/* * One and only one callback, now takes cloud, does everything else needed. */ void ARPublisher::getTransformationCallback (const sensor_msgs::PointCloud2ConstPtr & msg) { sensor_msgs::ImagePtr image_msg(new sensor_msgs::Image); ARUint8 *dataPtr; ARMarkerInfo *marker_info; int marker_num; int i, k, j; /* do we need to initialize? */ if(!configured_) { if(msg->width == 0 || msg->height == 0) { ROS_ERROR ("Deformed cloud! Size = %d, %d.", msg->width, msg->height); return; } cam_param_.xsize = msg->width; cam_param_.ysize = msg->height; cam_param_.dist_factor[0] = msg->width/2; // x0 = cX from openCV calibration cam_param_.dist_factor[1] = msg->height/2; // y0 = cY from openCV calibration cam_param_.dist_factor[2] = 0; // f = -100*k1 from CV. Note, we had to do mm^2 to m^2, hence 10^8->10^2 cam_param_.dist_factor[3] = 1.0; // scale factor, should probably be >1, but who cares... arInit (); } /* convert cloud to PCL */ PointCloud cloud; pcl::fromROSMsg(*msg, cloud); /* get an OpenCV image from the cloud */ pcl::toROSMsg (cloud, *image_msg); cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8); } catch (cv_bridge::Exception& e) { ROS_ERROR ("Could not convert from '%s' to 'bgr8'.", image_msg->encoding.c_str ()); } dataPtr = (ARUint8 *) cv_ptr->image.ptr(); /* detect the markers in the video frame */ if (arDetectMarkerLite (dataPtr, threshold_, &marker_info, &marker_num) < 0) { argCleanup (); return; } arPoseMarkers_.markers.clear (); /* check for known patterns */ for (i = 0; i < objectnum; i++) { k = -1; for (j = 0; j < marker_num; j++) { if (object[i].id == marker_info[j].id) { if (k == -1) k = j; else // make sure you have the best pattern (highest confidence factor) if (marker_info[k].cf < marker_info[j].cf) k = j; } } if (k == -1) { object[i].visible = 0; continue; } /* create a cloud for marker corners */ int d = marker_info[k].dir; PointCloud marker; marker.push_back( cloud.at( (int)marker_info[k].vertex[(4-d)%4][0], (int)marker_info[k].vertex[(4-d)%4][1] ) ); // upper left marker.push_back( cloud.at( (int)marker_info[k].vertex[(5-d)%4][0], (int)marker_info[k].vertex[(5-d)%4][1] ) ); // upper right marker.push_back( cloud.at( (int)marker_info[k].vertex[(6-d)%4][0], (int)marker_info[k].vertex[(6-d)%4][1] ) ); // lower right marker.push_back( cloud.at( (int)marker_info[k].vertex[(7-d)%4][0], (int)marker_info[k].vertex[(7-d)%4][1] ) ); /* create an ideal cloud */ double w = object[i].marker_width; PointCloud ideal; ideal.push_back( makeRGBPoint(-w/2,w/2,0) ); ideal.push_back( makeRGBPoint(w/2,w/2,0) ); ideal.push_back( makeRGBPoint(w/2,-w/2,0) ); ideal.push_back( makeRGBPoint(-w/2,-w/2,0) ); /* get transformation */ Eigen::Matrix4f t; TransformationEstimationSVD obj; obj.estimateRigidTransformation( marker, ideal, t ); /* get final transformation */ tf::Transform transform = tfFromEigen(t.inverse()); // any(transform == nan) tf::Matrix3x3 m = transform.getBasis(); tf::Vector3 p = transform.getOrigin(); bool invalid = false; for(int i=0; i < 3; i++) for(int j=0; j < 3; j++) invalid = (invalid || isnan(m[i][j]) || fabs(m[i][j]) > 1.0); for(int i=0; i < 3; i++) invalid = (invalid || isnan(p[i])); if(invalid) continue; /* publish the marker */ ar_pose::ARMarker ar_pose_marker; ar_pose_marker.header.frame_id = msg->header.frame_id; ar_pose_marker.header.stamp = msg->header.stamp; ar_pose_marker.id = object[i].id; ar_pose_marker.pose.pose.position.x = transform.getOrigin().getX(); ar_pose_marker.pose.pose.position.y = transform.getOrigin().getY(); ar_pose_marker.pose.pose.position.z = transform.getOrigin().getZ(); ar_pose_marker.pose.pose.orientation.x = transform.getRotation().getAxis().getX(); ar_pose_marker.pose.pose.orientation.y = transform.getRotation().getAxis().getY(); ar_pose_marker.pose.pose.orientation.z = transform.getRotation().getAxis().getZ(); ar_pose_marker.pose.pose.orientation.w = transform.getRotation().getW(); ar_pose_marker.confidence = marker_info->cf; arPoseMarkers_.markers.push_back (ar_pose_marker); /* publish transform */ if (publishTf_) { broadcaster_.sendTransform(tf::StampedTransform(transform, msg->header.stamp, msg->header.frame_id, object[i].name)); } /* publish visual marker */ if (publishVisualMarkers_) { tf::Vector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS); tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin); tf::Transform markerPose = transform * m; // marker pose in the camera frame tf::poseTFToMsg (markerPose, rvizMarker_.pose); rvizMarker_.header.frame_id = msg->header.frame_id; rvizMarker_.header.stamp = msg->header.stamp; rvizMarker_.id = object[i].id; rvizMarker_.scale.x = 1.0 * object[i].marker_width * AR_TO_ROS; rvizMarker_.scale.y = 1.0 * object[i].marker_width * AR_TO_ROS; rvizMarker_.scale.z = 0.5 * object[i].marker_width * AR_TO_ROS; rvizMarker_.ns = "basic_shapes"; rvizMarker_.type = visualization_msgs::Marker::CUBE; rvizMarker_.action = visualization_msgs::Marker::ADD; switch (i) { case 0: rvizMarker_.color.r = 0.0f; rvizMarker_.color.g = 0.0f; rvizMarker_.color.b = 1.0f; rvizMarker_.color.a = 1.0; break; case 1: rvizMarker_.color.r = 1.0f; rvizMarker_.color.g = 0.0f; rvizMarker_.color.b = 0.0f; rvizMarker_.color.a = 1.0; break; default: rvizMarker_.color.r = 0.0f; rvizMarker_.color.g = 1.0f; rvizMarker_.color.b = 0.0f; rvizMarker_.color.a = 1.0; } rvizMarker_.lifetime = ros::Duration (); rvizMarkerPub_.publish (rvizMarker_); ROS_DEBUG ("Published visual marker"); } } arMarkerPub_.publish (arPoseMarkers_); ROS_DEBUG ("Published ar_multi markers"); }
void ARSinglePublisher::getTransformationCallback (const sensor_msgs::ImageConstPtr & image_msg) { ARUint8 *dataPtr; ARMarkerInfo *marker_info; int marker_num; int i, k; /* Get the image from ROSTOPIC * NOTE: the dataPtr format is BGR because the ARToolKit library was * build with V4L, dataPtr format change according to the * ARToolKit configure option (see config.h).*/ try { capture_ = bridge_.imgMsgToCv (image_msg, "bgr8"); } catch (sensor_msgs::CvBridgeException & e) { ROS_ERROR ("Could not convert from '%s' to 'bgr8'.", image_msg->encoding.c_str ()); } //cvConvertImage(capture_,capture_,CV_CVTIMG_FLIP); //flip image dataPtr = (ARUint8 *) capture_->imageData; // detect the markers in the video frame if (arDetectMarker (dataPtr, threshold_, &marker_info, &marker_num) < 0) { ROS_FATAL ("arDetectMarker failed"); ROS_BREAK (); // FIXME: I don't think this should be fatal... -Bill } // check for known patterns k = -1; for (i = 0; i < marker_num; i++) { if (marker_info[i].id == patt_id_) { ROS_DEBUG ("Found pattern: %d ", patt_id_); // make sure you have the best pattern (highest confidence factor) if (k == -1) k = i; else if (marker_info[k].cf < marker_info[i].cf) k = i; } } if (k != -1) { // **** get the transformation between the marker and the real camera double arQuat[4], arPos[3]; if (!useHistory_ || contF == 0) arGetTransMat (&marker_info[k], marker_center_, markerWidth_, marker_trans_); else arGetTransMatCont (&marker_info[k], marker_trans_, marker_center_, markerWidth_, marker_trans_); contF = 1; //arUtilMatInv (marker_trans_, cam_trans); arUtilMat2QuatPos (marker_trans_, arQuat, arPos); // **** convert to ROS frame double quat[4], pos[3]; pos[0] = arPos[0] * AR_TO_ROS; pos[1] = arPos[1] * AR_TO_ROS; pos[2] = arPos[2] * AR_TO_ROS; quat[0] = -arQuat[0]; quat[1] = -arQuat[1]; quat[2] = -arQuat[2]; quat[3] = arQuat[3]; ROS_DEBUG (" QUAT: Pos x: %3.5f y: %3.5f z: %3.5f", pos[0], pos[1], pos[2]); ROS_DEBUG (" Quat qx: %3.5f qy: %3.5f qz: %3.5f qw: %3.5f", quat[0], quat[1], quat[2], quat[3]); // **** publish the marker ar_pose_marker_.header.frame_id = image_msg->header.frame_id; ar_pose_marker_.header.stamp = image_msg->header.stamp; ar_pose_marker_.id = marker_info->id; ar_pose_marker_.pose.pose.position.x = pos[0]; ar_pose_marker_.pose.pose.position.y = pos[1]; ar_pose_marker_.pose.pose.position.z = pos[2]; ar_pose_marker_.pose.pose.orientation.x = quat[0]; ar_pose_marker_.pose.pose.orientation.y = quat[1]; ar_pose_marker_.pose.pose.orientation.z = quat[2]; ar_pose_marker_.pose.pose.orientation.w = quat[3]; ar_pose_marker_.confidence = marker_info->cf; arMarkerPub_.publish(ar_pose_marker_); ROS_DEBUG ("Published ar_single marker"); // **** publish transform between camera and marker btQuaternion rotation (quat[0], quat[1], quat[2], quat[3]); btVector3 origin(pos[0], pos[1], pos[2]); btTransform t(rotation, origin); if(publishTf_) { if(reverse_transform_) { tf::StampedTransform markerToCam (t.inverse(), image_msg->header.stamp, markerFrame_.c_str(), image_msg->header.frame_id); broadcaster_.sendTransform(markerToCam); } else { tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, markerFrame_.c_str()); broadcaster_.sendTransform(camToMarker); } } // **** publish visual marker if(publishVisualMarkers_) { btVector3 markerOrigin(0, 0, 0.25 * markerWidth_ * AR_TO_ROS); btTransform m(btQuaternion::getIdentity(), markerOrigin); btTransform markerPose = t * m; // marker pose in the camera frame tf::poseTFToMsg(markerPose, rvizMarker_.pose); rvizMarker_.header.frame_id = image_msg->header.frame_id; rvizMarker_.header.stamp = image_msg->header.stamp; rvizMarker_.id = 1; rvizMarker_.scale.x = 1.0 * markerWidth_ * AR_TO_ROS; rvizMarker_.scale.y = 1.0 * markerWidth_ * AR_TO_ROS; rvizMarker_.scale.z = 0.5 * markerWidth_ * AR_TO_ROS; rvizMarker_.ns = "basic_shapes"; rvizMarker_.type = visualization_msgs::Marker::CUBE; rvizMarker_.action = visualization_msgs::Marker::ADD; rvizMarker_.color.r = 0.0f; rvizMarker_.color.g = 1.0f; rvizMarker_.color.b = 0.0f; rvizMarker_.color.a = 1.0; rvizMarker_.lifetime = ros::Duration(); rvizMarkerPub_.publish(rvizMarker_); ROS_DEBUG ("Published visual marker"); } } else { contF = 0; ROS_DEBUG ("Failed to locate marker"); } }
void ARMultiPublisher::getTransformationCallback (const sensor_msgs::ImageConstPtr & image_msg) { ARUint8 *dataPtr; ARMarkerInfo *marker_info; int marker_num; int i, k, j; /* Get the image from ROSTOPIC * NOTE: the dataPtr format is BGR because the ARToolKit library was * build with V4L, dataPtr format change according to the * ARToolKit configure option (see config.h).*/ #if ROS_VERSION_MINIMUM(1, 9, 0) try { capture_ = cv_bridge::toCvCopy (image_msg, sensor_msgs::image_encodings::BGR8); } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } dataPtr = (ARUint8 *) ((IplImage) capture_->image).imageData; #else try { capture_ = bridge_.imgMsgToCv (image_msg, "bgr8"); } catch (sensor_msgs::CvBridgeException & e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } dataPtr = (ARUint8 *) capture_->imageData; #endif // detect the markers in the video frame if (arDetectMarker (dataPtr, threshold_, &marker_info, &marker_num) < 0) { argCleanup (); ROS_BREAK (); } arPoseMarkers_.markers.clear (); // check for known patterns for (i = 0; i < objectnum; i++) { k = -1; for (j = 0; j < marker_num; j++) { if (object[i].id == marker_info[j].id) { if (k == -1) k = j; else // make sure you have the best pattern (highest confidence factor) if (marker_info[k].cf < marker_info[j].cf) k = j; } } if (k == -1) { object[i].visible = 0; continue; } // calculate the transform for each marker if (object[i].visible == 0) { arGetTransMat (&marker_info[k], object[i].marker_center, object[i].marker_width, object[i].trans); } else { arGetTransMatCont (&marker_info[k], object[i].trans, object[i].marker_center, object[i].marker_width, object[i].trans); } object[i].visible = 1; double arQuat[4], arPos[3]; //arUtilMatInv (object[i].trans, cam_trans); arUtilMat2QuatPos (object[i].trans, arQuat, arPos); // **** convert to ROS frame double quat[4], pos[3]; pos[0] = arPos[0] * AR_TO_ROS; pos[1] = arPos[1] * AR_TO_ROS; pos[2] = arPos[2] * AR_TO_ROS; quat[0] = -arQuat[0]; quat[1] = -arQuat[1]; quat[2] = -arQuat[2]; quat[3] = arQuat[3]; ROS_DEBUG (" Object num %i ------------------------------------------------", i); ROS_DEBUG (" QUAT: Pos x: %3.5f y: %3.5f z: %3.5f", pos[0], pos[1], pos[2]); ROS_DEBUG (" Quat qx: %3.5f qy: %3.5f qz: %3.5f qw: %3.5f", quat[0], quat[1], quat[2], quat[3]); // **** publish the marker ar_pose::ARMarker ar_pose_marker; ar_pose_marker.header.frame_id = image_msg->header.frame_id; ar_pose_marker.header.stamp = image_msg->header.stamp; ar_pose_marker.id = object[i].id; ar_pose_marker.pose.pose.position.x = pos[0]; ar_pose_marker.pose.pose.position.y = pos[1]; ar_pose_marker.pose.pose.position.z = pos[2]; ar_pose_marker.pose.pose.orientation.x = quat[0]; ar_pose_marker.pose.pose.orientation.y = quat[1]; ar_pose_marker.pose.pose.orientation.z = quat[2]; ar_pose_marker.pose.pose.orientation.w = quat[3]; ar_pose_marker.confidence = round(marker_info->cf * 100); arPoseMarkers_.markers.push_back (ar_pose_marker); // **** publish transform between camera and marker #if ROS_VERSION_MINIMUM(1, 9, 0) tf::Quaternion rotation (quat[0], quat[1], quat[2], quat[3]); tf::Vector3 origin (pos[0], pos[1], pos[2]); tf::Transform t (rotation, origin); #else // DEPRECATED: Fuerte support ends when Hydro is released btQuaternion rotation (quat[0], quat[1], quat[2], quat[3]); btVector3 origin (pos[0], pos[1], pos[2]); btTransform t (rotation, origin); #endif if (publishTf_) { tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, object[i].name); broadcaster_.sendTransform(camToMarker); } // **** publish visual marker if (publishVisualMarkers_) { #if ROS_VERSION_MINIMUM(1, 9, 0) tf::Vector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS); tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin); tf::Transform markerPose = t * m; // marker pose in the camera frame #else // DEPRECATED: Fuerte support ends when Hydro is released btVector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS); btTransform m (btQuaternion::getIdentity (), markerOrigin); btTransform markerPose = t * m; // marker pose in the camera frame #endif tf::poseTFToMsg (markerPose, rvizMarker_.pose); rvizMarker_.header.frame_id = image_msg->header.frame_id; rvizMarker_.header.stamp = image_msg->header.stamp; rvizMarker_.id = object[i].id; rvizMarker_.scale.x = 1.0 * object[i].marker_width * AR_TO_ROS; rvizMarker_.scale.y = 1.0 * object[i].marker_width * AR_TO_ROS; rvizMarker_.scale.z = 0.5 * object[i].marker_width * AR_TO_ROS; rvizMarker_.ns = "basic_shapes"; rvizMarker_.type = visualization_msgs::Marker::CUBE; rvizMarker_.action = visualization_msgs::Marker::ADD; switch (i) { case 0: rvizMarker_.color.r = 0.0f; rvizMarker_.color.g = 0.0f; rvizMarker_.color.b = 1.0f; rvizMarker_.color.a = 1.0; break; case 1: rvizMarker_.color.r = 1.0f; rvizMarker_.color.g = 0.0f; rvizMarker_.color.b = 0.0f; rvizMarker_.color.a = 1.0; break; default: rvizMarker_.color.r = 0.0f; rvizMarker_.color.g = 1.0f; rvizMarker_.color.b = 0.0f; rvizMarker_.color.a = 1.0; } rvizMarker_.lifetime = ros::Duration (1.0); rvizMarkerPub_.publish(rvizMarker_); ROS_DEBUG ("Published visual marker"); } } arMarkerPub_.publish(arPoseMarkers_); ROS_DEBUG ("Published ar_multi markers"); }
void ARBundlePublisher::getTransformationCallback (const sensor_msgs::ImageConstPtr & image_msg) { ARUint8 *dataPtr; ARMarkerInfo *marker_info; int marker_num; int knownPatternCount, k, j; /* Get the image from ROSTOPIC * NOTE: the dataPtr format is BGR because the ARToolKit library was * build with V4L, dataPtr format change according to the * ARToolKit configure option (see config.h).*/ #if ROS_VERSION_MINIMUM(1, 9, 0) try { capture_ = cv_bridge::toCvCopy (image_msg, sensor_msgs::image_encodings::BGR8); } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } dataPtr = (ARUint8 *) ((IplImage) capture_->image).imageData; #else try { capture_ = bridge_.imgMsgToCv (image_msg, "bgr8"); } catch (sensor_msgs::CvBridgeException & e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } dataPtr = (ARUint8 *) capture_->imageData; #endif // detect the markers in the video frame if (arDetectMarker (dataPtr, threshold_, &marker_info, &marker_num) < 0) { argCleanup (); ROS_BREAK (); } arPoseMarkers_.markers.clear (); // check for known patterns for (knownPatternCount = 0; knownPatternCount < objectnum; knownPatternCount++) { k = -1; //haven't yet seen my pattern yet. //marker_num is how many markers were actually found for (j = 0; j < marker_num; j++) { if (object[knownPatternCount].id == marker_info[j].id) { if (k == -1) //if this is the first wild sighting k = j; //which marker matches my pattern? else // make sure you have the best pattern (highest confidence factor) if (marker_info[k].cf < marker_info[j].cf) k = j; } }//end for (j) if (k == -1) //didn't find my pattern :( { object[knownPatternCount].visible = 0; continue; //ok. so this just skips all the way to the next knownPatternCount } object[knownPatternCount].visible = 1; //woohoo mark as found getMarkerTransform(knownPatternCount, marker_info, k); //transform is stored in object[knownPatternCount].trans double arQuat[4], arPos[3]; //for the marker double masterARQuat[4], masterARPos[3]; //for the master/center of the box //find the transform for the pattern to the center of the box //updates master_trans_ findTransformToCenter(object[knownPatternCount].trans, knownPatternCount); //arUtilMatInv (object[i].trans, cam_trans); arUtilMat2QuatPos (object[knownPatternCount].trans, arQuat, arPos); arUtilMat2QuatPos (master_trans_, masterARQuat, masterARPos); // **** convert to ROS frame double quat[4], pos[3]; double masterQuat[4], masterPos[3]; convertToRosFrame(arQuat, arPos, quat, pos); convertToRosFrame(masterARQuat, masterARPos, masterQuat, masterPos); //write pos and quat out to text file if (outputToFile) { //need to output video tick //i know this is incredibly incredibly not efficient :( //TODO: output tick as well, from the camera_raw msg //convert nanoseconds -> seconds snprintf(buffer, BUFFER_SIZE, "%10.10f", image_msg->header.stamp.toNSec()*1e-9); output << buffer << ","; output << masterPos[0] << ","; output << masterPos[1] << ","; output << masterPos[2] << ","; output << masterQuat[0] << ","; output << masterQuat[1] << ","; output << masterQuat[2] << ","; output << masterQuat[3] << "\n"; } ROS_DEBUG (" Object num %i------------------------------------------------", knownPatternCount); ROS_DEBUG (" QUAT: Pos x: %3.5f y: %3.5f z: %3.5f", pos[0], pos[1], pos[2]); ROS_DEBUG (" Quat qx: %3.5f qy: %3.5f qz: %3.5f qw: %3.5f", quat[0], quat[1], quat[2], quat[3]); // **** prepare to publish the marker stuffARMarkerMsg(knownPatternCount, pos, quat,image_msg->header, marker_info); // **** publish transform between camera and marker #if ROS_VERSION_MINIMUM(1, 9, 0) tf::Quaternion rotation (quat[0], quat[1], quat[2], quat[3]); tf::Vector3 origin (pos[0], pos[1], pos[2]); tf::Transform t (rotation, origin); #else // DEPRECATED: Fuerte support ends when Hydro is released btQuaternion rotation (quat[0], quat[1], quat[2], quat[3]); btVector3 origin (pos[0], pos[1], pos[2]); btTransform t (rotation, origin); #endif tf::Quaternion masterRotation (masterQuat[0], masterQuat[1], masterQuat[2], masterQuat[3]); tf::Vector3 masterOrigin (masterPos[0], masterPos[1], masterPos[2]); tf::Transform masterTransform (masterRotation, masterOrigin); if (publishTf_) { //no need to publish tfs of markers // tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, object[knownPatternCount].name); // broadcaster_.sendTransform(camToMarker); tf::StampedTransform camToMaster (masterTransform, image_msg->header.stamp, image_msg->header.frame_id, "master"); broadcaster_.sendTransform(camToMaster); } // **** publish visual marker if (publishVisualMarkers_) { #if ROS_VERSION_MINIMUM(1, 9, 0) tf::Vector3 markerOrigin (0, 0, 0.25 * object[knownPatternCount].marker_width * AR_TO_ROS); tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin); tf::Transform markerPose = t * m; // marker pose in the camera frame #else // DEPRECATED: Fuerte support ends when Hydro is released btVector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS); btTransform m (btQuaternion::getIdentity (), markerOrigin); btTransform markerPose = t * m; // marker pose in the camera frame #endif publishVisualMarker(knownPatternCount, markerPose, image_msg->header); } } //end outer loop of for arMarkerPub_.publish(arPoseMarkers_); }