/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers, vector<string> deviceNames,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
std::cout << "number of lasers: " << nLasers << std::endl;
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv", nLasers, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers*5]; // *5 to make space for Y, Z axis and square that represents the laser
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.id = 0;
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
//position and orientation of laser
int counter = 0;
for(int n=0; n<lasers.size(); n++)
{
std::cout << "laser "<< n << std::endl;
geometry_msgs::Pose laser = lasers[n];
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
std::cout << "laser transform" << std::endl;
for (int k=0; k<5; k++)
{
marker_lasers[counter].header.frame_id = "/my_frame3";
marker_lasers[counter].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n << "Marker: " << k;
marker_lasers[counter].ns = ss.str();
marker_lasers[counter].action = visualization_msgs::Marker::ADD;
std_msgs::ColorRGBA color;
if (k<3)
{
marker_lasers[counter].type = visualization_msgs::Marker::ARROW;
marker_lasers[counter].scale.x = 0.5;
marker_lasers[counter].scale.y = 0.05;
marker_lasers[counter].scale.z = 0.05;
color.r = 0;
color.g = 0;
color.b = 0;
color.a = 1;
}
else if (k == 3)
{
marker_lasers[counter].type = visualization_msgs::Marker::CUBE;
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
}
else
{
marker_lasers[counter].type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker_lasers[counter].text = deviceNames[n];
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
std::cout << deviceNames[n] << std::endl;
}
tf::Transform t_aux;
tf::Quaternion q_aux;
t_aux.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
switch (k) {
case 0:
{
q_aux = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation->this is the X axis
color.r = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 1:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, M_PI/2 ); // rotation to get Y axis from X
color.g = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 2:
{
q_aux = tf::createQuaternionFromRPY( 0.0, -M_PI/2, 0.0); // rotation to get Z axis from X
color.b = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 3:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color = colormap.color(n);
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
default:
{
std::cout << "text" << std::endl;
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color.r = 1.0;
color.g = 1.0;
color.b = 1.0;
color.a = 1.0;
}
}
t_aux.setRotation( q_aux );
tf::Transform transform_laser = t_rpy * t_laser * t_aux;
tf::Quaternion rotation_laser = transform_laser.getRotation();
tf::Vector3 translation_laser = transform_laser.getOrigin();
std::cout << "Transformation" << std::endl;
std::cout << "translation " << translation_laser[0] << " " << translation_laser[1] << " " << translation_laser[2] << std::endl;
std::cout << "rotation " << rotation_laser[0] << " " << rotation_laser[1] << " " << rotation_laser[2] << " " << rotation_laser[3] << std::endl;
marker_lasers[counter].pose.position.y=translation_laser[1];
if (k!=4)
{
marker_lasers[counter].pose.position.x=translation_laser[0];
marker_lasers[counter].pose.position.z=translation_laser[2];
std::cout << "k!4" << std::endl;
}
else
{
marker_lasers[counter].pose.position.x=translation_laser[0]+0.15;
marker_lasers[counter].pose.position.z=translation_laser[2]+0.25;
std::cout << "text" << std::endl;
}
marker_lasers[counter].pose.orientation.x=rotation_laser[0];
marker_lasers[counter].pose.orientation.y=rotation_laser[1];
marker_lasers[counter].pose.orientation.z=rotation_laser[2];
marker_lasers[counter].pose.orientation.w=rotation_laser[3];
std::cout << "pose" << std::endl;
marker_lasers[counter].color=color;
std::cout << "color" << std::endl;
marker_list.update(marker_lasers[counter]);
std::cout << "update" << std::endl;
counter++;
}
}
std::cout << "clean" << std::endl;
//Remove markers that should not be transmitted
marker_list.clean();
std::cout << "finished" << std::endl;
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function
/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv",10, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers];
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
/*marker_centers.color.b=1;
marker_centers.color.a=1;*/
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
}
//position and orientation of laser
for(int n=0; n<lasers.size(); n++)
{
{
marker_lasers[n].header.frame_id = "/my_frame3";
marker_lasers[n].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n;
marker_lasers[n].ns = ss.str();
marker_lasers[n].action = visualization_msgs::Marker::ADD;
marker_lasers[n].type = visualization_msgs::Marker::ARROW;
marker_lasers[n].scale.x = 0.2;
marker_lasers[n].scale.y = 0.1;
marker_lasers[n].scale.z = 0.1;
geometry_msgs::Pose laser = lasers[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
t_laser= t_rpy * t_laser;
q_laser = t_laser.getRotation();
tf::Vector3 trans_laser = t_laser.getOrigin();
marker_lasers[n].pose.position.x=trans_laser[0];
marker_lasers[n].pose.position.y=trans_laser[1];
marker_lasers[n].pose.position.z=trans_laser[2];
marker_lasers[n].pose.orientation.x=q_laser[0];
marker_lasers[n].pose.orientation.y=q_laser[1];
marker_lasers[n].pose.orientation.z=q_laser[2];
marker_lasers[n].pose.orientation.w=q_laser[3];
marker_lasers[n].color=color;
marker_list.update(marker_lasers[n]);
}
}
//Remove markers that should not be transmitted
marker_list.clean();
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function