int my_callback(int data_type, int data_len, char *content)
{
printf("enter callback..\n");
g_lock.enter();
if (e_image == data_type && NULL != content)
{
printf("callback: type is image..\n");
image_data data;
memcpy((char*)&data, content, sizeof(data));
memcpy(g_imleft.data, data.m_greyscale_image_left[selected_vbus], IMAGE_SIZE);
memcpy(g_imright.data, data.m_greyscale_image_right[selected_vbus], IMAGE_SIZE);
memcpy(g_depth.data, data.m_depth_image[selected_vbus], IMAGE_SIZE * 2);
}
g_lock.leave();
g_event.set_event();
return 0;
}
int my_callback(int data_type, int data_len, char *content)
{
g_lock.enter();
/* image data */
/* if (e_image == data_type && NULL != content)
{
image_data* data = (image_data*)content;
if ( data->m_greyscale_image_left[CAMERA_ID] ){
memcpy(g_greyscale_image_left.data, data->m_greyscale_image_left[CAMERA_ID], IMAGE_SIZE);
imshow("left", g_greyscale_image_left);
// publish left greyscale image
cv_bridge::CvImage left_8;
g_greyscale_image_left.copyTo(left_8.image);
left_8.header.frame_id = "guidance";
left_8.header.stamp = ros::Time::now();
left_8.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub.publish(left_8.toImageMsg());
}
if ( data->m_greyscale_image_right[CAMERA_ID] ){
memcpy(g_greyscale_image_right.data, data->m_greyscale_image_right[CAMERA_ID], IMAGE_SIZE);
imshow("right", g_greyscale_image_right);
// publish right greyscale image
cv_bridge::CvImage right_8;
g_greyscale_image_right.copyTo(right_8.image);
right_8.header.frame_id = "guidance";
right_8.header.stamp = ros::Time::now();
right_8.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub.publish(right_8.toImageMsg());
}
if ( data->m_depth_image[CAMERA_ID] ){
memcpy(g_depth.data, data->m_depth_image[CAMERA_ID], IMAGE_SIZE * 2);
g_depth.convertTo(depth8, CV_8UC1);
imshow("depth", depth8);
//publish depth image
cv_bridge::CvImage depth_16;
g_depth.copyTo(depth_16.image);
depth_16.header.frame_id = "guidance";
depth_16.header.stamp = ros::Time::now();
depth_16.encoding = sensor_msgs::image_encodings::MONO16;
depth_image_pub.publish(depth_16.toImageMsg());
}
key = waitKey(1);
}
/* imu */
/*
if ( e_imu == data_type && NULL != content )
{
imu *imu_data = (imu*)content;
printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
// publish imu data
geometry_msgs::TransformStamped g_imu;
g_imu.header.frame_id = "guidance";
g_imu.header.stamp = ros::Time::now();
g_imu.transform.translation.x = imu_data->acc_x;
g_imu.transform.translation.y = imu_data->acc_y;
g_imu.transform.translation.z = imu_data->acc_z;
g_imu.transform.rotation.w = imu_data->q[0];
g_imu.transform.rotation.x = imu_data->q[1];
g_imu.transform.rotation.y = imu_data->q[2];
g_imu.transform.rotation.z = imu_data->q[3];
imu_pub.publish(g_imu);
}
*/
/* velocity */
/*
if ( e_velocity == data_type && NULL != content )
{
velocity *vo = (velocity*)content;
printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
// publish velocity
geometry_msgs::Vector3Stamped g_vo;
g_vo.header.frame_id = "guidance";
g_vo.header.stamp = ros::Time::now();
g_vo.vector.x = 0.001f * vo->vx;
g_vo.vector.y = 0.001f * vo->vy;
g_vo.vector.z = 0.001f * vo->vz;
velocity_pub.publish(g_vo);
}
*/
/* obstacle distance */
if ( e_obstacle_distance == data_type && NULL != content )
{
obstacle_distance *oa = (obstacle_distance*)content;
printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
printf( "obstacle distance:" );
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
{
printf( " %f ", 0.01f * oa->distance[i] );
}
printf( "\n" );
// publish obstacle distance
sensor_msgs::LaserScan g_oa;
g_oa.ranges.resize(CAMERA_PAIR_NUM);
g_oa.header.frame_id = "guidance";
g_oa.header.stamp = ros::Time::now();
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
g_oa.ranges[i] = 0.01f * oa->distance[i];
obstacle_distance_pub.publish(g_oa);
}
/* ultrasonic */
/*
if ( e_ultrasonic == data_type && NULL != content )
{
ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
{
printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
}
// publish ultrasonic data
sensor_msgs::LaserScan g_ul;
g_ul.ranges.resize(CAMERA_PAIR_NUM);
g_ul.intensities.resize(CAMERA_PAIR_NUM);
g_ul.header.frame_id = "guidance";
g_ul.header.stamp = ros::Time::now();
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d ){
g_ul.ranges[d] = 0.001f * ultrasonic->ultrasonic[d];
g_ul.intensities[d] = 1.0 * ultrasonic->reliability[d];
}
ultrasonic_pub.publish(g_ul);
}
*/
g_lock.leave();
g_event.set_event();
return 0;
}
int my_callback(int data_type, int data_len, char *content)
{
g_lock.enter();
/* image data */
if (e_image == data_type && NULL != content)
{
image_data* data = (image_data*)content;
dji_guidance::multi_image msg;
// forward facing guidance sensor is disabled for now...
//msg.images.push_back(create_image_message(data, e_vbus1));
msg.images.push_back(create_image_message(data, e_vbus2));
msg.images.push_back(create_image_message(data, e_vbus3));
msg.images.push_back(create_image_message(data, e_vbus4));
//msg.images.push_back(create_image_message(data, e_vbus5));
image_pub.publish(msg);
std::cout << "published " << msg.images.size() << " images" << std::endl;
}
/* imu */
if ( e_imu == data_type && NULL != content )
{
imu *imu_data = (imu*)content;
// printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
// printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
// publish imu data
geometry_msgs::TransformStamped g_imu;
g_imu.header.frame_id = "guidance";
g_imu.header.stamp = ros::Time::now();
g_imu.transform.translation.x = imu_data->acc_x;
g_imu.transform.translation.y = imu_data->acc_y;
g_imu.transform.translation.z = imu_data->acc_z;
g_imu.transform.rotation.w = imu_data->q[0];
g_imu.transform.rotation.x = imu_data->q[1];
g_imu.transform.rotation.y = imu_data->q[2];
g_imu.transform.rotation.z = imu_data->q[3];
imu_pub.publish(g_imu);
}
/* velocity */
if ( e_velocity == data_type && NULL != content )
{
velocity *vo = (velocity*)content;
// printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
// printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
// publish velocity
geometry_msgs::Vector3Stamped g_vo;
g_vo.header.frame_id = "guidance";
g_vo.header.stamp = ros::Time::now();
g_vo.vector.x = 0.001f * vo->vx;
g_vo.vector.y = 0.001f * vo->vy;
g_vo.vector.z = 0.001f * vo->vz;
velocity_pub.publish(g_vo);
}
g_lock.leave();
g_event.set_event();
return 0;
}
int my_callback(int data_type, int data_len, char *content)
{
g_lock.enter();
/* image data
if (e_image == data_type && NULL != content)
{
image_data data;
memcpy((char*)&data, content, sizeof(data));
memcpy(g_greyscale_image_left.data, data.m_greyscale_image_left[CAMERA_ID], IMAGE_SIZE);
memcpy(g_greyscale_image_right.data, data.m_greyscale_image_right[CAMERA_ID], IMAGE_SIZE);
memcpy(g_depth.data, data.m_depth_image[CAMERA_ID], IMAGE_SIZE * 2);
Mat depth8(HEIGHT, WIDTH, CV_8UC1);
g_depth.convertTo(depth8, CV_8UC1);
imshow("left", g_greyscale_image_left);
imshow("right", g_greyscale_image_right);
imshow("depth", depth8);
key = waitKey(1);
//publish depth image
cv_bridge::CvImage depth_16;
g_depth.copyTo(depth_16.image);
depth_16.header.frame_id = "guidance";
depth_16.header.stamp = ros::Time::now();
depth_16.encoding = sensor_msgs::image_encodings::MONO16;
depth_image_pub.publish(depth_16.toImageMsg());
// publish left greyscale image
cv_bridge::CvImage left_8;
g_greyscale_image_left.copyTo(left_8.image);
left_8.header.frame_id = "guidance";
left_8.header.stamp = ros::Time::now();
left_8.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub.publish(left_8.toImageMsg());
// publish right greyscale image
cv_bridge::CvImage right_8;
g_greyscale_image_left.copyTo(right_8.image);
right_8.header.frame_id = "guidance";
right_8.header.stamp = ros::Time::now();
right_8.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub.publish(right_8.toImageMsg());
}*/
/* imu */
if ( e_imu == data_type && NULL != content )
{
imu *imu_data = (imu*)content;
/* printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
// publish imu data
geometry_msgs::TransformStamped g_imu;
g_imu.header.frame_id = "guidance";
g_imu.header.stamp = ros::Time::now();
g_imu.transform.translation.x = imu_data->acc_x;
g_imu.transform.translation.y = imu_data->acc_y;
g_imu.transform.translation.z = imu_data->acc_z;
g_imu.transform.rotation.x = imu_data->q[0];
g_imu.transform.rotation.y = imu_data->q[1];
g_imu.transform.rotation.z = imu_data->q[2];
g_imu.transform.rotation.w = imu_data->q[3];
imu_pub.publish(g_imu);
}
*/
imu_p.header.stamp = ros::Time::now();
imu_p.header.frame_id = "imu";
imu_p.orientation.x = imu_data->q[0];
imu_p.orientation.y = imu_data->q[1];
imu_p.orientation.z = imu_data->q[2];
imu_p.orientation.w = imu_data->q[3];
imu_p.linear_acceleration.x = imu_data->acc_x;
imu_p.linear_acceleration.y = imu_data->acc_y;
imu_p.linear_acceleration.z = imu_data->acc_z;
double roll, pitch, yaw;
tf::Quaternion orientation;
tf::quaternionMsgToTF(imu_p.orientation, orientation);
tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);
//printf( "roll:%f pitch:%f yaw:%f\n", roll, pitch, yaw );
//printf( "imu_data->acc_x:%f imu_data->acc_y:%f imu_data->acc_z:%f\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z);
/*
if (se=="abc") orientation.setRPY(roll, pitch, yaw);
else
{
if(se=="acb") orientation.setRPY(roll, yaw, pitch);
else if(se=="bac") orientation.setRPY(pitch, roll, yaw);
else if(se=="bca") orientation.setRPY(pitch, yaw, roll);
else if(se=="cab") orientation.setRPY(yaw, roll, pitch);
else if(se=="cba") orientation.setRPY(yaw, pitch, roll);
/*
yaw=0;
if(se=="acb") orientation.setRPY(roll, -pitch, yaw);
else if(se=="bac") orientation.setRPY(roll, pitch, -yaw);
else if(se=="bca") orientation.setRPY(roll, -pitch, -yaw);
else if(se=="cab") orientation.setRPY(-roll, -pitch, yaw);
else if(se=="cba") orientation.setRPY(-roll, pitch, -yaw);
else if(se=="aaa") orientation.setRPY(-roll, -pitch, -yaw);
else if(se=="bbb") orientation.setRPY(-roll, pitch, yaw);
else if(se=="ccc") orientation.setRPY(roll, pitch, yaw);
* /
tf::quaternionTFToMsg(orientation, imu_p.orientation);
}
/*
imu_p.linear_acceleration.x = imu_data->acc_x;
imu_p.linear_acceleration.y = imu_data->acc_y;
imu_p.linear_acceleration.z = imu_data->acc_z;
imu_p.orientation_covariance[0]=0.0012250000000000002;
imu_p.orientation_covariance[4]=0.0012250000000000002;
imu_p.orientation_covariance[8]=0.0012250000000000002;
imu_p.linear_acceleration_covariance[0]=0.00031329000000000003;
imu_p.linear_acceleration_covariance[4]=0.00031329000000000003;
imu_p.linear_acceleration_covariance[8]=0.00031329000000000003;
imu_p.angular_velocity_covariance[0]=6.25e-06;
imu_p.angular_velocity_covariance[4]=6.25e-06;
imu_p.angular_velocity_covariance[8]=6.25e-06;
tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);
*/
imu_m.publish(imu_p);
}
/* velocity */
if ( e_velocity == data_type && NULL != content )
{
velocity *vo = (velocity*)content;
if(flag)
{
printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
}
// printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
//printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
// publish velocity
geometry_msgs::Vector3Stamped g_vo;
g_vo.header.frame_id = "guidance";
g_vo.header.stamp = ros::Time::now();
g_vo.vector.x = 0.001f * vo->vx;
g_vo.vector.y = 0.001f * vo->vy;
g_vo.vector.z = 0.001f * vo->vz;
velocity_pub.publish(g_vo);
if(abs(vo->vx) > 0) flag=false;
}
/* obstacle distance
if ( e_obstacle_distance == data_type && NULL != content )
{
obstacle_distance *oa = (obstacle_distance*)content;
printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
printf( "obstacle distance:" );
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
{
printf( " %f ", 0.01f * oa->distance[i] );
}
printf( "\n" );
// publish obstacle distance
sensor_msgs::LaserScan g_oa;
g_oa.ranges.resize(5);
g_oa.header.frame_id = "guidance";
g_oa.header.stamp = ros::Time::now();
g_oa.ranges[0] = 0.01f * oa->distance[0];
g_oa.ranges[1] = 0.01f * oa->distance[1];
g_oa.ranges[2] = 0.01f * oa->distance[2];
g_oa.ranges[3] = 0.01f * oa->distance[3];
g_oa.ranges[4] = 0.01f * oa->distance[4];
obstacle_distance_pub.publish(g_oa);
}*/
/* ultrasonic
if ( e_ultrasonic == data_type && NULL != content )
{
ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
{
printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
}
// publish ultrasonic data
sensor_msgs::LaserScan g_ul;
g_ul.ranges.resize(5);
g_ul.intensities.resize(5);
g_ul.header.frame_id = "guidance";
g_ul.header.stamp = ros::Time::now();
g_ul.ranges[0] = 0.001f * ultrasonic->ultrasonic[0];
g_ul.ranges[1] = 0.001f * ultrasonic->ultrasonic[1];
g_ul.ranges[2] = 0.001f * ultrasonic->ultrasonic[2];
g_ul.ranges[3] = 0.001f * ultrasonic->ultrasonic[3];
g_ul.ranges[4] = 0.001f * ultrasonic->ultrasonic[4];
g_ul.intensities[0] = 1.0 * ultrasonic->reliability[0];
g_ul.intensities[1] = 1.0 * ultrasonic->reliability[1];
g_ul.intensities[2] = 1.0 * ultrasonic->reliability[2];
g_ul.intensities[3] = 1.0 * ultrasonic->reliability[3];
g_ul.intensities[4] = 1.0 * ultrasonic->reliability[4];
ultrasonic_pub.publish(g_ul);
}*/
g_lock.leave();
g_event.set_event();
return 0;
}
int my_callback(int data_type, int data_len, char *content)
{
g_lock.enter();
/* image data */
if (e_image == data_type && NULL != content)
{
ros::Time time_in_this_loop = ros::Time::now();
image_data* data = (image_data*)content;
if ( data->m_greyscale_image_left[CAMERA_ID] ) {
memcpy(g_greyscale_image_left.data, data->m_greyscale_image_left[CAMERA_ID], IMAGE_SIZE);
imshow("left", g_greyscale_image_left);
// publish left greyscale image
cv_bridge::CvImage left_8;
g_greyscale_image_left.copyTo(left_8.image);
left_8.header.frame_id = "guidance";
left_8.header.stamp = time_in_this_loop;
left_8.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub.publish(left_8.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_left;
g_cam_info_left.header.stamp = time_in_this_loop;
g_cam_info_left.header.frame_id = "guidance";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera_params_left, g_cam_info_left);
cam_info_left_pub.publish(g_cam_info_left);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
if ( data->m_greyscale_image_right[CAMERA_ID] ) {
memcpy(g_greyscale_image_right.data, data->m_greyscale_image_right[CAMERA_ID], IMAGE_SIZE);
imshow("right", g_greyscale_image_right);
// publish right greyscale image
cv_bridge::CvImage right_8;
g_greyscale_image_right.copyTo(right_8.image);
right_8.header.frame_id = "guidance";
right_8.header.stamp = time_in_this_loop;
right_8.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub.publish(right_8.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_right;
g_cam_info_right.header.stamp = time_in_this_loop;
g_cam_info_right.header.frame_id = "guidance";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera_params_right, g_cam_info_right);
cam_info_right_pub.publish(g_cam_info_right);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
if ( data->m_depth_image[CAMERA_ID] ) {
memcpy(g_depth.data, data->m_depth_image[CAMERA_ID], IMAGE_SIZE * 2);
g_depth.convertTo(depth8, CV_8UC1);
imshow("depth", depth8);
//publish depth image
cv_bridge::CvImage depth_16;
g_depth.copyTo(depth_16.image);
depth_16.header.frame_id = "guidance";
depth_16.header.stamp = ros::Time::now();
depth_16.encoding = sensor_msgs::image_encodings::MONO16;
depth_image_pub.publish(depth_16.toImageMsg());
}
//left image pair(ID=2)
if ( data->m_greyscale_image_left[CAMERA_ID_2] ) {
memcpy(g_greyscale_image_left_2.data, data->m_greyscale_image_left[CAMERA_ID_2], IMAGE_SIZE);
imshow("left_2", g_greyscale_image_left_2);
// publish left greyscale image
cv_bridge::CvImage left_8_2;
g_greyscale_image_left_2.copyTo(left_8_2.image);
left_8_2.header.frame_id = "guidance2";
left_8_2.header.stamp = time_in_this_loop;
left_8_2.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub_2.publish(left_8_2.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_left;
g_cam_info_left.header.stamp = time_in_this_loop;
g_cam_info_left.header.frame_id = "guidance2";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera2_params_left, g_cam_info_left);
cam2_info_left_pub.publish(g_cam_info_left);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
if ( data->m_greyscale_image_right[CAMERA_ID_2] ) {
memcpy(g_greyscale_image_right_2.data, data->m_greyscale_image_right[CAMERA_ID_2], IMAGE_SIZE);
imshow("right_2", g_greyscale_image_right_2);
// publish right greyscale image
cv_bridge::CvImage right_8_2;
g_greyscale_image_right_2.copyTo(right_8_2.image);
right_8_2.header.frame_id = "guidance2";
right_8_2.header.stamp = time_in_this_loop;
right_8_2.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub_2.publish(right_8_2.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_right;
g_cam_info_right.header.stamp = time_in_this_loop;
g_cam_info_right.header.frame_id = "guidance2";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera2_params_right, g_cam_info_right);
cam2_info_right_pub.publish(g_cam_info_right);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
// if ( data->m_depth_image[CAMERA_ID_2] ) {
// memcpy(g_depth_2.data, data->m_depth_image[CAMERA_ID_2], IMAGE_SIZE * 2);
// g_depth_2.convertTo(depth8_2, CV_8UC1);
// imshow("depth_2", depth8_2);
// //publish depth image
// cv_bridge::CvImage depth_16_2;
// g_depth_2.copyTo(depth_16_2.image);
// depth_16_2.header.frame_id = "guidance2";
// depth_16_2.header.stamp = ros::Time::now();
// depth_16_2.encoding = sensor_msgs::image_encodings::MONO16;
// depth_image_pub_2.publish(depth_16_2.toImageMsg());
// }
//camera 3
if ( data->m_greyscale_image_left[CAMERA_ID_3] ) {
memcpy(g_greyscale_image_left_3.data, data->m_greyscale_image_left[CAMERA_ID_3], IMAGE_SIZE);
imshow("left_3", g_greyscale_image_left_3);
// publish left greyscale image
cv_bridge::CvImage left_8_3;
g_greyscale_image_left_3.copyTo(left_8_3.image);
left_8_3.header.frame_id = "guidance3";
left_8_3.header.stamp = time_in_this_loop;
left_8_3.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub_3.publish(left_8_3.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_left;
g_cam_info_left.header.stamp = time_in_this_loop;
g_cam_info_left.header.frame_id = "guidance3";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera3_params_left, g_cam_info_left);
cam3_info_left_pub.publish(g_cam_info_left);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
if ( data->m_greyscale_image_right[CAMERA_ID_3] ) {
memcpy(g_greyscale_image_right_3.data, data->m_greyscale_image_right[CAMERA_ID_3], IMAGE_SIZE);
imshow("right_3", g_greyscale_image_right_3);
// publish right greyscale image
cv_bridge::CvImage right_8_3;
g_greyscale_image_right_3.copyTo(right_8_3.image);
right_8_3.header.frame_id = "guidance3";
right_8_3.header.stamp = time_in_this_loop;
right_8_3.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub_3.publish(right_8_3.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_right;
g_cam_info_right.header.stamp = time_in_this_loop;
g_cam_info_right.header.frame_id = "guidance3";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera3_params_right, g_cam_info_right);
cam3_info_right_pub.publish(g_cam_info_right);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
//camera 5
if ( data->m_greyscale_image_left[CAMERA_ID_5] ) {
memcpy(g_greyscale_image_left_5.data, data->m_greyscale_image_left[CAMERA_ID_5], IMAGE_SIZE);
imshow("left_5", g_greyscale_image_left_5);
// publish left greyscale image
cv_bridge::CvImage left_8_5;
g_greyscale_image_left_5.copyTo(left_8_5.image);
left_8_5.header.frame_id = "guidance5";
left_8_5.header.stamp = time_in_this_loop;
left_8_5.encoding = sensor_msgs::image_encodings::MONO8;
left_image_pub_5.publish(left_8_5.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_left;
g_cam_info_left.header.stamp = time_in_this_loop;
g_cam_info_left.header.frame_id = "guidance5";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera5_params_left, g_cam_info_left);
cam5_info_left_pub.publish(g_cam_info_left);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
if ( data->m_greyscale_image_right[CAMERA_ID_5] ) {
memcpy(g_greyscale_image_right_5.data, data->m_greyscale_image_right[CAMERA_ID_5], IMAGE_SIZE);
imshow("right_5", g_greyscale_image_right_5);
// publish right greyscale image
cv_bridge::CvImage right_8_5;
g_greyscale_image_right_5.copyTo(right_8_5.image);
right_8_5.header.frame_id = "guidance5";
right_8_5.header.stamp = time_in_this_loop;
right_8_5.encoding = sensor_msgs::image_encodings::MONO8;
right_image_pub_5.publish(right_8_5.toImageMsg());
sensor_msgs::CameraInfo g_cam_info_right;
g_cam_info_right.header.stamp = time_in_this_loop;
g_cam_info_right.header.frame_id = "guidance5";
try {
read_params_from_yaml_and_fill_cam_info_msg(camera5_params_right, g_cam_info_right);
cam5_info_right_pub.publish(g_cam_info_right);
} catch(...) {
// if yaml fails to read data, don't try to publish
}
}
key = waitKey(1);
}
/* imu */
if ( e_imu == data_type && NULL != content )
{
imu *imu_data = (imu*)content;
printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
// publish imu data
geometry_msgs::TransformStamped g_imu;
g_imu.header.frame_id = "guidance";
g_imu.header.stamp = ros::Time::now();
g_imu.transform.translation.x = imu_data->acc_x;
g_imu.transform.translation.y = imu_data->acc_y;
g_imu.transform.translation.z = imu_data->acc_z;
g_imu.transform.rotation.w = imu_data->q[0];
g_imu.transform.rotation.x = imu_data->q[1];
g_imu.transform.rotation.y = imu_data->q[2];
g_imu.transform.rotation.z = imu_data->q[3];
imu_pub.publish(g_imu);
}
/* velocity */
if ( e_velocity == data_type && NULL != content )
{
velocity *vo = (velocity*)content;
printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
// publish velocity
geometry_msgs::Vector3Stamped g_vo;
g_vo.header.frame_id = "guidance";
g_vo.header.stamp = ros::Time::now();
g_vo.vector.x = 0.001f * vo->vx;
g_vo.vector.y = 0.001f * vo->vy;
g_vo.vector.z = 0.001f * vo->vz;
velocity_pub.publish(g_vo);
}
/* obstacle distance */
if ( e_obstacle_distance == data_type && NULL != content )
{
obstacle_distance *oa = (obstacle_distance*)content;
printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
printf( "obstacle distance:" );
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
{
printf( " %f ", 0.01f * oa->distance[i] );
}
printf( "\n" );
// publish obstacle distance
sensor_msgs::LaserScan g_oa;
g_oa.ranges.resize(CAMERA_PAIR_NUM);
g_oa.header.frame_id = "guidance";
g_oa.header.stamp = ros::Time::now();
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
g_oa.ranges[i] = 0.01f * oa->distance[i];
obstacle_distance_pub.publish(g_oa);
}
/* ultrasonic */
if ( e_ultrasonic == data_type && NULL != content )
{
ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
{
printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
}
// publish ultrasonic data
sensor_msgs::LaserScan g_ul;
g_ul.ranges.resize(CAMERA_PAIR_NUM);
g_ul.intensities.resize(CAMERA_PAIR_NUM);
g_ul.header.frame_id = "guidance";
g_ul.header.stamp = ros::Time::now();
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d ) {
g_ul.ranges[d] = 0.001f * ultrasonic->ultrasonic[d];
g_ul.intensities[d] = 1.0 * ultrasonic->reliability[d];
}
ultrasonic_pub.publish(g_ul);
}
g_lock.leave();
g_event.set_event();
return 0;
}
int my_callback(int data_type, int data_len, char *content)
{
g_lock.enter();
if (e_image == data_type && NULL != content)
{
image_data data;
memcpy( (char*)&data, content, sizeof(data) );
printf( "frame index:%d,stamp:%d\n", data.frame_index, data.time_stamp );
#if !USE_GUIDANCE_ASSISTANT_CONFIG
#ifdef HAVE_OPENCV
memcpy( g_greyscale_image_left.data, data.m_greyscale_image_left[sensor_id], IMAGE_SIZE );
memcpy( g_greyscale_image_right.data, data.m_greyscale_image_right[sensor_id], IMAGE_SIZE );
memcpy( g_depth.data, data.m_depth_image[sensor_id], IMAGE_SIZE * 2 );
imshow("left", g_greyscale_image_left);
imshow("right", g_greyscale_image_right);
#endif
#else
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
{
string stmps;
if ( data.m_greyscale_image_left[d] )
{
#ifdef HAVE_OPENCV
memcpy( g_greyscale_image_left.data, data.m_greyscale_image_left[d], IMAGE_SIZE );//maybe select too many image so just overwrite it
stmps = "left";
stmps = stmps + (char)('0'+d);
imshow(stmps.c_str(), g_greyscale_image_left);
#endif
}
if ( data.m_greyscale_image_right[d] )
{
#ifdef HAVE_OPENCV
memcpy( g_greyscale_image_right.data, data.m_greyscale_image_right[d], IMAGE_SIZE );
stmps = "right";
stmps = stmps + (char)('0'+d);
imshow(stmps, g_greyscale_image_right);
#endif
}
if ( data.m_depth_image[d] )
{
#ifdef HAVE_OPENCV
Mat depthmap(HEIGHT, WIDTH, CV_16SC1);
Mat depthmap8(HEIGHT, WIDTH, CV_8UC1);
memcpy( depthmap.data, data.m_depth_image[d], IMAGE_SIZE * 2 );
depthmap.convertTo(depthmap8, CV_8UC1);
stmps = "depthmap";
stmps = stmps + (char)('0'+d);
imshow(stmps, depthmap8);
#endif
}
}
#endif
#ifdef HAVE_OPENCV
waitKey(1);
#endif
}
if ( e_imu == data_type && NULL != content )
{
imu *imu_data = (imu*)content;
printf( "imu:%f %f %f,%f %f %f %f\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
printf( "frame index:%d,stamp:%d\n", imu_data->frame_index, imu_data->time_stamp );
}
if ( e_velocity == data_type && NULL != content )
{
velocity *vo = (velocity*)content;
printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
printf( "frame index:%d,stamp:%d\n", vo->frame_index, vo->time_stamp );
}
if ( e_obstacle_distance == data_type && NULL != content )
{
obstacle_distance *oa = (obstacle_distance*)content;
printf( "obstacle distance:" );
for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
{
printf( " %f ", 0.01f * oa->distance[i] );
}
printf( "\n" );
printf( "frame index:%d,stamp:%d\n", oa->frame_index, oa->time_stamp );
}
if ( e_ultrasonic == data_type && NULL != content )
{
ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
{
printf( "ultrasonic distance:%f,reliability:%d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
}
printf( "frame index:%d,stamp:%d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
}
g_lock.leave();
g_event.set_event();
return 0;
}
