static void
initialize_transformations(void)
{
tf::Time::init();
tf::Transform velodyne_position_on_board;
velodyne_position_on_board.setOrigin(carmen_vector3_to_tf_vector3(velodyne_pose.position));
velodyne_position_on_board.setRotation(carmen_rotation_to_tf_quaternion(velodyne_pose.orientation));
tf::StampedTransform board_to_velodyne_transform(velodyne_position_on_board, tf::Time(0), board_tf_name, velodyne_tf_name);
transformer.setTransform(board_to_velodyne_transform, "board_to_velodyne_transform");
tf::Transform board_position_on_car;
board_position_on_car.setOrigin(carmen_vector3_to_tf_vector3(sensor_board_pose.position));
board_position_on_car.setRotation(carmen_rotation_to_tf_quaternion(sensor_board_pose.orientation));
tf::StampedTransform car_to_board_transform(board_position_on_car, tf::Time(0), car_tf_name, board_tf_name);
transformer.setTransform(car_to_board_transform, "car_to_board_transform");
}
void
initialize_transforms()
{
tf::Transform board_to_camera_pose;
tf::Transform car_to_board_pose;
tf::Transform world_to_car_pose;
tf::Transform ultrasonic_sensor_r1_to_car_pose;
tf::Transform ultrasonic_sensor_r2_to_car_pose;
tf::Transform ultrasonic_sensor_l1_to_car_pose;
tf::Transform ultrasonic_sensor_l2_to_car_pose;
tf::Time::init();
// initial car pose with respect to the world
world_to_car_pose.setOrigin(tf::Vector3(car_pose_g.position.x, car_pose_g.position.y, car_pose_g.position.z));
world_to_car_pose.setRotation(tf::Quaternion(car_pose_g.orientation.yaw, car_pose_g.orientation.pitch, car_pose_g.orientation.roll));
tf::StampedTransform world_to_car_transform(world_to_car_pose, tf::Time(0), "/world", "/car");
tf_transformer.setTransform(world_to_car_transform, "world_to_car_transform");
// board pose with respect to the car
car_to_board_pose.setOrigin(tf::Vector3(sensor_board_pose_g.position.x, sensor_board_pose_g.position.y, sensor_board_pose_g.position.z));
car_to_board_pose.setRotation(tf::Quaternion(sensor_board_pose_g.orientation.yaw, sensor_board_pose_g.orientation.pitch, sensor_board_pose_g.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform car_to_board_transform(car_to_board_pose, tf::Time(0), "/car", "/board");
tf_transformer.setTransform(car_to_board_transform, "car_to_board_transform");
// camera pose with respect to the board
board_to_camera_pose.setOrigin(tf::Vector3(camera_pose_g.position.x, camera_pose_g.position.y, camera_pose_g.position.z));
board_to_camera_pose.setRotation(tf::Quaternion(camera_pose_g.orientation.yaw, camera_pose_g.orientation.pitch, camera_pose_g.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform board_to_camera_transform(board_to_camera_pose, tf::Time(0), "/board", "/camera");
tf_transformer.setTransform(board_to_camera_transform, "board_to_camera_transform");
// initial ultrasonic sensor r1 pose with respect to the car
ultrasonic_sensor_r1_to_car_pose.setOrigin(tf::Vector3(ultrasonic_sensor_r1_g.position.x, ultrasonic_sensor_r1_g.position.y, ultrasonic_sensor_r1_g.position.z));
ultrasonic_sensor_r1_to_car_pose.setRotation(tf::Quaternion(ultrasonic_sensor_r1_g.orientation.yaw, ultrasonic_sensor_r1_g.orientation.pitch, ultrasonic_sensor_r1_g.orientation.roll));
tf::StampedTransform ultrasonic_sensor_r1_to_car_transform(ultrasonic_sensor_r1_to_car_pose, tf::Time(0), "/car", "/ultrasonic_sensor_r1");
tf_transformer.setTransform(ultrasonic_sensor_r1_to_car_transform, "ultrasonic_sensor_r1_to_car_transform");
// initial ultrasonic sensor r2 pose with respect to the car
ultrasonic_sensor_r2_to_car_pose.setOrigin(tf::Vector3(ultrasonic_sensor_r2_g.position.x, ultrasonic_sensor_r2_g.position.y, ultrasonic_sensor_r2_g.position.z));
ultrasonic_sensor_r2_to_car_pose.setRotation(tf::Quaternion(ultrasonic_sensor_r2_g.orientation.yaw, ultrasonic_sensor_r2_g.orientation.pitch, ultrasonic_sensor_r2_g.orientation.roll));
tf::StampedTransform ultrasonic_sensor_r2_to_car_transform(ultrasonic_sensor_r2_to_car_pose, tf::Time(0), "/car", "/ultrasonic_sensor_r2");
tf_transformer.setTransform(ultrasonic_sensor_r2_to_car_transform, "ultrasonic_sensor_r2_to_car_transform");
// initial ultrasonic sensor l2 pose with respect to the car
ultrasonic_sensor_l2_to_car_pose.setOrigin(tf::Vector3(ultrasonic_sensor_l2_g.position.x, ultrasonic_sensor_l2_g.position.y, ultrasonic_sensor_l2_g.position.z));
ultrasonic_sensor_l2_to_car_pose.setRotation(tf::Quaternion(ultrasonic_sensor_l2_g.orientation.yaw, ultrasonic_sensor_l2_g.orientation.pitch, ultrasonic_sensor_l2_g.orientation.roll));
tf::StampedTransform ultrasonic_sensor_l2_to_car_transform(ultrasonic_sensor_l2_to_car_pose, tf::Time(0), "/car", "/ultrasonic_sensor_l2");
tf_transformer.setTransform(ultrasonic_sensor_l2_to_car_transform, "ultrasonic_sensor_l2_to_car_transform");
// initial ultrasonic sensor l1 pose with respect to the car
ultrasonic_sensor_l1_to_car_pose.setOrigin(tf::Vector3(ultrasonic_sensor_l1_g.position.x, ultrasonic_sensor_l1_g.position.y, ultrasonic_sensor_l1_g.position.z));
ultrasonic_sensor_l1_to_car_pose.setRotation(tf::Quaternion(ultrasonic_sensor_l1_g.orientation.yaw, ultrasonic_sensor_l1_g.orientation.pitch, ultrasonic_sensor_l1_g.orientation.roll));
tf::StampedTransform ultrasonic_sensor_l1_to_car_transform(ultrasonic_sensor_l1_to_car_pose, tf::Time(0), "/car", "/ultrasonic_sensor_l1");
tf_transformer.setTransform(ultrasonic_sensor_l1_to_car_transform, "ultrasonic_sensor_l1_to_car_transform");
}
void
initialize_pose_6d_transformation_matrix()
{
visual_odometry_pose_6d_transformation_matrix = Matrix::eye(4);
tf::Transform board_to_camera_pose_g;
tf::Transform car_to_board_pose;
tf::Transform world_to_car_pose_g;
tf::Transform camera_to_visual_odometry_transform;
// initial car pose with respect to the world
world_to_car_pose_g.setOrigin(tf::Vector3(car_pose_g.position.x, car_pose_g.position.y, car_pose_g.position.z));
world_to_car_pose_g.setRotation(tf::Quaternion(car_pose_g.orientation.yaw, car_pose_g.orientation.pitch, car_pose_g.orientation.roll));
tf::StampedTransform world_to_car_transform(world_to_car_pose_g, tf::Time(0), "/world", "/car");
transformer.setTransform(world_to_car_transform, "world_to_car_transform");
// board pose with respect to the car
car_to_board_pose.setOrigin(tf::Vector3(sensor_board_pose_g.position.x, sensor_board_pose_g.position.y, sensor_board_pose_g.position.z));
car_to_board_pose.setRotation(tf::Quaternion(sensor_board_pose_g.orientation.yaw, sensor_board_pose_g.orientation.pitch, sensor_board_pose_g.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform car_to_board_transform(car_to_board_pose, tf::Time(0), "/car", "/board");
transformer.setTransform(car_to_board_transform, "car_to_board_transform");
// camera pose with respect to the board
board_to_camera_pose_g.setOrigin(tf::Vector3(camera_pose_g.position.x, camera_pose_g.position.y, camera_pose_g.position.z));
board_to_camera_pose_g.setRotation(tf::Quaternion(camera_pose_g.orientation.yaw, camera_pose_g.orientation.pitch, camera_pose_g.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform board_to_camera_transform(board_to_camera_pose_g, tf::Time(0), "/board", "/camera");
transformer.setTransform(board_to_camera_transform, "board_to_camera_transform");
/**
* visual odometry pose with respect to the camera
* (the rotation comes from parent coordinate system (camera) to
* the child coordinate system (visual_odometry)) following yaw,
* pitch, roll angles order).
*/
camera_to_visual_odometry_transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0)); // x, y, z;
camera_to_visual_odometry_transform.setRotation(tf::Quaternion(-M_PI / 2.0, 0.0, -M_PI / 2.0)); // yaw, pitch, roll
tf::StampedTransform camera_to_visual_odometry_stamped_transform(camera_to_visual_odometry_transform, tf::Time(0), "/camera", "/visual_odometry"); // create a time stamped transformation that defines the visual odometry position with respect to the camera
transformer.setTransform(camera_to_visual_odometry_stamped_transform, "camera_to_visual_odometry_transform"); // add a link to the tf tree with the camera_to_visual_odometry_transform stamped transformation
// get the transformation between the visual odometry coordinate system with respect to the carmen coordinate system.
transformer.lookupTransform("/car", "/visual_odometry", tf::Time(0), g_car_to_visual_odometry_transform);
}
static void
initialize_transformations(xsens_xyz_handler *xsens_handler)
{
tf::Time::init();
tf::Transform xsens_position_on_board;
xsens_position_on_board.setOrigin(carmen_vector3_to_tf_vector3(xsens_handler->xsens_pose.position));
xsens_position_on_board.setRotation(carmen_rotation_to_tf_quaternion(xsens_handler->xsens_pose.orientation));
tf::StampedTransform board_to_xsens_transform(xsens_position_on_board, tf::Time(0), board_tf_name, xsens_tf_name);
transformer.setTransform(board_to_xsens_transform, "board_to_xsens_transform");
tf::Transform gps_position_on_board;
gps_position_on_board.setOrigin(carmen_vector3_to_tf_vector3(xsens_handler->gps_pose_in_the_car.position));
gps_position_on_board.setRotation(carmen_rotation_to_tf_quaternion(xsens_handler->gps_pose_in_the_car.orientation));
tf::StampedTransform board_to_gps_transform(gps_position_on_board, tf::Time(0), board_tf_name, gps_tf_name);
transformer.setTransform(board_to_gps_transform, "board_to_gps_transform");
tf::Transform board_position_on_car;
board_position_on_car.setOrigin(carmen_vector3_to_tf_vector3(xsens_handler->sensor_board_pose.position));
board_position_on_car.setRotation(carmen_rotation_to_tf_quaternion(xsens_handler->sensor_board_pose.orientation));
tf::StampedTransform car_to_board_transform(board_position_on_car, tf::Time(0), car_tf_name, board_tf_name);
transformer.setTransform(car_to_board_transform, "car_to_board_transform");
}
void
initialize_transforms()
{//
tf::Time::init();
// initial car pose with respect to the world
world_to_car_pose.setOrigin(tf::Vector3(car_pose.position.x, car_pose.position.y, car_pose.position.z));
world_to_car_pose.setRotation(tf::Quaternion(car_pose.orientation.yaw, car_pose.orientation.pitch, car_pose.orientation.roll));
tf::StampedTransform world_to_car_transform(world_to_car_pose, tf::Time(0), "/world", "/car");
transformer.setTransform(world_to_car_transform, "world_to_car_transform");
// board pose with respect to the car
car_to_board_pose.setOrigin(tf::Vector3(sensor_board_1_pose.position.x, sensor_board_1_pose.position.y, sensor_board_1_pose.position.z));
car_to_board_pose.setRotation(tf::Quaternion(sensor_board_1_pose.orientation.yaw, sensor_board_1_pose.orientation.pitch, sensor_board_1_pose.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform car_to_board_transform(car_to_board_pose, tf::Time(0), "/car", "/board");
transformer.setTransform(car_to_board_transform, "car_to_board_transform");
// velodyne pose with respect to the board
board_to_velodyne_pose.setOrigin(tf::Vector3(velodyne_pose.position.x, velodyne_pose.position.y, velodyne_pose.position.z));
board_to_velodyne_pose.setRotation(tf::Quaternion(velodyne_pose.orientation.yaw, velodyne_pose.orientation.pitch, velodyne_pose.orientation.roll)); // yaw, pitch, roll
tf::StampedTransform board_to_velodyne_transform(board_to_velodyne_pose, tf::Time(0), "/board", "/velodyne");
transformer.setTransform(board_to_velodyne_transform, "board_to_velodyne_transform");
}
srs_ui_but::COBStretch calculateStretch(std::vector<std::string> links)
{
ros::Time time_stamp = ros::Time().now();
float radius = 0;
float height = 0;
for (std::vector<std::string>::iterator i = links.begin(); i != links.end(); i++)
{
try
{
tfListener->waitForTransform(*i, srs_ui_but::DEFAULT_COB_BASE_LINK, time_stamp, ros::Duration(0.2));
tfListener->lookupTransform(*i, srs_ui_but::DEFAULT_COB_BASE_LINK, time_stamp, linkToBaseTf);
transformer.setTransform(linkToBaseTf);
// Transform link to camera
tf::Stamped<btVector3> p;
p.setX(0);
p.setY(0);
p.setZ(0);
p.frame_id_ = *i;
transformer.transformPoint(srs_ui_but::DEFAULT_COB_BASE_LINK, p, p);
//std::cout << p.getX() << ", " << p.getY() << ", " << p.getZ() << ", " << std::endl;
float r = pow(p.getX(), 2) + pow(p.getY(), 2);
if (r > radius)
{
radius = r;
height = p.getZ();
}
}
catch (tf::TransformException& ex)
{
ROS_WARN("Transform ERROR:\n %s", ex.what());
}
}
srs_ui_but::COBStretch cob_stretch;
cob_stretch.radius = sqrt(radius);
cob_stretch.height = height;
cob_stretch.time_stamp = time_stamp;
return cob_stretch;
}
static void
ultrasonic_sensor_message_handler(carmen_ultrasonic_sonar_sensor_message *message)
{
tf::Transform world_to_car_pose;
double yaw, pitch, roll;
if (!grid_mapping_initialized)
return;
int i;
carmen_visual_odometry_pose6d_message odometry_message;
odometry_message = interpolator.InterpolateMessages(message);
Xt.x = odometry_message.pose_6d.x;
Xt.y = odometry_message.pose_6d.y;
Xt.theta = odometry_message.pose_6d.yaw;
carmen_update_cells_below_robot(&carmen_map, Xt);
world_to_car_pose.setOrigin(tf::Vector3(odometry_message.pose_6d.x, odometry_message.pose_6d.y, odometry_message.pose_6d.z));
world_to_car_pose.setRotation(tf::Quaternion(odometry_message.pose_6d.yaw, odometry_message.pose_6d.pitch, odometry_message.pose_6d.roll));
tf::StampedTransform world_to_car_transform(world_to_car_pose, tf::Time(0), "/world", "/car");
tf_transformer.setTransform(world_to_car_transform, "world_to_car_transform");
//SENSOR R1 - FRONTAL
tf::StampedTransform world_to_ultrasonic_sensor_r1;
tf_transformer.lookupTransform("/world", "/ultrasonic_sensor_r1", tf::Time(0), world_to_ultrasonic_sensor_r1);
Xt_r1.x = world_to_ultrasonic_sensor_r1.getOrigin().x();
Xt_r1.y = world_to_ultrasonic_sensor_r1.getOrigin().y();
tf::Matrix3x3(world_to_ultrasonic_sensor_r1.getRotation()).getEulerYPR(yaw, pitch, roll);
Xt_r1.theta = yaw;
double range[180];
for (i=0 ; i<180 ; i++)
range[i] = (double) message->sensor[3];
carmen_grid_mapping_update_grid_map(&carmen_map, Xt_r1, range, &laser_params);
carmen_grid_mapping_publish_message(&carmen_map, message->timestamp);
//SENSOR R2 - LATERAL FRONTAL
tf::StampedTransform world_to_ultrasonic_sensor_r2;
tf_transformer.lookupTransform("/world", "/ultrasonic_sensor_r2", tf::Time(0), world_to_ultrasonic_sensor_r2);
Xt_r2.x = world_to_ultrasonic_sensor_r2.getOrigin().x();
Xt_r2.y = world_to_ultrasonic_sensor_r2.getOrigin().y();
tf::Matrix3x3(world_to_ultrasonic_sensor_r2.getRotation()).getEulerYPR(yaw, pitch, roll);
Xt_r2.theta = yaw;
for (i=0 ; i<180 ; i++)
range[i] = (double) message->sensor[2];
carmen_grid_mapping_update_grid_map(&carmen_map, Xt_r2, range, &laser_params);
carmen_grid_mapping_publish_message(&carmen_map, message->timestamp);
//SENSOR L2 - LATERAL TRASEIRO
tf::StampedTransform world_to_ultrasonic_sensor_l2;
tf_transformer.lookupTransform("/world", "/ultrasonic_sensor_l2", tf::Time(0), world_to_ultrasonic_sensor_l2);
Xt_l2.x = world_to_ultrasonic_sensor_l2.getOrigin().x();
Xt_l2.y = world_to_ultrasonic_sensor_l2.getOrigin().y();
tf::Matrix3x3(world_to_ultrasonic_sensor_l2.getRotation()).getEulerYPR(yaw, pitch, roll);
Xt_l2.theta = yaw;
for (i=0 ; i<180 ; i++)
range[i] = (double) message->sensor[1];
carmen_grid_mapping_update_grid_map(&carmen_map, Xt_l2, range, &laser_params);
carmen_grid_mapping_publish_message(&carmen_map, message->timestamp);
//SENSOR L1 - TRASEIRO
tf::StampedTransform world_to_ultrasonic_sensor_l1;
tf_transformer.lookupTransform("/world", "/ultrasonic_sensor_l1", tf::Time(0), world_to_ultrasonic_sensor_l1);
Xt_l1.x = world_to_ultrasonic_sensor_l1.getOrigin().x();
Xt_l1.y = world_to_ultrasonic_sensor_l1.getOrigin().y();
tf::Matrix3x3(world_to_ultrasonic_sensor_l1.getRotation()).getEulerYPR(yaw, pitch, roll);
Xt_l1.theta = yaw;
for (i=0 ; i<180 ; i++)
range[i] = (double) message->sensor[0];
carmen_grid_mapping_update_grid_map(&carmen_map, Xt_l1, range, &laser_params);
carmen_grid_mapping_publish_message(&carmen_map, message->timestamp);
/*static int count = 1;
char mapname[256];
sprintf(mapname, "map%d.jpg", count);
printf("saving map...\n");
carmen_graphics_write_map_as_jpeg(mapname, &carmen_map, 0);
printf("saved map...\n");
count++;*/
}
