void JointStateStaticFilter::filter(
const sensor_msgs::PointCloud2::ConstPtr& msg)
{
boost::mutex::scoped_lock lock(mutex_);
JSK_NODELET_DEBUG("Pointcloud Callback");
vital_checker_->poke();
if (isStatic(msg->header.stamp)) {
JSK_ROS_DEBUG("static");
pub_.publish(msg);
}
else {
JSK_ROS_DEBUG("not static");
}
diagnostic_updater_->update();
}
TEST(LogUtils, testJSKROSXXX){
JSK_ROS_DEBUG("Testing JSK_ROS_DEBUG: %ld", ros::Time::now().toNSec());
JSK_ROS_INFO("Testing JSK_ROS_INFO: %ld", ros::Time::now().toNSec());
JSK_ROS_WARN("Testing JSK_ROS_WARN: %ld", ros::Time::now().toNSec());
JSK_ROS_ERROR("Testing JSK_ROS_ERROR: %ld", ros::Time::now().toNSec());
JSK_ROS_FATAL("Testing JSK_ROS_FATAL: %ld", ros::Time::now().toNSec());
JSK_ROS_DEBUG_STREAM("Testing " << "JSK_ROS_DEBUG_STREAM: " << ros::Time::now().toNSec());
JSK_ROS_INFO_STREAM("Testing " << "JSK_ROS_INFO_STREAM: " << ros::Time::now().toNSec());
JSK_ROS_WARN_STREAM("Testing " << "JSK_ROS_WARN_STREAM: " << ros::Time::now().toNSec());
JSK_ROS_ERROR_STREAM("Testing " << "JSK_ROS_ERROR_STREAM: " << ros::Time::now().toNSec());
JSK_ROS_FATAL_STREAM("Testing " << "JSK_ROS_FATAL_STREAM: " << ros::Time::now().toNSec());
JSK_ROS_DEBUG_THROTTLE(1, "Testing JSK_ROS_DEBUG_THROTTLE: %ld", ros::Time::now().toNSec());
JSK_ROS_INFO_THROTTLE(1, "Testing JSK_ROS_INFO_THROTTLE: %ld", ros::Time::now().toNSec());
JSK_ROS_WARN_THROTTLE(1, "Testing JSK_ROS_WARN_THROTTLE: %ld", ros::Time::now().toNSec());
JSK_ROS_ERROR_THROTTLE(1, "Testing JSK_ROS_ERROR_THROTTLE: %ld", ros::Time::now().toNSec());
JSK_ROS_FATAL_THROTTLE(1, "Testing JSK_ROS_FATAL_THROTTLE: %ld", ros::Time::now().toNSec());
JSK_ROS_DEBUG_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_DEBUG_STREAM_THROTTLE: " << ros::Time::now().toNSec());
JSK_ROS_INFO_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_INFO_STREAM_THROTTLE: " << ros::Time::now().toNSec());
JSK_ROS_WARN_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_WARN_STREAM_THROTTLE: " << ros::Time::now().toNSec());
JSK_ROS_ERROR_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_ERROR_STREAM_THROTTLE: " << ros::Time::now().toNSec());
JSK_ROS_FATAL_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_FATAL_STREAM_THROTTLE: " << ros::Time::now().toNSec());
}
bool jsk_pcl_ros::PointcloudScreenpoint::screenpoint_cb (jsk_pcl_ros::TransformScreenpoint::Request &req,
jsk_pcl_ros::TransformScreenpoint::Response &res)
{
JSK_ROS_DEBUG("PointcloudScreenpoint::screenpoint_cb");
boost::mutex::scoped_lock lock(this->mutex_callback_);
if ( pts_.points.size() == 0 ) {
JSK_ROS_ERROR("no point cloud was received");
return false;
}
res.header = header_;
bool ret;
float rx, ry, rz;
ret = extract_point (pts_, req.x, req.y, rx, ry, rz);
res.point.x = rx; res.point.y = ry; res.point.z = rz;
if (!ret) {
return false;
}
// search normal
n3d_.setSearchSurface(boost::make_shared<pcl::PointCloud<pcl::PointXYZ > > (pts_));
pcl::PointCloud<pcl::PointXYZ> cloud_;
pcl::PointXYZ pt;
pt.x = res.point.x;
pt.y = res.point.y;
pt.z = res.point.z;
cloud_.points.resize(0);
cloud_.points.push_back(pt);
n3d_.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ > > (cloud_));
pcl::PointCloud<pcl::Normal> cloud_normals;
n3d_.compute (cloud_normals);
res.vector.x = cloud_normals.points[0].normal_x;
res.vector.y = cloud_normals.points[0].normal_y;
res.vector.z = cloud_normals.points[0].normal_z;
if((res.point.x * res.vector.x + res.point.y * res.vector.y + res.point.z * res.vector.z) < 0) {
res.vector.x *= -1;
res.vector.y *= -1;
res.vector.z *= -1;
}
if (publish_point_) {
geometry_msgs::PointStamped ps;
ps.header = header_;
ps.point.x = res.point.x;
ps.point.y = res.point.y;
ps.point.z = res.point.z;
pub_point_.publish(ps);
}
return true;
}
void jsk_pcl_ros::DepthImageCreator::callback_info(const sensor_msgs::CameraInfoConstPtr& info) {
JSK_ROS_DEBUG("DepthImageCreator::callback_info");
boost::mutex::scoped_lock lock(this->mutex_points);
if( info_counter_++ >= info_throttle_ ) {
info_counter_ = 0;
} else {
return;
}
publish_points(info, points_ptr_);
}
void ColorizeLabels::colorize(
const sensor_msgs::Image::ConstPtr& label_image_msg)
{
cv::Mat label_image = cv_bridge::toCvShare(
label_image_msg, label_image_msg->encoding)->image;
JSK_ROS_DEBUG("%dx%d", label_image_msg->width, label_image_msg->height);
cv::Mat output_image;
jsk_recognition_utils::labelToRGB(label_image, output_image);
cv::cvtColor(output_image, output_image, CV_RGB2BGR);
pub_.publish(
cv_bridge::CvImage(
label_image_msg->header,
sensor_msgs::image_encodings::BGR8,
output_image).toImageMsg());
}
void jsk_pcl_ros::DepthImageCreator::publish_points(const sensor_msgs::CameraInfoConstPtr& info,
const sensor_msgs::PointCloud2ConstPtr& pcloud2) {
JSK_ROS_DEBUG("DepthImageCreator::publish_points");
if (!pcloud2) return;
bool proc_cloud = true, proc_image = true, proc_disp = true;
if ( pub_cloud_.getNumSubscribers()==0 ) {
proc_cloud = false;
}
if ( pub_image_.getNumSubscribers()==0 ) {
proc_image = false;
}
if ( pub_disp_image_.getNumSubscribers()==0 ) {
proc_disp = false;
}
if( !proc_cloud && !proc_image && !proc_disp) return;
int width = info->width;
int height = info->height;
float fx = info->P[0];
float cx = info->P[2];
float tx = info->P[3];
float fy = info->P[5];
float cy = info->P[6];
Eigen::Affine3f sensorPose;
{
tf::StampedTransform transform;
if(use_fixed_transform) {
transform = fixed_transform;
} else {
try {
tf_listener_->waitForTransform(pcloud2->header.frame_id,
info->header.frame_id,
info->header.stamp,
ros::Duration(0.001));
tf_listener_->lookupTransform(pcloud2->header.frame_id,
info->header.frame_id,
info->header.stamp, transform);
}
catch ( std::runtime_error e ) {
JSK_ROS_ERROR("%s",e.what());
return;
}
}
tf::Vector3 p = transform.getOrigin();
tf::Quaternion q = transform.getRotation();
sensorPose = (Eigen::Affine3f)Eigen::Translation3f(p.getX(), p.getY(), p.getZ());
Eigen::Quaternion<float> rot(q.getW(), q.getX(), q.getY(), q.getZ());
sensorPose = sensorPose * rot;
if (tx != 0.0) {
Eigen::Affine3f trans = (Eigen::Affine3f)Eigen::Translation3f(-tx/fx , 0, 0);
sensorPose = sensorPose * trans;
}
#if 0 // debug print
JSK_ROS_INFO("%f %f %f %f %f %f %f %f %f, %f %f %f",
sensorPose(0,0), sensorPose(0,1), sensorPose(0,2),
sensorPose(1,0), sensorPose(1,1), sensorPose(1,2),
sensorPose(2,0), sensorPose(2,1), sensorPose(2,2),
sensorPose(0,3), sensorPose(1,3), sensorPose(2,3));
#endif
}
PointCloud pointCloud;
pcl::RangeImagePlanar rangeImageP;
{
// code here is dirty, some bag is in RangeImagePlanar
PointCloud tpc;
pcl::fromROSMsg(*pcloud2, tpc);
Eigen::Affine3f inv;
#if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 5 )
inv = sensorPose.inverse();
pcl::transformPointCloud< Point > (tpc, pointCloud, inv);
#else
pcl::getInverse(sensorPose, inv);
pcl::getTransformedPointCloud<PointCloud> (tpc, inv, pointCloud);
#endif
Eigen::Affine3f dummytrans;
dummytrans.setIdentity();
rangeImageP.createFromPointCloudWithFixedSize (pointCloud,
width/scale_depth, height/scale_depth,
cx/scale_depth, cy/scale_depth,
fx/scale_depth, fy/scale_depth,
dummytrans); //sensorPose);
}
cv::Mat mat(rangeImageP.height, rangeImageP.width, CV_32FC1);
float *tmpf = (float *)mat.ptr();
for(unsigned int i = 0; i < rangeImageP.height*rangeImageP.width; i++) {
tmpf[i] = rangeImageP.points[i].z;
}
if(scale_depth != 1.0) {
cv::Mat tmpmat(info->height, info->width, CV_32FC1);
cv::resize(mat, tmpmat, cv::Size(info->width, info->height)); // LINEAR
//cv::resize(mat, tmpmat, cv::Size(info->width, info->height), 0.0, 0.0, cv::INTER_NEAREST);
mat = tmpmat;
}
if (proc_image) {
sensor_msgs::Image pubimg;
pubimg.header = info->header;
pubimg.width = info->width;
pubimg.height = info->height;
pubimg.encoding = "32FC1";
pubimg.step = sizeof(float)*info->width;
pubimg.data.resize(sizeof(float)*info->width*info->height);
// publish image
memcpy(&(pubimg.data[0]), mat.ptr(), sizeof(float)*info->height*info->width);
pub_image_.publish(boost::make_shared<sensor_msgs::Image>(pubimg));
}
if(proc_cloud || proc_disp) {
// publish point cloud
pcl::RangeImagePlanar rangeImagePP;
rangeImagePP.setDepthImage ((float *)mat.ptr(),
width, height,
cx, cy, fx, fy);
#if PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 7
rangeImagePP.header = pcl_conversions::toPCL(info->header);
#else
rangeImagePP.header = info->header;
#endif
if(proc_cloud) {
pub_cloud_.publish(boost::make_shared<pcl::PointCloud<pcl::PointWithRange > >
( (pcl::PointCloud<pcl::PointWithRange>)rangeImagePP) );
}
if(proc_disp) {
stereo_msgs::DisparityImage disp;
#if PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 7
disp.header = pcl_conversions::fromPCL(rangeImagePP.header);
#else
disp.header = rangeImagePP.header;
#endif
disp.image.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
disp.image.height = rangeImagePP.height;
disp.image.width = rangeImagePP.width;
disp.image.step = disp.image.width * sizeof(float);
disp.f = fx; disp.T = 0.075;
disp.min_disparity = 0;
disp.max_disparity = disp.T * disp.f / 0.3;
disp.delta_d = 0.125;
disp.image.data.resize (disp.image.height * disp.image.step);
float *data = reinterpret_cast<float*> (&disp.image.data[0]);
float normalization_factor = disp.f * disp.T;
for (int y = 0; y < (int)rangeImagePP.height; y++ ) {
for (int x = 0; x < (int)rangeImagePP.width; x++ ) {
pcl::PointWithRange p = rangeImagePP.getPoint(x,y);
data[y*disp.image.width+x] = normalization_factor / p.z;
}
}
pub_disp_image_.publish(boost::make_shared<stereo_msgs::DisparityImage> (disp));
}
}
}
void jsk_pcl_ros::DepthImageCreator::callback_cloud(const sensor_msgs::PointCloud2ConstPtr& pcloud2) {
JSK_ROS_DEBUG("DepthImageCreator::callback_cloud");
boost::mutex::scoped_lock lock(this->mutex_points);
points_ptr_ = pcloud2;
}
void jsk_pcl_ros::DepthImageCreator::callback_sync(const sensor_msgs::CameraInfoConstPtr& info,
const sensor_msgs::PointCloud2ConstPtr& pcloud2) {
JSK_ROS_DEBUG("DepthImageCreator::callback_sync");
publish_points(info, pcloud2);
}
