kr::Quat<Scalar> rodriguesToQuat(Scalar rx, Scalar ry, Scalar rz) {
return rodriguesToQuat(kr::Vec3<Scalar>(rx, ry, rz));
}
void get_pose_and_image(const std::vector<AprilTags::TagDetection> &detections,const cv_bridge::CvImagePtr &cv_ptr, const std_msgs::Header &header) {
cv::Mat image_rgb;
cv::cvtColor(cv_ptr->image, image_rgb, CV_GRAY2RGB);
if (detections.size()) {
std::vector<Point2> pi; // Points in image
std::vector<Point3> pw; // Points in world
for (auto it = detections.begin(); it != detections.end(); it++) {
const int id = it->id;
const Point2 c2 = Point2(it->cxy.first, it->cxy.second);
for (int j = 0; j < 4; j++) {
const Point2 p2 = Point2(it->p[j].first, it->p[j].second);
pi.push_back(p2);
Point3 p3(tagsWorld[id].p[j].x, tagsWorld[id].p[j].y, 0.0);
pw.push_back(p3);
// Display tag corners
cv::circle(image_rgb, p2, 6, colors[j], 2);
}
// Display tag id
std::ostringstream ss;
ss << id;
auto color = cv::Scalar(0, 255, 255);
if (tagsWorld.find(id) != tagsWorld.end()) {
color = cv::Scalar(255,255,0);
}
cv::putText(image_rgb, ss.str(), Point2(c2.x - 5, c2.y + 5),
cv::FONT_HERSHEY_PLAIN, 2, color, 2);
}
// Get pose
static cv::Mat r = cv::Mat::zeros(cv::Size(1, 3), CV_64F);
static cv::Mat cTw = cv::Mat::zeros(cv::Size(1, 3), CV_64F);
cv::Mat wTc(cv::Size(3, 3), CV_64F);
cv::Mat cRw(cv::Size(3, 3), CV_64F), wRc(cv::Size(3, 3), CV_64F);
cv::solvePnP(pw, pi, K, D, r, cTw, false);
cv::Rodrigues(r, cRw);
wRc = cRw.inv();
wTc = -wRc * cTw;
// ROS_INFO("%f, %f, %f", r.at<double>(0,0), r.at<double>(1,0), r.at<double>(2,0));
cv::Mat q = rodriguesToQuat(r);
// Publish
geometry_msgs::PoseStamped pose_cam;
pose_cam.header.stamp = header.stamp;
pose_cam.header.frame_id = "0";
double *pt = wTc.ptr<double>();
pose_cam.pose.position.x = pt[0];
pose_cam.pose.position.y = pt[1];
pose_cam.pose.position.z = pt[2];
double *pq = q.ptr<double>();
pose_cam.pose.orientation.w = pq[0];
pose_cam.pose.orientation.x = pq[1];
pose_cam.pose.orientation.y = pq[2];
pose_cam.pose.orientation.z = pq[3];
pose_pub.publish(pose_cam);
}
// Publish image
cv_bridge::CvImage cv_image(header, sensor_msgs::image_encodings::BGR8,
image_rgb);
image_pub.publish(cv_image.toImageMsg());
// cv::imshow("image", image_rgb);
// cv::waitKey(1);
}
void cam_callback(const sensor_msgs::ImageConstPtr &image,
const sensor_msgs::CameraInfoConstPtr &cinfo) {
// Get camera info
static bool init_cam = false;
static cv::Mat K = cv::Mat::zeros(cv::Size(3, 3), CV_64F);
static cv::Mat D = cv::Mat::zeros(cv::Size(1, 5), CV_64F);
// Stop if camera not calibrated
if (cinfo->K[0] == 0.0) throw std::runtime_error("Camera not calibrated.");
// TODO: convert to function later
// Assign camera info only once
if (!init_cam) {
for (int i = 0; i < 3; ++i) {
double *pk = K.ptr<double>(i);
for (int j = 0; j < 3; ++j) {
pk[j] = cinfo->K[3 * i + j];
}
}
double *pd = D.ptr<double>();
for (int k = 0; k < 5; k++) {
pd[k] = cinfo->D[k];
}
init_cam = true;
}
// use cv_bridge and convert to grayscale image
cv_bridge::CvImagePtr cv_ptr;
// use toCvCopy because we will modify the image
cv_ptr = cv_bridge::toCvCopy(image, sensor_msgs::image_encodings::MONO8);
cv::Mat image_rgb;
cv::cvtColor(cv_ptr->image, image_rgb, CV_GRAY2RGB);
#if defined(BUILD_UMICH)
// Use apriltag_umich
// Currently not using this version
static april_tag_family_t *tf = tag36h11_create();
static april_tag_detector_t *td = april_tag_detector_create(tf);
image_u8_t *im = image_u8_create_from_gray(
cv_ptr->image.cols, cv_ptr->image.rows, cv_ptr->image.data);
zarray_t *detections = april_tag_detector_detect(td, im);
ROS_INFO("Tags detected: %d", zarray_size(detections));
for (size_t i = 0; i < zarray_size(detections); i++) {
april_tag_detection_t *det;
zarray_get(detections, i, &det);
for (int j = 0; j < 4; j++) {
const Point2 p = Point2(det->p[j][0], det->p[j][1]);
}
april_tag_detection_destroy(det);
}
zarray_destroy(detections);
image_u8_destroy(im);
#elif defined(BUILD_MIT)
// Use apriltag_mit
static AprilTags::TagDetector tag_detector(AprilTags::tagCodes36h11);
std::vector<AprilTags::TagDetection> detections =
tag_detector.extractTags(cv_ptr->image);
// Check detection size, only do work if there's tag detected
if (detections.size()) {
std::vector<Point2> pi; // Points in image
std::vector<Point3> pw; // Points in world
for (auto it = detections.begin(); it != detections.end(); it++) {
const int id = it->id;
const Point2 c2 = Point2(it->cxy.first, it->cxy.second);
for (int j = 0; j < 4; j++) {
const Point2 p2 = Point2(it->p[j].first, it->p[j].second);
pi.push_back(p2);
Point3 p3(tagsWorld[id].p[j].x, tagsWorld[id].p[j].y, 0.0);
pw.push_back(p3);
// Display tag corners
cv::circle(image_rgb, p2, 6, colors[j], 2);
}
// Display tag id
std::ostringstream ss;
ss << id;
auto color = cv::Scalar(0, 255, 255);
if (tagsWorld.find(id) != tagsWorld.end()) {
color = cv::Scalar(255, 255, 0);
}
cv::putText(image_rgb, ss.str(), Point2(c2.x - 5, c2.y + 5),
cv::FONT_HERSHEY_PLAIN, 2, color, 2);
}
// Get pose
static cv::Mat r = cv::Mat::zeros(cv::Size(1, 3), CV_64F);
static cv::Mat cTw = cv::Mat::zeros(cv::Size(1, 3), CV_64F);
cv::Mat wTc(cv::Size(3, 3), CV_64F);
cv::Mat cRw(cv::Size(3, 3), CV_64F), wRc(cv::Size(3, 3), CV_64F);
cv::solvePnP(pw, pi, K, D, r, cTw, false);
cv::Rodrigues(r, cRw);
wRc = cRw.inv();
wTc = -wRc * cTw;
// ROS_INFO("%f, %f, %f", r.at<double>(0,0), r.at<double>(1,0),
// r.at<double>(2,0));
cv::Mat q = rodriguesToQuat(r);
// Publish
geometry_msgs::PoseStamped pose_cam;
pose_cam.header.stamp = image->header.stamp;
pose_cam.header.frame_id = "0";
double *pt = wTc.ptr<double>();
pose_cam.pose.position.x = pt[0];
pose_cam.pose.position.y = pt[1];
pose_cam.pose.position.z = pt[2];
double *pq = q.ptr<double>();
pose_cam.pose.orientation.w = pq[0];
pose_cam.pose.orientation.x = pq[1];
pose_cam.pose.orientation.y = pq[2];
pose_cam.pose.orientation.z = pq[3];
pose_pub.publish(pose_cam);
}
#endif
// Publish image
cv_bridge::CvImage cv_image(image->header, sensor_msgs::image_encodings::BGR8,
image_rgb);
image_pub.publish(cv_image.toImageMsg());
// cv::imshow("image", image_rgb);
// cv::waitKey(1);
}
