void getCameraRay(const image_geometry::PinholeCameraModel& model, const cv::Point2d& pt, cv::Point3d* ray)
{
cv::Point2d rect_point;
rect_point = model.rectifyPoint(pt);
ROS_DEBUG("Rect Point: %f, %f",rect_point.x,rect_point.y);
*ray = model.projectPixelTo3dRay(rect_point);
}
void imageCb(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info_msg) {
MyFirst.clear();
Ccount1++;
cv_bridge::CvImageConstPtr cv_ptr;
double cur = ros::Time::now().toSec();
// lpf_x.set_cutoff_freq(0);
// lpf_x.get_lpf(10);
try
{
cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::MONO8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cam_model_left.fromCameraInfo(info_msg);
// cout << "dist " << info_msg->D[0] << " " << info_msg->D[1] << " " << info_msg->D[2] << " " << endl;
Mat image, gray, temp, mask;
image = cv_ptr->image;
mask = image.clone();
int niters = 1;
dilate(mask, temp, Mat(), Point(-1, -1), niters);
erode(temp, temp, Mat(), Point(-1, -1), niters * 2);
dilate(temp, temp, Mat(), Point(-1, -1), niters);
threshold(temp, temp, 200, 255, CV_THRESH_BINARY);
for (int i = 0; i <= 5; i++) {
for (int j = 1000; j < temp.cols; j++) {
temp.at<uchar>(i, j) = 0;
}
}
vector<vector<Point> > contours1, contours2;
vector<Vec4i> hierarchy;
findContours(temp, contours2, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
int cmin = 0;
int cmax = 100;
for (int i = 0; i < contours2.size(); i++) {
if (contours2[i].size() < cmin || contours2[i].size() > cmax) {
continue;
}
else
contours1.push_back(contours2[i]);
}
image = Scalar(255, 255, 255);
std::vector<std::vector<cv::Point> > ::iterator itc;
itc = contours1.begin();
MyPoint TTEMP;
while (itc != contours1.end()) {
cv::Moments mom = cv::moments(cv::Mat(*itc++));
#ifdef DEBUG
cv::circle(image, cv::Point(mom.m10 / mom.m00, mom.m01 / mom.m00), 2, cv::Scalar(0), 2);
#endif
TTEMP.x = mom.m10 / mom.m00;
TTEMP.y = mom.m01 / mom.m00;
MyFirst.push_back(TTEMP);
}
#ifdef DEBUG
cv::imshow(OPENCV_WINDOW, cv_ptr->image);
//Rect rect(MyFirst[0].x - 50, MyFirst[0].y- 50, 100, 100);
//Mat subimage = cv_ptr->image(rect);
//cv::imshow(OPENCV_WINDOW, subimage);
cv::waitKey(3);
#endif
vector<My3DPoint> myvec;
My3DPoint myTempVec;
#ifdef DEBUG
//cout << Ccount << " " << MyFirst[0].y << " " << MySecond[0].y << endl;
#endif
// cout << "size : " << MyFirst.size() << "," << MySecond.size() << endl;
if (MyFirst.size() && MySecond.size()) {
// cout << MyFirst[0].x << "," << MyFirst[0].y << endl;
cv::Point2d left_pt(MyFirst[0].x, MyFirst[0].y);
cv::Point2d right_pt(MySecond[0].x, MySecond[0].y);
cam_model_left.rectifyPoint(left_pt);
Matrix<float, 3, 1> Z;
Matrix<float, 6, 1> RES_KALMAN;
Z<<
MyFirst[0].x,
MySecond[0].x,
(MyFirst[0].y + MySecond[0].y) / 2.0f;
RES_KALMAN = kalman_xyz.getKalman(Z);
cout << "???" << endl;
cout << RES_KALMAN << endl;;
// cout << cam_model_left.rectifyPoint(left_pt).x << "," << cam_model_left.rectifyPoint(left_pt).y << "rectified" << endl;
// cout << cam_model_right.rectifyPoint(right_pt).x << "," << cam_model_right.rectifyPoint(right_pt).y << "rectified" << endl;
// cout << "notcal :: " << MyFirst[0].y - MySecond[0].y << endl;
// cout << "calibr :: " << cam_model_left.rectifyPoint(left_pt).y - cam_model_right.rectifyPoint(right_pt).y << endl;
float leftpt_y = MyFirst[0].y;
Matrix<float, 2, 1> X_kalman = kalman_x.getKalman(leftpt_y);
// cout << "KALMAN" << kalman_x.getKalman_1(leftpt_y) << "," << leftpt_y << endl;;
geometry_msgs::Point drone1_msg;
drone1_msg.x = leftpt_y;//get_lpf(&lpf_x,10);
drone1_msg.y = X_kalman(0, 0); //get_lpf(&lpf_z,10);
drone1_msg.z = X_kalman(1, 0); //get_lpf(&lpf_y,5);
pub_drone[0].publish(drone1_msg);
cv::Point3d ptr_left = cam_model_left.projectPixelTo3dRay(left_pt);
cv::Point3d ptr_right = cam_model_right.projectPixelTo3dRay(right_pt);
// getKalman_1();
// cout << ptr_left.y - ptr_right.y << endl;
// cout << "left 3d :: " << ptr_left.x << "," << ptr_left.y << "," << ptr_left.z << endl;
// cout << "right 3d :: " << ptr_right.x << "," << ptr_right.y << "," << ptr_right.z << endl << endl;
ptr_left = cam_model_left.projectPixelTo3dRay(cam_model_left.rectifyPoint(left_pt));
ptr_right = cam_model_right.projectPixelTo3dRay(cam_model_right.rectifyPoint(right_pt));
// cout << ptr_left.y - ptr_right.y << endl;
// cout << "left 3d :: " << ptr_left.x << "," << ptr_left.y << "," << ptr_left.z << endl;
// cout << "right 3d :: " << ptr_right.x << "," << ptr_right.y << "," << ptr_right.z << endl;
}
// cout << MySecond[0].x << "," << MySecond[0].y << endl;
if (Ccount == 1) {
sort(MyFirst.begin(), MyFirst.end(), MyCompare);
sort(MySecond.begin(), MySecond.end(), MyCompare);
Dron_size = MyFirst.size();
for (int i = 0; i < Dron_size; i++) {
double a1, b1, c1;
// cout << "hello " << MyFirst[i].x - MySecond[i].x << endl;
c1 = 2.97 * 450 / ((MyFirst[i].x - MySecond[i].x) * 0.00375);
a1 = (2.97 * 450 / ((MyFirst[i].x - MySecond[i].x) * 0.00375)) * (0.00375 * (MyFirst[i].x + MySecond[i].x - 1280)) / (2 * 2.97);
b1 = (-0.00375) * ((MyFirst[i].y + MySecond[i].y) / 2 - 480) * (2.97 * 450 / ((MyFirst[i].x - MySecond[i].x) * 0.00375)) / 2.97;
Current_Loc[i].x = a1;
Current_Loc[i].y = b1 * cos(Angle * PI / 180.0) - c1 * sin(Angle * PI / 180.0);
Current_Loc[i].z = b1 * sin(Angle * PI / 180.0) + c1 * cos(Angle * PI / 180.0);
a1 = Current_Loc[i].x;
b1 = Current_Loc[i].y;
c1 = Current_Loc[i].z;
Current_Loc[i].x = a1 * cos(Angle2 * PI / 180.0) - b1 * sin(Angle2 * PI / 180.0);
Current_Loc[i].y = a1 * sin(Angle2 * PI / 180.0) + b1 * cos(Angle2 * PI / 180.0);
Current_Loc[i].z = c1;
a1 = Current_Loc[i].x;
b1 = Current_Loc[i].y;
c1 = Current_Loc[i].z;
Current_Loc[i].x = a1 * cos(Angle3 * PI / 180.0) + c1 * sin(Angle3 * PI / 180.0);
Current_Loc[i].y = b1;
Current_Loc[i].z = -a1 * sin(Angle3 * PI / 180.0) + c1 * cos(Angle3 * PI / 180.0);
}
for (int i = 0; i < Dron_size; i++) {
Real_Dron_Loc[i].x = (Current_Loc[i].x);
Real_Dron_Loc[i].y = (Current_Loc[i].y);
Real_Dron_Loc[i].z = (Current_Loc[i].z);
}
Frame_S_time = clock();
for (int i = 0; i < Dron_size; i++) {
Velocity[i].x = 0;
Velocity[i].y = 0;
Velocity[i].z = 0;
}
}
else {
if (MyFirst.size() != Dron_size || MySecond.size() != Dron_size)
return;
Frame_E_time = clock();
Time = (double)(Frame_E_time - Frame_S_time) / CLOCKS_PER_SEC;
Frame_S_time = Frame_E_time;
for (int i = 0; i < Dron_size; i++) {
Acummulate_Time[i] += Time;
Track_Loc[i].x = Current_Loc[i].x;// + Acummulate_Time[i] * Velocity[i].x;
Track_Loc[i].y = Current_Loc[i].y;// + Acummulate_Time[i] * Velocity[i].y;
Track_Loc[i].z = Current_Loc[i].z;// + Acummulate_Time[i] * Velocity[i].z;
}
for (int k = 0; k < Dron_size; k++) {
double closest_dis = 987654321;
My3DPoint closest_3DPoint;
closest_3DPoint.x = 0;
closest_3DPoint.y = 0;
closest_3DPoint.z = 0;
int flag = 0;
int AA = 999, BB = 888;
for (int i = 0; i < MyFirst.size(); i++) {
for (int j = 0; j < MySecond.size(); j++) {
double a1, b1, c1;
double aa1, bb1, cc1;
cout << "depth : " << MyFirst[i].x - MySecond[j].x << endl;
c1 = 2.97 * 450.0 / ((MyFirst[i].x - MySecond[j].x) * 0.00375);
a1 = (2.97 * 450.0 / ((MyFirst[i].x - MySecond[j].x) * 0.00375)) * (0.00375 * (MyFirst[i].x + MySecond[j].x - 1280.0)) / (2.0 * 2.97);
b1 = (-0.00375) * ((MyFirst[i].y + MySecond[j].y) / 2 - 480.0) * (2.97 * 450.0 / ((MyFirst[i].x - MySecond[j].x) * 0.00375)) / 2.97;
aa1 = a1;
bb1 = b1 * cos(Angle * PI / 180.0) - c1 * sin(Angle * PI / 180.0);
cc1 = b1 * sin(Angle * PI / 180.0) + c1 * cos(Angle * PI / 180.0);
a1 = aa1;
b1 = bb1;
c1 = cc1;
aa1 = a1 * cos(Angle2 * PI / 180.0) - b1 * sin(Angle2 * PI / 180.0);
bb1 = a1 * sin(Angle2 * PI / 180.0) + b1 * cos(Angle2 * PI / 180.0);
cc1 = c1;
a1 = aa1;
b1 = bb1;
c1 = cc1;
aa1 = a1 * cos(Angle3 * PI / 180.0) + c1 * sin(Angle3 * PI / 180.0);
bb1 = b1;
cc1 = -a1 * sin(Angle3 * PI / 180.0) + c1 * cos(Angle3 * PI / 180.0);
if ((sqrt(pow(Track_Loc[k].x - aa1, 2) + pow(Track_Loc[k].y - bb1, 2) + pow(Track_Loc[k].z - cc1, 2)) < closest_dis) && sqrt(pow(Track_Loc[k].x - aa1, 2) + pow(Track_Loc[k].y - bb1, 2) + pow(Track_Loc[k].z - cc1, 2)) < 300 ) {
closest_dis = sqrt(pow(Track_Loc[k].x - aa1, 2) + pow(Track_Loc[k].y - bb1, 2) + pow(Track_Loc[k].z - cc1, 2));
closest_3DPoint.x = aa1;
closest_3DPoint.y = bb1;
closest_3DPoint.z = cc1;
AA = i;
BB = j;
}
}
}
#ifdef DEBUG
cout << MyFirst.size() << " " << MySecond.size() << endl;
cout << AA << " " << BB << endl;
cout << closest_dis << endl;
cout << closest_3DPoint.x << " " << closest_3DPoint.y << " " << closest_3DPoint.z << endl;
#endif
if (closest_dis == 987654321) {
continue;
}
else {
// pass
Acummulate_Time[k] = 0;
Current_Loc[k].x = closest_3DPoint.x;
Current_Loc[k].y = closest_3DPoint.y;
Current_Loc[k].z = closest_3DPoint.z;
}
cout << "Curren " << Current_Loc[k].x << " " << Current_Loc[k].y << " " << Current_Loc[k].z << endl;
cout << "-------------------------------------------------------------------------------" << endl << endl;
}
std_msgs::Float64 drone1_x_msg;
std_msgs::Float64 drone1_y_msg;
std_msgs::Float64 drone1_z_msg;
geometry_msgs::Point drone1_msg;
geometry_msgs::Point drone2_msg;
for (int i = 0; i < Dron_size; i++) {
Real_Dron_Loc[i].x = Current_Loc[i].x;
Real_Dron_Loc[i].y = Current_Loc[i].y;
Real_Dron_Loc[i].z = Current_Loc[i].z;
#ifdef DEBUG
cout << setw(10) << Real_Dron_Loc[i].x << " " << setw(10) << Real_Dron_Loc[i].y << " " << setw(10) << Real_Dron_Loc[i].z << endl;
#endif
static lpf_t lpf_x = {0, };
static lpf_t lpf_y = {0, };
static lpf_t lpf_z = {0, };
lpf_x.cur_time = lpf_y.cur_time = lpf_z.cur_time = ros::Time::now().toSec();
lpf_x.input = Real_Dron_Loc[i].x;
lpf_y.input = Real_Dron_Loc[i].y;
lpf_z.input = Real_Dron_Loc[i].z;
drone1_msg.x = Real_Dron_Loc[i].x;//get_lpf(&lpf_x,10);
drone1_msg.y = Real_Dron_Loc[i].z;//get_lpf(&lpf_z,10);
drone1_msg.z = Real_Dron_Loc[i].y;//get_lpf(&lpf_y,5);
drone2_msg.x = get_lpf(&lpf_x, 10);
drone2_msg.y = get_lpf(&lpf_z, 10);
drone2_msg.z = get_lpf(&lpf_y, 5);
// pub_drone[i].publish(drone1_msg);
// Nasang[i].publish(drone2_msg);
}
}
cout << "cb1 cycletime : " << ros::Time::now().toSec() - cur << endl;;
}