geometry_msgs::Pose convertToPose(tf::StampedTransform transform)
{
tf::Quaternion q = transform.getRotation();
tf::Point p = transform.getOrigin();
geometry_msgs::Pose pose;
pose.position = createPoint(p.x(), p.y(), p.z());
pose.orientation = createQuaternion(q.x(), q.y(), q.z(), q.w());
return pose;
}
bool send2(brio_assembly_vision_new::TrasformStampedRequest &req, brio_assembly_vision_new::TrasformStampedResponse &res)
{
request_a_new_cluster =true;
if(find_cloud_from_kinect_head==true && final ==false)
{
brio_assembly_vision_new::Container * cont = new brio_assembly_vision_new::Container();
while((cont=client_call())==NULL)
{
std::this_thread::sleep_for (std::chrono::seconds(1)); //wait for a good response
}
if(first_time==true)
{
initial_cluster_size=cont->date_container.size();
}
first_time=false;
if(cont->date_container.size()>0) //after moving objects size is decreased
{
int i=0; //start with the lowest index
std::string object_with_shape_requested = model[model_step];
while(cont->date_container[i].piece_type!=object_with_shape_requested && i<cont->date_container.size()-1) //
{
i++;
}
//end while when cluster_vector[i] has the requested shape or when the search index is bigger then cluster_vector
if(i<=cont->date_container.size()-1) // if i<=cluster_vector.size() then we did find requested object at indices i
{
Eigen::Vector3d z_axe,x_or_y_axe;
Eigen::Vector4d translation;
z_axe=estimate_plane_normals(cloud);
int i_center = cont->date_container[i].center_index;
int i_head = cont->date_container[i].head_conn_index;
x_or_y_axe= obj_axe_2_points_next(i_head,i_center);
pcl::PointXYZRGB center = cloud->at(cont->date_container[i].center_index);
translation[0] = center.x;
translation[1] = center.y;
translation[2] = center.z;
calculate_transformation(x_or_y_axe,z_axe ,translation);
ROS_INFO("Send TransformedPose");
Eigen::Quaternionf quat;
quat = createQuaternion();
res.msg.child_frame_id = "brio_piece_frame";
res.msg.header.frame_id = "head_mount_kinect_rgb_optical_frame";
res.msg.transform.translation.x = transformata_finala(0,3);
res.msg.transform.translation.y = transformata_finala(1,3);
res.msg.transform.translation.z = transformata_finala(2,3);
res.msg.transform.rotation.w = (double)quat.w();
res.msg.transform.rotation.x = (double)quat.x();
res.msg.transform.rotation.y = (double)quat.y();
res.msg.transform.rotation.z = (double)quat.z();
if(model_step<initial_cluster_size-1)
model_step++;
else
{ final=true;
//return false;
}
return true;
}
