void EstimationNode::publishTf(TooN::SE3<> trans, ros::Time stamp, int seq, std::string system)
{
trans = trans.inverse();
tf::Matrix3x3 m;
m[0][0] = trans.get_rotation().get_matrix()(0,0);
m[0][1] = trans.get_rotation().get_matrix()(0,1);
m[0][2] = trans.get_rotation().get_matrix()(0,2);
m[1][0] = trans.get_rotation().get_matrix()(1,0);
m[1][1] = trans.get_rotation().get_matrix()(1,1);
m[1][2] = trans.get_rotation().get_matrix()(1,2);
m[2][0] = trans.get_rotation().get_matrix()(2,0);
m[2][1] = trans.get_rotation().get_matrix()(2,1);
m[2][2] = trans.get_rotation().get_matrix()(2,2);
tf::Vector3 v;
v[0] = trans.get_translation()[0];
v[1] = trans.get_translation()[1];
v[2] = trans.get_translation()[2];
tf::Transform tr = tf::Transform(m,v);
tf::StampedTransform t = tf::StampedTransform(tr,stamp,"map",system);
tf_broadcaster.sendTransform(t);
if(logfilePTAMRaw != NULL)
{
pthread_mutex_lock(&(logPTAMRaw_CS));
// log:
// - filterPosePrePTAM estimated for videoFrameTimestamp-delayVideo.
// - PTAMResulttransformed estimated for videoFrameTimestamp-delayVideo. (using imu only for last step)
// - predictedPoseSpeed estimated for lastNfoTimestamp+filter->delayControl (actually predicting)
// - predictedPoseSpeedATLASTNFO estimated for lastNfoTimestamp (using imu only)
if(logfilePTAMRaw != NULL)
(*(logfilePTAMRaw)) << seq << " " << stamp << " " << tr.getOrigin().x() << " " << tr.getOrigin().y() << " " << tr.getOrigin().z() << " " <<
tr.getRotation().x() << " " << tr.getRotation().y() << " " << tr.getRotation().z() << " " << tr.getRotation().w() << std::endl;
pthread_mutex_unlock(&(logPTAMRaw_CS));
}
}
// Rotates/translates the whole map and all keyFrames
void MapMakerServerBase::ApplyGlobalTransformationToMap(TooN::SE3<> se3NewFromOld)
{
for (MultiKeyFramePtrList::iterator it = mMap.mlpMultiKeyFrames.begin(); it != mMap.mlpMultiKeyFrames.end(); ++it)
{
MultiKeyFrame& mkf = *(*it);
mkf.mse3BaseFromWorld = mkf.mse3BaseFromWorld * se3NewFromOld.inverse();
for (KeyFramePtrMap::iterator jiter = mkf.mmpKeyFrames.begin(); jiter != mkf.mmpKeyFrames.end(); ++jiter)
{
KeyFrame& kf = *(jiter->second);
kf.mse3CamFromWorld = kf.mse3CamFromBase * mkf.mse3BaseFromWorld;
}
}
for (MapPointPtrList::iterator it = mMap.mlpPoints.begin(); it != mMap.mlpPoints.end(); ++it)
{
MapPoint& point = *(*it);
point.mv3WorldPos = se3NewFromOld * point.mv3WorldPos;
point.RefreshPixelVectors();
}
}
void AbstractView::drawPose3D(const TooN::SE3<double> & pose)
{
glPushMatrix();
Vector<3> center = RobotVision::trans2center(pose);
glTranslate(center);
Vector<3> aa = pose.inverse().get_rotation().ln();
double angle = norm(aa);
if ( angle != 0.0 ) {
glRotatef( angle * 180.0 / M_PI, aa[0], aa[1], aa[2]);
}
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0.05, 0, 0));
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0, 0.05, 0));
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0, 0, 0.05));
drawLine3D(TooN::makeVector(0.025,0.025,0),
TooN::makeVector(-0.025, 0.025, 0));
drawLine3D(TooN::makeVector(-0.025,-0.025,0),
TooN::makeVector(-0.025, 0.025, 0));
drawLine3D(TooN::makeVector(-0.025,-0.025,0),
TooN::makeVector(0.025, -0.025, 0));
drawLine3D(TooN::makeVector(0.025,0.025,0),
TooN::makeVector(0.025, -0.025, 0));
glPopMatrix();
}
void PosedCamera::SetPose(const toon::SE3<>& pose) {
pose_ = pose;
invpose_ = pose.inverse();
}
void AbstractView::setPose(const TooN::SE3<>& T_wc )
{
T_cw_ = T_wc.inverse();
}
