void camerainfoCb(const sensor_msgs::CameraInfoConstPtr& info_msg)
{
ROS_INFO("infocallback :shutting down camerainfosub");
cam_model_.fromCameraInfo(info_msg);
camera_topic = info_msg->header.frame_id;
camerainfosub_.shutdown();
}
void cam_info_cb(const sensor_msgs::CameraInfo::ConstPtr& msg)
{
if( cam_model_.fromCameraInfo(msg) )
{
got_cam_info_ = true;
ROS_INFO("[bk_skeletal_tracker] Got RGB camera info.");
} else {
ROS_ERROR("[bk_skeletal_tracker] Couldn't read camera info.");
}
}
void infoCallback(const sensor_msgs::CameraInfoConstPtr& info_msg)
{
if (calibrated)
return;
cam_model_.fromCameraInfo(info_msg);
pattern_detector_.setCameraMatrices(cam_model_.intrinsicMatrix(), cam_model_.distortionCoeffs());
calibrated = true;
image_sub_ = nh_.subscribe("/camera/rgb/image_mono", 1, &CalibrateKinectCheckerboard::imageCallback, this);
ROS_INFO("[calibrate] Got image info!");
}
void doOverlay(const sensor_msgs::ImageConstPtr& img_msg,
const sensor_msgs::CameraInfoConstPtr& info_msg) {
// convert camera image into opencv
cam_model.fromCameraInfo(info_msg);
cv_bridge::CvImagePtr cv_img = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::RGB8);
double alpha_mult;
ros::param::param<double>("~alpha_mult", alpha_mult, 0.5);
uint8_t r, g, b;
if(aligned_pc) {
if(!tf_list->waitForTransform(img_msg->header.frame_id, "/base_link",
img_msg->header.stamp, ros::Duration(3)))
return;
tf::StampedTransform transform;
tf_list->lookupTransform(img_msg->header.frame_id, "/base_link",
img_msg->header.stamp, transform);
PCRGB::Ptr tf_pc(new PCRGB());
pcl_ros::transformPointCloud<PRGB>(*aligned_pc, *tf_pc, transform);
for(uint32_t i=0;i<tf_pc->size();i++) {
cv::Point3d proj_pt_cv(tf_pc->points[i].x, tf_pc->points[i].y,
tf_pc->points[i].z);
cv::Point pt2d = cam_model.project3dToPixel(proj_pt_cv);
extractRGB(tf_pc->points[i].rgb, r, g, b);
if(pt2d.x >= 0 && pt2d.y >= 0 &&
pt2d.x < cv_img->image.rows && pt2d.y < cv_img->image.cols) {
double old_r = cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[0];
double old_g = cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[1];
double old_b = cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[2];
cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[0] =
(uint8_t) min(alpha_mult*old_r+r, 255.0);
cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[1] =
(uint8_t) min(alpha_mult*old_g+g, 255.0);
cv_img->image.at<cv::Vec3b>(pt2d.y, pt2d.x)[2] =
(uint8_t) min(alpha_mult*old_b+b, 255.0);
}
}
}
overlay_pub.publish(cv_img->toImageMsg());
}
void FeatureTracker::image_callback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info_msg) {
//need pose data for each picture, need to publish a camera pose
ros::Time acquisition_time = msg->header.stamp;
geometry_msgs::PoseStamped basePose;
geometry_msgs::PoseStamped mapPose;
basePose.pose.orientation.w=1.0;
ros::Duration timeout(3);
basePose.header.frame_id="/base_link";
mapPose.header.frame_id="/map";
try {
tf_listener_.waitForTransform("/camera_1_link", "/map", acquisition_time, timeout);
tf_listener_.transformPose("/map", acquisition_time,basePose,"/camera_1_link",mapPose);
printf("pose #%d %f %f %f\n",pic_number++,mapPose.pose.position.x, mapPose.pose.position.y, tf::getYaw(mapPose.pose.orientation));
}
catch (tf::TransformException& ex) {
ROS_WARN("[map_maker] TF exception:\n%s", ex.what());
printf("[map_maker] TF exception:\n%s", ex.what());
return;
}
cam_model.fromCameraInfo(info_msg);
// printf("callback called\n");
try
{
// if you want to work with color images, change from mono8 to bgr8
if(image_rect==NULL){
image_rect = cvCloneImage(bridge.imgMsgToCv(msg, "mono8"));
last_image= cvCloneImage(bridge.imgMsgToCv(msg, "mono8"));
pyrA=cvCreateImage(cvSize(last_image->width+8,last_image->height/3.0), IPL_DEPTH_32F, 1);
pyrB=cvCloneImage(pyrA);
// printf("cloned image\n");
}
else{
//save the last image
cvCopy(image_rect,last_image);
cvCopy(bridge.imgMsgToCv(msg, "mono8"),image_rect);
// printf("copied image\n");
}
if(output_image==NULL){
output_image =cvCloneImage(image_rect);
}
if(eigImage==NULL){
eigImage =cvCloneImage(image_rect);
}
if(tempImage==NULL){
tempImage =cvCloneImage(image_rect);
}
}
catch (sensor_msgs::CvBridgeException& e)
{
ROS_ERROR("Could not convert from '%s' to 'mono8'.", msg->encoding.c_str());
return;
}
if(image_rect!=NULL) {
cvCopy(image_rect,output_image);
printf("got image\n");
track_features(mapPose);
//draw features on the image
for(int i=0;i<last_feature_count;i++){
CvPoint center=cvPoint((int)features[i].x,(int)features[i].y);
cvCircle(output_image,center,10,cvScalar(150),2);
char strbuf [10];
int n=sprintf(strbuf,"%d",current_feature_id[ i] );
std::string text=std::string(strbuf,n);
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX,1,1);
cvPutText(output_image,text.c_str(),cvPoint(center.x,center.y+20),&font,cvScalar(255));
cv::Point3d tempRay;
cv::Point2d tempPoint=cv::Point2d(features[i]);
cam_model.projectPixelTo3dRay(tempPoint,tempRay);
// printf("%f x %f y %f z\n",tempRay.x,tempRay.y,tempRay.z);
}
// featureList[0].print();
//determine error gradient
int min_features=10;
// printf("ypr %f %f %f\n",yaw,pitch,roll);
cv::Point3d error_sum=calc_error(min_features,0, 0, 0);
printf("total error is : %f\n",error_sum.x);
for(int i=0;i<featureList.size();i++){
if(min_features<featureList[i].numFeatures()){
printf("\n\n\nfeature %d\n",i);
printf("mean: %f %f %f\n",featureList[i].currentMean.x, featureList[i].currentMean.y, featureList[i].currentMean.z);
}
}
// double error_up= calc_error(min_features,yalpha, 0, 0);
// printf("total up yaw error is : %f\n",error_up);
// double error_down= calc_error(min_features,-yalpha, 0, 0);
// printf("total down yaw error is : %f\n",error_down);
/*
double yaw_change=0;
if(error_up<error_sum && error_up<error_down){
yaw_change=yalpha;
}else if(error_down<error_sum && error_down<error_up){
yaw_change=-yalpha;
}else if(error_down!=error_sum&&error_sum!=error_up){
yalpha/=2;
}
error_up= calc_error(min_features,0,palpha, 0);
// printf("total up pitch error is : %f\n",error_up);
error_down= calc_error(min_features,0,-palpha, 0);
// printf("total down pitch error is : %f\n",error_down);
double pitch_change=0;
if(error_up<error_sum && error_up<error_down){
pitch_change=palpha;
}else if(error_down<error_sum && error_down<error_up){
pitch_change=-palpha;
}else if(error_down!=error_sum&&error_sum!=error_up){
//palpha/=2;
}
error_up= calc_error(min_features,0,0,ralpha);
// printf("total up roll error is : %f\n",error_up);
error_down= calc_error(min_features,0,0,-ralpha);
// printf("total down roll error is : %f\n",error_down);
double roll_change=0;
if(error_up<error_sum && error_up<error_down){
roll_change=ralpha;
}else if(error_down<error_sum && error_down<error_up){
roll_change=-ralpha;
}else if(error_down!=error_sum&&error_sum!=error_up){
ralpha/=2;
}
// yaw+=yaw_change;
// pitch+=pitch_change;
// roll+=roll_change;
*/
try{
sensor_msgs::Image output_image_cvim =*bridge.cvToImgMsg(output_image, "mono8");
output_image_cvim.header.stamp=msg->header.stamp;
analyzed_pub_.publish(output_image_cvim);
}
catch (sensor_msgs::CvBridgeException& e){
ROS_ERROR("Could not convert from '%s' to 'mono8'.", msg->encoding.c_str());
return;
}
// printf("displaying image\n");
}else{
// printf("null image_rect\n");
}
}
void imageCb2(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info_msg) {
MySecond.clear();
Ccount++;
cam_model_right.fromCameraInfo(info_msg);
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
if (Ccount == 0)
return;
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;
if (TTEMP.x == 0 && TTEMP.y == 0)
return;
MySecond.push_back(TTEMP);
}
#ifdef DEBUG
cv::imshow(OPENCV_WINDOW2, cv_ptr->image);
cv::waitKey(3);
#endif
}
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;;
}
void depthCallback(const sensor_msgs::ImageConstPtr& original_image, const sensor_msgs::CameraInfoConstPtr& info){
if(need_for_wall==2){
need_for_wall = 0;
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(original_image, enc::TYPE_16UC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());
return;
}
cam_model.fromCameraInfo(info);
Mat depth_image = cv_ptr->image;
float x = 0;
float y = 360;
float wall_height = 0;
geometry_msgs::PointStamped xy_point_stamped, pipe_point_stamped;
walls_detection::Walls walls_all_message;
for(int i = 100; i<600; i+=110){
wall_height = 0;
y = 360;
x = i;
unsigned short wall_depth;
while(wall_height < 0.05 && y > 0){
cv::Point2d uv_point(x,y);
unsigned short wall_depth;
wall_depth = depth_image.at<unsigned short>(y, x);
cv::Point3d xy_point;
xy_point = cam_model.projectPixelTo3dRay(uv_point);
xy_point = xy_point * wall_depth;
xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
xy_point_stamped.header.stamp = ros::Time::now();
xy_point_stamped.point.x = 0.001*xy_point.x;
xy_point_stamped.point.y = 0.001*xy_point.y;
xy_point_stamped.point.z = 0.001*xy_point.z;
try {
tf_listener->waitForTransform("/pipe_link", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
tf_listener->transformPoint("/pipe_link", xy_point_stamped, pipe_point_stamped);
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
}
wall_height = pipe_point_stamped.point.z;
y = y - 120;
}
std::cout<<"Sciana nr "<< i <<" - x: "<< pipe_point_stamped.point.x <<", y: "<< pipe_point_stamped.point.y <<", z: "<< pipe_point_stamped.point.z <<"\n";
if(wall_height < 0.05){
std::cout << "Nie ma sciany\n";
pipe_point_stamped.point.x = 0;
pipe_point_stamped.point.y = 0;
pipe_point_stamped.point.z = 0;
}
switch(i){
case 100:
walls_all_message.wall1 = pipe_point_stamped;
break;
case 210:
walls_all_message.wall2 = pipe_point_stamped;
break;
case 320:
walls_all_message.wall3 = pipe_point_stamped;
break;
case 430:
walls_all_message.wall4 = pipe_point_stamped;
break;
case 540:
walls_all_message.wall5 = pipe_point_stamped;
break;
}
}
walls_all.publish(walls_all_message);
}
}
void cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& infoMsg)
{
cameraModel.fromCameraInfo(infoMsg);
}
void depthCallback(const sensor_msgs::ImageConstPtr& original_image, const sensor_msgs::CameraInfoConstPtr& info)
{
if(is_robot_running==0 && balls_written==1 && ball_chosen==0){
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(original_image, sensor_msgs::image_encodings::TYPE_16UC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());
return;
}
cam_model.fromCameraInfo(info);
Mat depth_image = cv_ptr->image;
if(balls_written == 1){
for( size_t i = 0; i < circles_all.size(); i++ ){
if (pilki[i]!=0){
cv::Point2d uv_point(circles_all[i][0], circles_all[i][1]);
unsigned short ball_depth;
ball_depth = depth_image.at<unsigned short>(circles_all[i][1], circles_all[i][0])+20;
cv::Point3d xy_point;
xy_point = cam_model.projectPixelTo3dRay(uv_point);
xy_point = xy_point * ball_depth;
geometry_msgs::PointStamped xy_point_stamped, odom_point_stamped;
xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
xy_point_stamped.header.stamp = ros::Time::now();
xy_point_stamped.point.x = 0.001*xy_point.x;
xy_point_stamped.point.y = 0.001*xy_point.y;
xy_point_stamped.point.z = 0.001*xy_point.z;
try {
tf_listener->waitForTransform("/base_link", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
tf_listener->transformPoint("/base_link", xy_point_stamped, odom_point_stamped);
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
}
if(odom_point_stamped.point.z > 0.05 || odom_point_stamped.point.z < 0.001){
std::cout << "Srodek pilki na wysokosci: " << odom_point_stamped.point.z << ".\n";
std::cout << "Skondensowane pilki: to nie pilka, jest za wysoko albo za nisko! \n";
pilki[i]=0;
}
}
}
depth_written = 1;
std::cout << "Policzylem wysokosc dla skondensowanych pilek \n";
int closest_ball = choose_closest_ball();
if(closest_ball == -1){
std::cout << "NIE WYBRANO ZADNEJ PILKI \n";
send_no_balls();
}
if(closest_ball != -1){
int wybrana_x = circles_all[closest_ball][0];
int wybrana_y = circles_all[closest_ball][1];
int wybrana_z = circles_all[closest_ball][2];
ball_chosen = 1;
std::cout << "Wybrana jedna pilka \n";
last_circle[0] = wybrana_x;
last_circle[1] = wybrana_y;
last_circle[2] = wybrana_z;
wybrana.x = last_circle[0];
wybrana.y = last_circle[1];
wybrana.z = last_circle[2];
draw_balls = 1;
cv::Point2d uv_point(wybrana.x, wybrana.y);
unsigned short ball_depth;
ball_depth = depth_image.at<unsigned short>(wybrana.y,wybrana.x)+20;
geometry_msgs::Point message_selected;
cv::Point3d xy_point;
xy_point = cam_model.projectPixelTo3dRay(uv_point);
xy_point = xy_point * ball_depth;
geometry_msgs::PointStamped xy_point_stamped, odom_point_stamped;
xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
xy_point_stamped.header.stamp = ros::Time::now();
xy_point_stamped.point.x = 0.001*xy_point.x;
xy_point_stamped.point.y = 0.001*xy_point.y;
xy_point_stamped.point.z = 0.001*xy_point.z;
try {
tf_listener->waitForTransform("/odom", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
tf_listener->transformPoint("/odom", xy_point_stamped, odom_point_stamped);
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
}
if(odom_point_stamped.point.z > 0.05){
std::cout << "Wybrana pilka to nie pilka, jest za wysoko! \n";
}
std::cout << "Policzylem dla wybranej pilki i publikuje \n";
//balls.publish(wybrana);
selected_ball.publish(odom_point_stamped);
licznik_depth = 0;
ball_chosen = 0;
circles_all.clear();
pilki.clear();
licznik_wybrane = 0;
no_balls_counter = 0;
balls_written = 0;
depth_written = 0;
is_robot_running = 1;
}
}
}
}
void infoCb(const sensor_msgs::CameraInfo& msg)
{
model.fromCameraInfo(msg);
//SHUTDOWN LATER #HACK
}
