vector3f scale = Eigen::Vector3f(eigenvalues.array().abs().sqrt());
if (m_normalize)
scale.normalize();
marker.scale.x = mix.weights[i] * scale.x() * m_scale;
marker.scale.y = mix.weights[i] * scale.y() * m_scale;
marker.scale.z = mix.weights[i] * scale.z() * m_scale;
marker.color.a = 1.0;
rainbow(float(i) / float(mix.gaussians.size()),marker.color.r,marker.color.g,marker.color.b);
msg.markers.push_back(marker);
}
// this a waste of resources, but we need to delete old markers in some way
// someone should add a "clear all" command to rviz
// (using expiration time is not an option, here)
for ( ; i < m_max_markers; i++)
{
visualization_msgs::Marker marker;
marker.id = i;
marker.action = visualization_msgs::Marker::DELETE;
marker.lifetime = ros::Duration();
marker.header.frame_id = m_frame_id;
marker.header.stamp = ros::Time::now();
marker.ns = m_rviz_namespace;
msg.markers.push_back(marker);
}
m_pub.publish(msg);
ROS_INFO("gmm_rviz_converter: Sent message.");
}
std::string Transform::quatToString(Eigen::Quaternionf quat) {
std::stringstream ss;
ss << "[x: " << quat.x() << ", y: " << quat.y() << ", z: " << quat.z()
<< ", w: " << quat.w() << "]" << std::endl;
return ss.str();
}
void callbackClusteredClouds(const clustered_clouds_msgs::ClusteredCloudsConstPtr& msg)
{
#if PUBLISH_TRANSFORM
static tf::TransformBroadcaster tf_br;
#endif
g_marker_array.markers.clear();
g_marker_id = 0;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<tf::Vector3> hand_positions, arm_directions;
mutex_config.lock();
for(size_t i = 0; i < msg->clouds.size(); i++)
{
bool cloud_with_rgb_data = false;
std::string field_list = pcl::getFieldsList (msg->clouds[i]);
if(field_list.rfind("rgb") != std::string::npos)
{
cloud_with_rgb_data = true;
}
if(cloud_with_rgb_data)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr hand_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr finger_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
tf::Vector3 hand_position, arm_position, arm_direction;
bool found = checkCloud<pcl::PointXYZRGB>(msg->clouds[i],
hand_cloud,
//finger_cloud,
msg->header.frame_id,
hand_position,
arm_position,
arm_direction);
if(found)
{
hand_positions.push_back(hand_position);
arm_directions.push_back(arm_direction);
*cloud_out += *hand_cloud;
}
}
//else
//{
//checkCloud<pcl::PointXYZ>(msg->clouds[i], msg->header.frame_id);
//}
}
mutex_config.unlock();
if(hand_positions.size() > g_hand_trackers.size())
{
std::vector<tf::Vector3> hand_positions_tmp = hand_positions;
cv::Mat result;
for (size_t i = 0; i < g_hand_trackers.size(); i++)
{
result = g_hand_trackers[i].first.lastResult();
tf::Vector3 point1(result.at<float>(0), result.at<float>(1), result.at<float>(2));
int index = closestPoint(point1, hand_positions_tmp);
//remove
hand_positions_tmp.erase(hand_positions_tmp.begin() + index);
}
//add new tracker
for(size_t i = 0; i < hand_positions_tmp.size(); i++)
{
KalmanFilter3d tracker;
cv::Point3f point(hand_positions_tmp[i].x(),
hand_positions_tmp[i].y(),
hand_positions_tmp[i].z());
tracker.initialize(1.0 / 30.0, point, 1e-2, 1e-1, 1e-1);
TrackerWithHistory t;
t.first = tracker;
g_hand_trackers.push_back(t);
}
}
cv::Mat result;
std::vector<tf::Vector3> results;
interaction_msgs::ArmsPtr arms_msg(new interaction_msgs::Arms);
arms_msg->arms.resize(g_hand_trackers.size());
for (size_t i = 0; i < g_hand_trackers.size(); i++)
{
g_hand_trackers[i].first.predict(result);
results.push_back(tf::Vector3(result.at<float>(0), result.at<float>(1), result.at<float>(2)));
arms_msg->arms[i].hand.rotation.w = 1;
}
int index;
cv::Point3f measurement;
tf::Quaternion q_hand;
Eigen::Quaternionf q;
tf::Quaternion q_rotate;
q_rotate.setEuler(0, 0, M_PI);
int last_index = -1;
for(size_t i = 0; i < hand_positions.size(); i++)
{
index = closestPoint(hand_positions[i], results);
if(last_index == index)
continue;
last_index = index;
measurement.x = hand_positions[i].x();
measurement.y = hand_positions[i].y();
measurement.z = hand_positions[i].z();
g_hand_trackers[index].first.update(measurement, result);
results[index] = tf::Vector3(result.at<float>(0), result.at<float>(1), result.at<float>(2));
q.setFromTwoVectors(Eigen::Vector3f(1, 0, 0),
Eigen::Vector3f(arm_directions[i].x(), arm_directions[i].y(), arm_directions[i].z()));
tf::Quaternion q_tf(q.x(), q.y(), q.z(), q.w());
q_hand = q_tf * q_rotate;
arms_msg->arms[index].hand.rotation.x = q_hand.x();
arms_msg->arms[index].hand.rotation.y = q_hand.y();
arms_msg->arms[index].hand.rotation.z = q_hand.z();
arms_msg->arms[index].hand.rotation.w = q_hand.w();
}
for(size_t i = 0; i < results.size(); i++)
{
g_hand_trackers[i].first.updateState();
arms_msg->arms[i].arm_id = g_hand_trackers[i].first.id();
arms_msg->arms[i].hand.translation.x = results[i].x();
arms_msg->arms[i].hand.translation.y = results[i].y();
arms_msg->arms[i].hand.translation.z = results[i].z();
//prepare markers if needed
if(g_marker_array_pub.getNumSubscribers() != 0)
{
geometry_msgs::Point marker_point;
marker_point.x = results[i].x();
marker_point.y = results[i].y();
marker_point.z = results[i].z();
g_hand_trackers[i].second.push_back(marker_point);
if(g_hand_trackers[i].second.size() > HAND_HISTORY_SIZE)
g_hand_trackers[i].second.pop_front();
}
#if PUBLISH_TRANSFORM
tf::Transform hand_tf;
hand_tf.setOrigin(results[i]);
if(index != -1)
{
hand_tf.setRotation(tf::Quaternion(arms_msg->arms[i].hand.rotation.x,
arms_msg->arms[i].hand.rotation.y,
arms_msg->arms[i].hand.rotation.z,
arms_msg->arms[i].hand.rotation.w));
}
else
{
hand_tf.setRotation(tf::Quaternion(0, 0, 0, 1));
}
std::stringstream ss;
ss << "hand" << g_hand_trackers[i].first.id();
tf_br.sendTransform(tf::StampedTransform(hand_tf, ros::Time::now(), msg->header.frame_id, ss.str()));
#endif
}
//remove dead tracker
std::vector<TrackerWithHistory>::iterator it = g_hand_trackers.begin();
while(it != g_hand_trackers.end())
{
if(it->first.getState() == KalmanFilter3d::DIE)
{
ROS_DEBUG("remove tracker %d", it->first.id());
it = g_hand_trackers.erase(it);
}
else
{
it++;
}
}
//prepare markers if needed
if(g_marker_array_pub.getNumSubscribers() != 0)
{
Marker marker;
marker.type = Marker::LINE_STRIP;
marker.lifetime = ros::Duration(0.1);
marker.header.frame_id = msg->header.frame_id;
marker.scale.x = 0.005;
marker.pose.position.x = 0;
marker.pose.position.y = 0;
marker.pose.position.z = 0;
marker.pose.orientation.x = 0;
marker.pose.orientation.y = 0;
marker.pose.orientation.z = 0;
marker.pose.orientation.w = 1;
marker.ns = "point_history";
for (size_t i = 0; i < g_hand_trackers.size(); i++)
{
marker.points.clear();
if (g_hand_trackers[i].second.size() != 0)
{
marker.id = g_marker_id++;
std::list<geometry_msgs::Point>::iterator it;
for (it = g_hand_trackers[i].second.begin(); it != g_hand_trackers[i].second.end(); it++)
{
marker.points.push_back(*it);
}
marker.color.r = 1;
marker.color.g = 0;
marker.color.b = 0;
marker.color.a = 1.0;
g_marker_array.markers.push_back(marker);
}
}
}
if(g_arms_pub.getNumSubscribers() != 0)
{
arms_msg->header.stamp = ros::Time::now();
arms_msg->header.frame_id = msg->header.frame_id;
g_arms_pub.publish(arms_msg);
}
if(g_cloud_pub.getNumSubscribers() != 0)
{
sensor_msgs::PointCloud2 cloud_out_msg;
pcl::toROSMsg(*cloud_out, cloud_out_msg);
cloud_out_msg.header.stamp = ros::Time::now();
cloud_out_msg.header.frame_id = msg->header.frame_id;
g_cloud_pub.publish(cloud_out_msg);
}
if((g_marker_array_pub.getNumSubscribers() != 0) && (!g_marker_array.markers.empty()))
{
g_marker_array_pub.publish(g_marker_array);
}
}
void ImageMessageListener::imageCallback(const sensor_msgs::ImageConstPtr& in_msg) {
static int counter = 0; // counter to add periodic line breaks
_image_deque.push_back(*in_msg);
if (_image_deque.size()<_deque_length){
return;
}
sensor_msgs::Image msg = _image_deque.front();
_image_deque.pop_front();
if (_listener) {
tf::StampedTransform transform;
try{
_listener->waitForTransform(_odom_frame_id,
_base_link_frame_id,
msg.header.stamp,
ros::Duration(0.5) );
_listener->lookupTransform (_odom_frame_id,
_base_link_frame_id,
msg.header.stamp,
transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
}
Eigen::Quaternionf q;
q.x() = transform.getRotation().x();
q.y() = transform.getRotation().y();
q.z() = transform.getRotation().z();
q.w() = transform.getRotation().w();
_odom_pose.linear()=q.toRotationMatrix();
_odom_pose.translation()=Eigen::Vector3f(transform.getOrigin().x(),
transform.getOrigin().y(),
transform.getOrigin().z());
}
cv_bridge::CvImageConstPtr bridge;
bridge = cv_bridge::toCvCopy(msg,msg.encoding);
if (! _has_camera_matrix){
cerr << "received: " << _image_topic << " waiting for camera matrix" << endl;
return;
}
_cv_image = bridge->image.clone();
PinholeImageMessage* img_msg = new PinholeImageMessage(_image_topic, msg.header.frame_id, msg.header.seq, msg.header.stamp.toSec());
img_msg->setImage(_cv_image);
img_msg->setOffset(_camera_offset);
img_msg->setCameraMatrix(_K);
img_msg->setDepthScale(_depth_scale);
if (_imu_interpolator && _listener) {
Eigen::Isometry3f imu = Eigen::Isometry3f::Identity();
Eigen::Quaternionf q_imu;
if (!_imu_interpolator->getOrientation(q_imu, msg.header.stamp.toSec()))
return;
imu.linear() = q_imu.toRotationMatrix();
if (_verbose) {
cerr << "i";
counter++;
if( counter % 1024 == 0 )
cerr << endl;
}
img_msg->setImu(imu);
} else if (_listener) {
img_msg->setOdometry(_odom_pose);
if (_verbose)
cerr << "o";
counter++;
if( counter % 1024 == 0 )
cerr << endl;
} else {
if (_verbose)
cerr << "x";
counter++;
if( counter % 1024 == 0 )
cerr << endl;
}
_sorter->insertMessage(img_msg);
}
