void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
cv::Mat img;
try {
img = cv_bridge::toCvShare(msg, "mono8")->image;
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
}
processUserActions();
double diff1 = msg->header.stamp.toSec() - time_start.toSec();
// std::cout<<"diff1: "<< diff1 <<std::endl;
if((diff1 > time_window.toSec()) && state == SSTART){
vo_->reset();
vo_->start();
state = SGOT_KEY_1;
}
vo_->addImage(img, msg->header.stamp.toSec());
svo_scale_ = vo_->svo_scale_;
if((vo_->stage() == FrameHandlerMono::STAGE_SECOND_FRAME) && state == SGOT_KEY_1)
{ std::cout<<"the first frame at time: "<<msg->header.stamp.toSec()<<std::endl;
time_first = msg->header.stamp;
state = SGOT_KEY_2;
}
if((vo_->stage() == FrameHandlerMono::STAGE_DEFAULT_FRAME) && state == SGOT_KEY_2)
{ //std::cout<<"the second frame at time: "<<msg->header.stamp.toSec()<<std::endl;
time_second = msg->header.stamp;
state = SGETTING_SCALE;
}
double diff2 = msg->header.stamp.toSec() - time_second.toSec();
// std::cout<<"diff2: "<< diff2 <<std::endl;
// std::cout<<"state: "<< state <<std::endl;
if((diff2 > time_window.toSec()) && state == SGETTING_SCALE){
std::cout<<"time_first: "<< time_first <<std::endl;
std::cout<<"time_second: "<< time_second <<std::endl;
if(VoNode::initCb()){
state = SDEFAULT;
}
}
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(publish_markers_){
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map(), state == SDEFAULT, svo_scale_, our_scale_);
}
if(publish_dense_input_)
visualizer_.exportToDense(vo_->lastFrame());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
}
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
// Dummy data as the real position for the system.
// static int old = msg->header.seq;
// if(msg->header.seq == old)
// filtered_pose.pose.position.z = 0;
// else{
// filtered_pose.pose.position.z += 10.0/70.0 * (msg->header.seq-old);
// }
// old = msg->header.seq;
ROS_INFO("Frame seq: %i", msg->header.seq);
#ifdef USE_ASE_IMU
tf::StampedTransform transform;
try{
listener_.lookupTransform("/camera", "/worldNED",
ros::Time(0), transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
return;
}
#endif
cv::Mat img;
try {
img = cv_bridge::toCvShare(msg, "mono8")->image;
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
}
processUserActions();
// Quaterniond quat(filtered_pose.pose.orientation.w,filtered_pose.pose.orientation.x,filtered_pose.pose.orientation.y, filtered_pose.pose.orientation.z);
// Matrix3d orient = quat.toRotationMatrix();
// Vector3d pos(filtered_pose.pose.position.x,filtered_pose.pose.position.y, filtered_pose.pose.position.z);
Quaterniond quat;
quat.setIdentity();
Vector3d pos;
pos.setZero();
Matrix3d orient = quat.toRotationMatrix();
#ifdef USE_ASE_IMU
tf::quaternionTFToEigen(transform.getRotation(), quat);
orient = quat.toRotationMatrix();
tf::vectorTFToEigen(transform.getOrigin(), pos);
#endif
vo_->addImage(img, msg->header.stamp.toSec(), orient, pos);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED)
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(publish_dense_input_)
visualizer_.exportToDense(vo_->lastFrame());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
}