tf::Matrix3x3 GetTfRotationMatrix(tf::Vector3 xaxis, tf::Vector3 zaxis) {
tf::Matrix3x3 m;
tf::Vector3 yaxis = zaxis.cross(xaxis);
m.setValue(xaxis.getX(), yaxis.getX(), zaxis.getX(),
xaxis.getY(), yaxis.getY(), zaxis.getY(),
xaxis.getZ(), yaxis.getZ(), zaxis.getZ());
return m;
}
tf::Vector3 JPCT_Math::rotate(tf::Vector3 vec, tf::Matrix3x3& mat) {
float xr = vec.getX() * mat[0][0] + vec.getY() * mat[1][0] + vec.getZ() * mat[2][0];
float yr = vec.getX() * mat[0][1] + vec.getY() * mat[1][1] + vec.getZ() * mat[2][1];
float zr = vec.getX() * mat[0][2] + vec.getY() * mat[1][2] + vec.getZ() * mat[2][2];
vec.setX(xr);
vec.setY(yr);
vec.setZ(zr);
return vec;
}
geometry_msgs::Point tfVector3ToPoint(tf::Vector3 vector) {
geometry_msgs::Point position;
position.x = vector.getX();
position.y = vector.getY();
position.z = vector.getZ();
return position;
}
math::Vector3 RayTracePluginUtils::vectorTFToGazebo(const tf::Vector3 t)
{
math::Vector3 v;
v.x = t.getX();
v.y = t.getY();
v.z = t.getZ();
return v;
}
void HapticsPSM::compute_force_in_tip_frame(geometry_msgs::Wrench &wrench){
rot_mat6wrt0.setRPY(group->getCurrentRPY().at(0),
group->getCurrentRPY().at(1),
group->getCurrentRPY().at(2));
tf_vec3.setValue(wrench.force.x,wrench.force.y,wrench.force.z);
tf_vec3 = rot_mat6wrt0.transpose() * tf_vec3;
wrench.force.x = tf_vec3.getX();
wrench.force.y = tf_vec3.getY();
wrench.force.z = tf_vec3.getZ();
}
Point calcSquareNormGrad(tf::Vector3 bl,tf::Vector3 br,tf::Vector3 tr,tf::Vector3 tl){
//ROS_INFO("[calcSquareNormGrad]\tentering...");
double dx = ((bl.getZ() - br.getZ()) + (tl.getZ() - tr.getZ()))/2.0;
double dy = ((tl.getZ() - bl.getZ()) + (tr.getZ() - br.getZ()))/2.0;
double total_dist = pow( pow(dx, 2) + pow(dy,2) , 0.5);
if(total_dist != 0){
Point p = Point(0.5*dx/total_dist, 0.5*dy/total_dist);
return p;
}
//if were on a plateau, just move a small distance towards the goal
double xd = (g_pos.x - r_pos.x);
double yd = (g_pos.y - r_pos.y);
if(abs(xd) > 1.0) xd = xd/(abs(xd));
if(abs(yd) > 1.0) yd = yd/(abs(yd));
Point toreturn = Point(xd, yd);
return toreturn;
}
bool
ArucoMapping::processImage(cv::Mat input_image,cv::Mat output_image)
{
aruco::MarkerDetector Detector;
std::vector<aruco::Marker> temp_markers;
//Set visibility flag to false for all markers
for(size_t i = 0; i < num_of_markers_; i++)
markers_[i].visible = false;
// Save previous marker count
marker_counter_previous_ = marker_counter_;
// Detect markers
Detector.detect(input_image,temp_markers,aruco_calib_params_,marker_size_);
// If no marker found, print statement
if(temp_markers.size() == 0)
ROS_DEBUG("No marker found!");
//------------------------------------------------------
// FIRST MARKER DETECTED
//------------------------------------------------------
if((temp_markers.size() > 0) && (first_marker_detected_ == false))
{
//Set flag
first_marker_detected_=true;
// Detect lowest marker ID
lowest_marker_id_ = temp_markers[0].id;
for(size_t i = 0; i < temp_markers.size();i++)
{
if(temp_markers[i].id < lowest_marker_id_)
lowest_marker_id_ = temp_markers[i].id;
}
ROS_DEBUG_STREAM("The lowest Id marker " << lowest_marker_id_ );
// Identify lowest marker ID with world's origin
markers_[0].marker_id = lowest_marker_id_;
markers_[0].geometry_msg_to_world.position.x = 0;
markers_[0].geometry_msg_to_world.position.y = 0;
markers_[0].geometry_msg_to_world.position.z = 0;
markers_[0].geometry_msg_to_world.orientation.x = 0;
markers_[0].geometry_msg_to_world.orientation.y = 0;
markers_[0].geometry_msg_to_world.orientation.z = 0;
markers_[0].geometry_msg_to_world.orientation.w = 1;
// Relative position and Global position
markers_[0].geometry_msg_to_previous.position.x = 0;
markers_[0].geometry_msg_to_previous.position.y = 0;
markers_[0].geometry_msg_to_previous.position.z = 0;
markers_[0].geometry_msg_to_previous.orientation.x = 0;
markers_[0].geometry_msg_to_previous.orientation.y = 0;
markers_[0].geometry_msg_to_previous.orientation.z = 0;
markers_[0].geometry_msg_to_previous.orientation.w = 1;
// Transformation Pose to TF
tf::Vector3 position;
position.setX(0);
position.setY(0);
position.setZ(0);
tf::Quaternion rotation;
rotation.setX(0);
rotation.setY(0);
rotation.setZ(0);
rotation.setW(1);
markers_[0].tf_to_previous.setOrigin(position);
markers_[0].tf_to_previous.setRotation(rotation);
// Relative position of first marker equals Global position
markers_[0].tf_to_world=markers_[0].tf_to_previous;
// Increase count
marker_counter_++;
// Set sign of visibility of first marker
markers_[0].visible=true;
ROS_INFO_STREAM("First marker with ID: " << markers_[0].marker_id << " detected");
//First marker does not have any previous marker
markers_[0].previous_marker_id = THIS_IS_FIRST_MARKER;
}
//------------------------------------------------------
// FOR EVERY MARKER DO
//------------------------------------------------------
for(size_t i = 0; i < temp_markers.size();i++)
{
int index;
int current_marker_id = temp_markers[i].id;
//Draw marker convex, ID, cube and axis
temp_markers[i].draw(output_image, cv::Scalar(0,0,255),2);
aruco::CvDrawingUtils::draw3dCube(output_image,temp_markers[i], aruco_calib_params_);
aruco::CvDrawingUtils::draw3dAxis(output_image,temp_markers[i], aruco_calib_params_);
// Existing marker ?
bool existing = false;
int temp_counter = 0;
while((existing == false) && (temp_counter < marker_counter_))
{
if(markers_[temp_counter].marker_id == current_marker_id)
{
index = temp_counter;
existing = true;
ROS_DEBUG_STREAM("Existing marker with ID: " << current_marker_id << "found");
}
temp_counter++;
}
//New marker ?
if(existing == false)
{
index = marker_counter_;
markers_[index].marker_id = current_marker_id;
existing = true;
ROS_DEBUG_STREAM("New marker with ID: " << current_marker_id << " found");
}
// Change visibility flag of new marker
for(size_t j = 0;j < marker_counter_; j++)
{
for(size_t k = 0;k < temp_markers.size(); k++)
{
if(markers_[j].marker_id == temp_markers[k].id)
markers_[j].visible = true;
}
}
//------------------------------------------------------
// For existing marker do
//------------------------------------------------------
if((index < marker_counter_) && (first_marker_detected_ == true))
{
markers_[index].current_camera_tf = arucoMarker2Tf(temp_markers[i]);
markers_[index].current_camera_tf = markers_[index].current_camera_tf.inverse();
const tf::Vector3 marker_origin = markers_[index].current_camera_tf.getOrigin();
markers_[index].current_camera_pose.position.x = marker_origin.getX();
markers_[index].current_camera_pose.position.y = marker_origin.getY();
markers_[index].current_camera_pose.position.z = marker_origin.getZ();
const tf::Quaternion marker_quaternion = markers_[index].current_camera_tf.getRotation();
markers_[index].current_camera_pose.orientation.x = marker_quaternion.getX();
markers_[index].current_camera_pose.orientation.y = marker_quaternion.getY();
markers_[index].current_camera_pose.orientation.z = marker_quaternion.getZ();
markers_[index].current_camera_pose.orientation.w = marker_quaternion.getW();
}
//------------------------------------------------------
// For new marker do
//------------------------------------------------------
if((index == marker_counter_) && (first_marker_detected_ == true))
{
markers_[index].current_camera_tf=arucoMarker2Tf(temp_markers[i]);
tf::Vector3 marker_origin = markers_[index].current_camera_tf.getOrigin();
markers_[index].current_camera_pose.position.x = marker_origin.getX();
markers_[index].current_camera_pose.position.y = marker_origin.getY();
markers_[index].current_camera_pose.position.z = marker_origin.getZ();
tf::Quaternion marker_quaternion = markers_[index].current_camera_tf.getRotation();
markers_[index].current_camera_pose.orientation.x = marker_quaternion.getX();
markers_[index].current_camera_pose.orientation.y = marker_quaternion.getY();
markers_[index].current_camera_pose.orientation.z = marker_quaternion.getZ();
markers_[index].current_camera_pose.orientation.w = marker_quaternion.getW();
// Naming - TFs
std::stringstream camera_tf_id;
std::stringstream camera_tf_id_old;
std::stringstream marker_tf_id_old;
camera_tf_id << "camera_" << index;
// Flag to keep info if any_known marker_visible in actual image
bool any_known_marker_visible = false;
// Array ID of markers, which position of new marker is calculated
int last_marker_id;
// Testing, if is possible calculate position of a new marker to old known marker
for(int k = 0; k < index; k++)
{
if((markers_[k].visible == true) && (any_known_marker_visible == false))
{
if(markers_[k].previous_marker_id != -1)
{
any_known_marker_visible = true;
camera_tf_id_old << "camera_" << k;
marker_tf_id_old << "marker_" << k;
markers_[index].previous_marker_id = k;
last_marker_id = k;
}
}
}
// New position can be calculated
if(any_known_marker_visible == true)
{
// Generating TFs for listener
for(char k = 0; k < 10; k++)
{
// TF from old marker and its camera
broadcaster_.sendTransform(tf::StampedTransform(markers_[last_marker_id].current_camera_tf,ros::Time::now(),
marker_tf_id_old.str(),camera_tf_id_old.str()));
// TF from old camera to new camera
broadcaster_.sendTransform(tf::StampedTransform(markers_[index].current_camera_tf,ros::Time::now(),
camera_tf_id_old.str(),camera_tf_id.str()));
ros::Duration(BROADCAST_WAIT_INTERVAL).sleep();
}
// Calculate TF between two markers
listener_->waitForTransform(marker_tf_id_old.str(),camera_tf_id.str(),ros::Time(0),
ros::Duration(WAIT_FOR_TRANSFORM_INTERVAL));
try
{
broadcaster_.sendTransform(tf::StampedTransform(markers_[last_marker_id].current_camera_tf,ros::Time::now(),
marker_tf_id_old.str(),camera_tf_id_old.str()));
broadcaster_.sendTransform(tf::StampedTransform(markers_[index].current_camera_tf,ros::Time::now(),
camera_tf_id_old.str(),camera_tf_id.str()));
listener_->lookupTransform(marker_tf_id_old.str(),camera_tf_id.str(),ros::Time(0),
markers_[index].tf_to_previous);
}
catch(tf::TransformException &e)
{
ROS_ERROR("Not able to lookup transform");
}
// Save origin and quaternion of calculated TF
marker_origin = markers_[index].tf_to_previous.getOrigin();
marker_quaternion = markers_[index].tf_to_previous.getRotation();
// If plane type selected roll, pitch and Z axis are zero
if(space_type_ == "plane")
{
double roll, pitch, yaw;
tf::Matrix3x3(marker_quaternion).getRPY(roll,pitch,yaw);
roll = 0;
pitch = 0;
marker_origin.setZ(0);
marker_quaternion.setRPY(pitch,roll,yaw);
}
markers_[index].tf_to_previous.setRotation(marker_quaternion);
markers_[index].tf_to_previous.setOrigin(marker_origin);
marker_origin = markers_[index].tf_to_previous.getOrigin();
markers_[index].geometry_msg_to_previous.position.x = marker_origin.getX();
markers_[index].geometry_msg_to_previous.position.y = marker_origin.getY();
markers_[index].geometry_msg_to_previous.position.z = marker_origin.getZ();
marker_quaternion = markers_[index].tf_to_previous.getRotation();
markers_[index].geometry_msg_to_previous.orientation.x = marker_quaternion.getX();
markers_[index].geometry_msg_to_previous.orientation.y = marker_quaternion.getY();
markers_[index].geometry_msg_to_previous.orientation.z = marker_quaternion.getZ();
markers_[index].geometry_msg_to_previous.orientation.w = marker_quaternion.getW();
// increase marker count
marker_counter_++;
// Invert and position of new marker to compute camera pose above it
markers_[index].current_camera_tf = markers_[index].current_camera_tf.inverse();
marker_origin = markers_[index].current_camera_tf.getOrigin();
markers_[index].current_camera_pose.position.x = marker_origin.getX();
markers_[index].current_camera_pose.position.y = marker_origin.getY();
markers_[index].current_camera_pose.position.z = marker_origin.getZ();
marker_quaternion = markers_[index].current_camera_tf.getRotation();
markers_[index].current_camera_pose.orientation.x = marker_quaternion.getX();
markers_[index].current_camera_pose.orientation.y = marker_quaternion.getY();
markers_[index].current_camera_pose.orientation.z = marker_quaternion.getZ();
markers_[index].current_camera_pose.orientation.w = marker_quaternion.getW();
// Publish all TFs and markers
publishTfs(false);
}
}
//------------------------------------------------------
// Compute global position of new marker
//------------------------------------------------------
if((marker_counter_previous_ < marker_counter_) && (first_marker_detected_ == true))
{
// Publish all TF five times for listener
for(char k = 0; k < 5; k++)
publishTfs(false);
std::stringstream marker_tf_name;
marker_tf_name << "marker_" << index;
listener_->waitForTransform("world",marker_tf_name.str(),ros::Time(0),
ros::Duration(WAIT_FOR_TRANSFORM_INTERVAL));
try
{
listener_->lookupTransform("world",marker_tf_name.str(),ros::Time(0),
markers_[index].tf_to_world);
}
catch(tf::TransformException &e)
{
ROS_ERROR("Not able to lookup transform");
}
// Saving TF to Pose
const tf::Vector3 marker_origin = markers_[index].tf_to_world.getOrigin();
markers_[index].geometry_msg_to_world.position.x = marker_origin.getX();
markers_[index].geometry_msg_to_world.position.y = marker_origin.getY();
markers_[index].geometry_msg_to_world.position.z = marker_origin.getZ();
tf::Quaternion marker_quaternion=markers_[index].tf_to_world.getRotation();
markers_[index].geometry_msg_to_world.orientation.x = marker_quaternion.getX();
markers_[index].geometry_msg_to_world.orientation.y = marker_quaternion.getY();
markers_[index].geometry_msg_to_world.orientation.z = marker_quaternion.getZ();
markers_[index].geometry_msg_to_world.orientation.w = marker_quaternion.getW();
}
}
//------------------------------------------------------
// Compute which of visible markers is the closest to the camera
//------------------------------------------------------
bool any_markers_visible=false;
int num_of_visible_markers=0;
if(first_marker_detected_ == true)
{
double minimal_distance = INIT_MIN_SIZE_VALUE;
for(int k = 0; k < num_of_markers_; k++)
{
double a,b,c,size;
// If marker is visible, distance is calculated
if(markers_[k].visible==true)
{
a = markers_[k].current_camera_pose.position.x;
b = markers_[k].current_camera_pose.position.y;
c = markers_[k].current_camera_pose.position.z;
size = std::sqrt((a * a) + (b * b) + (c * c));
if(size < minimal_distance)
{
minimal_distance = size;
closest_camera_index_ = k;
}
any_markers_visible = true;
num_of_visible_markers++;
}
}
}
//------------------------------------------------------
// Publish all known markers
//------------------------------------------------------
if(first_marker_detected_ == true)
publishTfs(true);
//------------------------------------------------------
// Compute global camera pose
//------------------------------------------------------
if((first_marker_detected_ == true) && (any_markers_visible == true))
{
std::stringstream closest_camera_tf_name;
closest_camera_tf_name << "camera_" << closest_camera_index_;
listener_->waitForTransform("world",closest_camera_tf_name.str(),ros::Time(0),
ros::Duration(WAIT_FOR_TRANSFORM_INTERVAL));
try
{
listener_->lookupTransform("world",closest_camera_tf_name.str(),ros::Time(0),
world_position_transform_);
}
catch(tf::TransformException &ex)
{
ROS_ERROR("Not able to lookup transform");
}
// Saving TF to Pose
const tf::Vector3 marker_origin = world_position_transform_.getOrigin();
world_position_geometry_msg_.position.x = marker_origin.getX();
world_position_geometry_msg_.position.y = marker_origin.getY();
world_position_geometry_msg_.position.z = marker_origin.getZ();
tf::Quaternion marker_quaternion = world_position_transform_.getRotation();
world_position_geometry_msg_.orientation.x = marker_quaternion.getX();
world_position_geometry_msg_.orientation.y = marker_quaternion.getY();
world_position_geometry_msg_.orientation.z = marker_quaternion.getZ();
world_position_geometry_msg_.orientation.w = marker_quaternion.getW();
}
//------------------------------------------------------
// Publish all known markers
//------------------------------------------------------
if(first_marker_detected_ == true)
publishTfs(true);
//------------------------------------------------------
// Publish custom marker message
//------------------------------------------------------
aruco_mapping::ArucoMarker marker_msg;
if((any_markers_visible == true))
{
marker_msg.header.stamp = ros::Time::now();
marker_msg.header.frame_id = "world";
marker_msg.marker_visibile = true;
marker_msg.num_of_visible_markers = num_of_visible_markers;
marker_msg.global_camera_pose = world_position_geometry_msg_;
marker_msg.marker_ids.clear();
marker_msg.global_marker_poses.clear();
for(size_t j = 0; j < marker_counter_; j++)
{
if(markers_[j].visible == true)
{
marker_msg.marker_ids.push_back(markers_[j].marker_id);
marker_msg.global_marker_poses.push_back(markers_[j].geometry_msg_to_world);
}
}
}
else
{
marker_msg.header.stamp = ros::Time::now();
marker_msg.header.frame_id = "world";
marker_msg.num_of_visible_markers = num_of_visible_markers;
marker_msg.marker_visibile = false;
marker_msg.marker_ids.clear();
marker_msg.global_marker_poses.clear();
}
// Publish custom marker msg
marker_msg_pub_.publish(marker_msg);
return true;
}
void get_veclocity(arma::colvec3& u,const tf::Vector3& origin, const tf::Vector3& origin_tmp)
{
u(0) = origin.getX() - origin_tmp.getX();
u(1) = origin.getY() - origin_tmp.getY();
u(2) = origin.getZ() - origin_tmp.getZ();
}
void HapticsPSM::compute_deflection_force(geometry_msgs::Wrench &wrench, tf::Vector3 &d_along_n){
wrench.force.x = d_along_n.getX();
wrench.force.y = d_along_n.getY();
wrench.force.z = d_along_n.getZ();
}
double calcEuklideanDistance(tf::Vector3 origin, tf::Vector3 oldOrigin) {
double distance = 0.0;
distance = sqrt(((origin.getX()-oldOrigin.getX())*(origin.getX()-oldOrigin.getX())) + ((origin.getY()-oldOrigin.getY())*(origin.getY()-oldOrigin.getY())) + ((origin.getZ()-oldOrigin.getZ())*(origin.getZ()-oldOrigin.getZ())));
return distance;
}
void poseCB(const geometry_msgs::PoseStamped& poseMsg)
{
if (!mocapOn)
{
std::cout << "Bebop pose is publishing. THE WALL IS UP!" << std::endl;
mocapOn = true;
}
tf::Vector3 desBodyLinVel, desBodyAngVel;
if (autonomy)
{
// Bebop pose
tf::Transform bebopPoseTF(tf::Quaternion(poseMsg.pose.orientation.x,poseMsg.pose.orientation.y,poseMsg.pose.orientation.z,poseMsg.pose.orientation.w),
tf::Vector3(poseMsg.pose.position.x,poseMsg.pose.position.y,poseMsg.pose.position.z));
// Target pose
tf::StampedTransform targetPoseTF;
try { tfl.lookupTransform("world",target,ros::Time(0),targetPoseTF); }
catch(tf::TransformException ex) {}
// Desired pose
tf::Vector3 desPos, desForward;
if (lazy)
{
tf::Vector3 unitRelPos = (bebopPoseTF.getOrigin() - targetPoseTF.getOrigin());
unitRelPos.setZ(0);
unitRelPos.normalize();
desPos = targetPoseTF.getOrigin() + radius*unitRelPos;
desPos.setZ(desPos.getZ() + 1);
desForward = -unitRelPos;
}
else
{
desPos = targetPoseTF.getOrigin();
desPos.setZ(desPos.getZ() + 1);
desForward = targetPoseTF.getBasis()*tf::Vector3(1,0,0);
}
// Desired velocity
tf::Vector3 desLinVel = kp*(desPos - bebopPoseTF.getOrigin()) + kpd*(targetLinVel - bebopLinVel);
tf::Vector3 desAngVel = kw*((bebopPoseTF.getBasis()*tf::Vector3(1,0,0)).cross(desForward));
desBodyLinVel = sat(bebopPoseTF.getBasis().inverse()*desLinVel,0.4) + tf::Vector3(0,0.4*joyAngVel.getZ(),0);
desBodyAngVel = sat(bebopPoseTF.getBasis().inverse()*desAngVel,0.4) + tf::Vector3(0,0,-0.5*joyAngVel.getZ());
}
else
{
desBodyLinVel = joyLinVel;
desBodyAngVel = joyAngVel;
}
// Publish
geometry_msgs::Twist twistMsg;
twistMsg.linear.x = desBodyLinVel.getX();
twistMsg.linear.y = desBodyLinVel.getY();
twistMsg.linear.z = desBodyLinVel.getZ();
twistMsg.angular.x = desBodyAngVel.getX();
twistMsg.angular.y = desBodyAngVel.getY();
twistMsg.angular.z = -1*desBodyAngVel.getZ();
velCmdPub.publish(twistMsg);
}
// callback for the complete message
void complete_message_callback(const homog_track::HomogComplete& msg)
{
/********** Begin splitting up the incoming message *********/
// getting boolean indicating the reference has been set
reference_set = msg.reference_set;
// if the reference is set then will break out the points
if (reference_set)
{
// initializer temp scalar to zero
temp_scalar = cv::Mat::zeros(1,1,CV_64F);
// getting the current marker points
circles_curr = msg.current_points;
// getting the refernce marker points
circles_ref = msg.reference_points;
// setting the current points to the point vector
curr_red_p.x = circles_curr.red_circle.x;
curr_green_p.x = circles_curr.green_circle.x;
curr_cyan_p.x = circles_curr.cyan_circle.x;
curr_purple_p.x = circles_curr.purple_circle.x;
curr_red_p.y = circles_curr.red_circle.y;
curr_green_p.y = circles_curr.green_circle.y;
curr_cyan_p.y = circles_curr.cyan_circle.y;
curr_purple_p.y = circles_curr.purple_circle.y;
curr_points_p.push_back(curr_red_p);
curr_points_p.push_back(curr_green_p);
curr_points_p.push_back(curr_cyan_p);
curr_points_p.push_back(curr_purple_p);
// converting the points to be the projective coordinates
for (int ii = 0; ii < curr_points_m.size(); ii++)
{
curr_points_m[ii] = K.inv(cv::DECOMP_LU)*curr_points_m[ii];
std::cout << "currpoints at " << ii << " is: " << curr_points_m[ii] << std::endl;
}
// setting the reference points to the point vector
ref_red_p.x = circles_ref.red_circle.x;
ref_green_p.x = circles_ref.green_circle.x;
ref_cyan_p.x = circles_ref.cyan_circle.x;
ref_purple_p.x = circles_ref.purple_circle.x;
ref_red_p.y = circles_ref.red_circle.y;
ref_green_p.y = circles_ref.green_circle.y;
ref_cyan_p.y = circles_ref.cyan_circle.y;
ref_purple_p.y = circles_ref.purple_circle.y;
ref_points_p.push_back(ref_red_p);
ref_points_p.push_back(ref_green_p);
ref_points_p.push_back(ref_cyan_p);
ref_points_p.push_back(ref_purple_p);
// setting the reference points to the matrix vector, dont need to do the last one because its already 1
ref_red_m.at<double>(0,0) = ref_red_p.x;
ref_red_m.at<double>(1,0) = ref_red_p.y;
ref_green_m.at<double>(0,0) = ref_green_p.x;
ref_green_m.at<double>(1,0) = ref_green_p.y;
ref_cyan_m.at<double>(0,0) = ref_cyan_p.x;
ref_cyan_m.at<double>(1,0) = ref_cyan_p.y;
ref_purple_m.at<double>(0,0) = ref_purple_p.x;
ref_purple_m.at<double>(1,0) = ref_purple_p.y;
ref_points_m.push_back(ref_red_m);
ref_points_m.push_back(ref_green_m);
ref_points_m.push_back(ref_cyan_m);
ref_points_m.push_back(ref_purple_m);
// converting the points to be the projective coordinates
for (int ii = 0; ii < ref_points_m.size(); ii++)
{
ref_points_m[ii] = K.inv(cv::DECOMP_LU)*ref_points_m[ii];
//std::cout << "refpoints at " << ii << " is: " << ref_points_m[ii] << std::endl;
}
// if any of the points have a -1 will skip over the homography
if (curr_red_p.x != -1 && curr_green_p.x != -1 && curr_cyan_p.x != -1 && curr_purple_p.x != -1)
{
//std::cout << "hi" << std::endl;
// finding the perspective homography
G = cv::findHomography(curr_points_p,ref_points_p,0);
//G = cv::findHomography(ref_points_p,ref_points_p,0);
std::cout << "G: " << G << std::endl;
// decomposing the homography into the four solutions
// G and K are 3x3
// R is 3x3
// 3x1
// 3x1
// successful_decomp is the number of solutions found
successful_decomp = cv::decomposeHomographyMat(G,K,R,T,n);
std::cout << "successful_decomp: " << successful_decomp << std::endl;
// if the decomp is successful will find the best matching
if (successful_decomp > 0)
{
std::cout << std::endl << std::endl << " begin check for visibility" << std::endl;
// finding the alphas
alpha_red.data = 1/(G.at<double>(2,0)*ref_red_p.x + G.at<double>(2,1)*ref_red_p.y + 1);
alpha_green.data = 1/(G.at<double>(2,0)*ref_green_p.x + G.at<double>(2,1)*ref_green_p.y + 1);
alpha_cyan.data = 1/(G.at<double>(2,0)*ref_cyan_p.x + G.at<double>(2,1)*ref_cyan_p.y + 1);
alpha_purple.data = 1/(G.at<double>(2,0)*ref_purple_p.x + G.at<double>(2,1)*ref_purple_p.y + 1);
// finding the solutions that give the positive results
for (int ii = 0; ii < successful_decomp; ii++)
{
std::cout << "solution set number " << ii << std::endl;
// performing the operation transpose(m)*R*n to check if greater than 0 later
// order operating on is red green cyan purple
for (int jj = 0; jj < 4; jj++)
{
//std::cout << " T size: " << T[ii].size() << std::endl;
//std::cout << " T type: " << T[ii].type() << std::endl;
std::cout << " T value: " << T[ii] << std::endl;
//std::cout << " temp scalar 1 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
temp_scalar = curr_points_m[jj].t();
//std::cout << " temp scalar 2 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " R size: " << R[ii].size() << std::endl;
//std::cout << " R type: " << R[ii].type() << std::endl;
//std::cout << " R value: " << R[ii] << std::endl;
temp_scalar = temp_scalar*R[ii];
//std::cout << " temp scalar 3 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " n size: " << n[ii].size() << std::endl;
//std::cout << " n type: " << n[ii].type() << std::endl;
std::cout << " n value: " << n[ii] << std::endl;
temp_scalar = temp_scalar*n[ii];
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " temp scalar value at 0,0" << temp_scalar.at<double>(0,0) << std::endl;
scalar_value_check.push_back(temp_scalar.at<double>(0,0));
////std::cout << " scalar value check size: " << scalar_value_check.size() << std::endl;
//std::cout << " \tthe value for the " << jj << " visibility check is: " << scalar_value_check[4*ii+jj] << std::endl;
}
}
std::cout << " end check for visibility" << std::endl << std::endl;
// restting first solution found and second solution found
first_solution_found = false;
second_solution_found = false;
fc_found = false;
// getting the two solutions or only one if there are not two
for (int ii = 0; ii < successful_decomp; ii++)
{
// getting the values onto the temporary vector
// getting the start and end of the next solution
temp_solution_start = scalar_value_check.begin() + 4*ii;
temp_solution_end = scalar_value_check.begin() + 4*ii+4;
temp_solution.assign(temp_solution_start,temp_solution_end);
// checking if all the values are positive
all_positive = true;
current_temp_index = 0;
while (all_positive && current_temp_index < 4)
{
if (temp_solution[current_temp_index] >= 0)
{
current_temp_index++;
}
else
{
all_positive = false;
}
}
// if all the values were positive and a first solution has not been found will assign
// to first solution. if all positive and first solution has been found will assign
// to second solution. if all positive is false then will not do anything
if (all_positive && first_solution_found && !second_solution_found)
{
// setting it to indicate a solution has been found
second_solution_found = true;
// setting the rotation, translation, and normal to be the second set
second_R = R[ii];
second_T = T[ii];
second_n = n[ii];
// setting the projected values
second_solution = temp_solution;
}
else if (all_positive && !first_solution_found)
{
// setting it to indicate a solution has been found
first_solution_found = true;
// setting the rotation, translation, and normal to be the first set
first_R = R[ii];
first_T = T[ii];
first_n = n[ii];
// setting the projected values
first_solution = temp_solution;
}
// erasing all the values from the temp solution
temp_solution.erase(temp_solution.begin(),temp_solution.end());
}
// erasing all the scalar values from the check
scalar_value_check.erase(scalar_value_check.begin(),scalar_value_check.end());
// displaying the first solution if it was found
if (first_solution_found)
{
std::cout << std::endl << "first R: " << first_R << std::endl;
std::cout << "first T: " << first_T << std::endl;
std::cout << "first n: " << first_n << std::endl;
for (double ii : first_solution)
{
std::cout << ii << " ";
}
std::cout << std::endl;
}
// displaying the second solution if it was found
if (second_solution_found)
{
std::cout << std::endl << "second R: " << second_R << std::endl;
std::cout << "second T: " << second_T << std::endl;
std::cout << "second n: " << second_n << std::endl;
for (double ii : second_solution)
{
std::cout << ii << " ";
}
std::cout << std::endl;
}
// because the reference is set to the exact value when when n should have only a z componenet, the correct
// choice should be the one closest to n_ref = [0,0,1]^T which will be the one with the greatest dot product with n_ref
if (first_solution_found && second_solution_found)
{
if (first_n.dot(n_ref) >= second_n.dot(n_ref))
{
R_fc = first_R;
T_fc = first_T;
}
else
{
R_fc = second_R;
T_fc = second_T;
}
fc_found = true;
}
else if(first_solution_found)
{
R_fc = first_R;
T_fc = first_T;
fc_found = true;
}
//if a solution was found will publish
// need to convert to pose message so use
if (fc_found)
{
// converting the rotation from a cv matrix to quaternion, first need it as a matrix3x3
R_fc_tf[0][0] = R_fc.at<double>(0,0);
R_fc_tf[0][1] = R_fc.at<double>(0,1);
R_fc_tf[0][2] = R_fc.at<double>(0,2);
R_fc_tf[1][0] = R_fc.at<double>(1,0);
R_fc_tf[1][1] = R_fc.at<double>(1,1);
R_fc_tf[1][2] = R_fc.at<double>(1,2);
R_fc_tf[2][0] = R_fc.at<double>(2,0);
R_fc_tf[2][1] = R_fc.at<double>(2,1);
R_fc_tf[2][2] = R_fc.at<double>(2,2);
std::cout << "Final R:\n" << R_fc << std::endl;
// converting the translation to a vector 3
T_fc_tf.setX(T_fc.at<double>(0,0));
T_fc_tf.setY(T_fc.at<double>(0,1));
T_fc_tf.setZ(T_fc.at<double>(0,2));
std::cout << "Final T :\n" << T_fc << std::endl;
// getting the rotation as a quaternion
R_fc_tf.getRotation(Q_fc_tf);
std::cout << "current orientation:" << "\n\tx:\t" << Q_fc_tf.getX()
<< "\n\ty:\t" << Q_fc_tf.getY()
<< "\n\tz:\t" << Q_fc_tf.getZ()
<< "\n\tw:\t" << Q_fc_tf.getW()
<< std::endl;
std::cout << "norm of quaternion:\t" << Q_fc_tf.length() << std::endl;
// getting the negated version of the quaternion for the check
Q_fc_tf_negated = tf::Quaternion(-Q_fc_tf.getX(),-Q_fc_tf.getY(),-Q_fc_tf.getZ(),-Q_fc_tf.getW());
std::cout << "negated orientation:" << "\n\tx:\t" << Q_fc_tf_negated.getX()
<< "\n\ty:\t" << Q_fc_tf_negated.getY()
<< "\n\tz:\t" << Q_fc_tf_negated.getZ()
<< "\n\tw:\t" << Q_fc_tf_negated.getW()
<< std::endl;
std::cout << "norm of negated quaternion:\t" << Q_fc_tf_negated.length() << std::endl;
// showing the last orientation
std::cout << "last orientation:" << "\n\tx:\t" << Q_fc_tf_last.getX()
<< "\n\ty:\t" << Q_fc_tf_last.getY()
<< "\n\tz:\t" << Q_fc_tf_last.getZ()
<< "\n\tw:\t" << Q_fc_tf_last.getW()
<< std::endl;
std::cout << "norm of last quaternion:\t" << Q_fc_tf_last.length() << std::endl;
// checking if the quaternion has flipped
Q_norm_current_diff = std::sqrt(std::pow(Q_fc_tf.getX() - Q_fc_tf_last.getX(),2.0)
+ std::pow(Q_fc_tf.getY() - Q_fc_tf_last.getY(),2.0)
+ std::pow(Q_fc_tf.getZ() - Q_fc_tf_last.getZ(),2.0)
+ std::pow(Q_fc_tf.getW() - Q_fc_tf_last.getW(),2.0));
std::cout << "current difference:\t" << Q_norm_current_diff << std::endl;
Q_norm_negated_diff = std::sqrt(std::pow(Q_fc_tf_negated.getX() - Q_fc_tf_last.getX(),2.0)
+ std::pow(Q_fc_tf_negated.getY() - Q_fc_tf_last.getY(),2.0)
+ std::pow(Q_fc_tf_negated.getZ() - Q_fc_tf_last.getZ(),2.0)
+ std::pow(Q_fc_tf_negated.getW() - Q_fc_tf_last.getW(),2.0));
std::cout << "negated difference:\t" << Q_norm_negated_diff << std::endl;
if (Q_norm_current_diff > Q_norm_negated_diff)
{
Q_fc_tf = Q_fc_tf_negated;
}
// updating the last
Q_fc_tf_last = Q_fc_tf;
// converting the tf quaternion to a geometry message quaternion
Q_fc_gm.x = Q_fc_tf.getX();
Q_fc_gm.y = Q_fc_tf.getY();
Q_fc_gm.z = Q_fc_tf.getZ();
Q_fc_gm.w = Q_fc_tf.getW();
// converting the tf vector3 to a point
P_fc_gm.x = T_fc_tf.getX();
P_fc_gm.y = T_fc_tf.getY();
P_fc_gm.z = T_fc_tf.getZ();
// setting the transform with the values
fc_tf.setOrigin(T_fc_tf);
fc_tf.setRotation(Q_fc_tf);
tf_broad.sendTransform(tf::StampedTransform(fc_tf, msg.header.stamp,"f_star","f_current"));
// setting the decomposed message
pose_fc_gm.position = P_fc_gm;
pose_fc_gm.orientation = Q_fc_gm;
decomposed_msg.pose = pose_fc_gm;
decomposed_msg.header.stamp = msg.header.stamp;
decomposed_msg.header.frame_id = "current_frame_normalized";
decomposed_msg.alpha_red = alpha_red;
decomposed_msg.alpha_green = alpha_green;
decomposed_msg.alpha_cyan = alpha_cyan;
decomposed_msg.alpha_purple = alpha_purple;
homog_decomp_pub.publish(decomposed_msg);
std::cout << "complete message\n" << decomposed_msg << std::endl << std::endl;
// publish the marker
marker.pose = pose_fc_gm;
marker_pub.publish(marker);
}
}
}
// erasing all the temporary points
if (first_solution_found || second_solution_found)
{
// erasing all the point vectors and matrix vectors
curr_points_p.erase(curr_points_p.begin(),curr_points_p.end());
ref_points_p.erase(ref_points_p.begin(),ref_points_p.end());
curr_points_m.erase(curr_points_m.begin(),curr_points_m.end());
ref_points_m.erase(ref_points_m.begin(),ref_points_m.end());
}
}
/********** End splitting up the incoming message *********/
}
/********** callback for the cmd velocity from the autonomy **********/
void cmd_vel_callback(const geometry_msgs::Twist& msg)
{
watchdogTimer.stop();
error.setValue(msg.linear.x - body_vel.linear.x, msg.linear.y - body_vel.linear.y, msg.linear.z - body_vel.linear.z);
//std::cout << "error x: " << error.getX() << " y: " << error.getY() << " z: " << error.getZ() << std::endl;
//std::cout << std::abs(curr_body_vel_time.toSec() - last_body_vel_time.toSec()) << std::endl;
error_yaw = msg.angular.z - body_vel.angular.z;
//std::cout << "error yaw: " << error_yaw << std::endl;
// if some time has passed between the last body velocity time and the current body velocity time then will calculate the (feed forward PD)
if (std::abs(curr_body_vel_time.toSec() - last_body_vel_time.toSec()) > 0.00001)
{
errorDot = (1/(curr_body_vel_time - last_body_vel_time).toSec()) * (error - last_error);
//std::cout << "errordot x: " << errorDot.getX() << " y: " << errorDot.getY() << " z: " << errorDot.getZ() << std::endl;
errorDot_yaw = (1/(curr_body_vel_time - last_body_vel_time).toSec()) * (error_yaw - last_error_yaw);
//std::cout << "error dot yaw " << errorDot_yaw << std::endl;
velocity_command.linear.x = cap_vel_auton(kx*msg.linear.x + (kp*error).getX() + (kd*errorDot).getX());
velocity_command.linear.y = cap_vel_auton(ky*msg.linear.y + (kp*error).getY() + (kd*errorDot).getY());
velocity_command.linear.z = cap_vel_auton(kz*msg.linear.z + (kp*error).getZ() + (kd*errorDot).getZ());
velocity_command.angular.z = -1*cap_vel_auton(kyaw*msg.angular.z + kp_yaw*error_yaw + kd_yaw*errorDot_yaw); // z must be switched because bebop driver http://bebop-autonomy.readthedocs.org/en/latest/piloting.html
}
last_body_vel_time = curr_body_vel_time;// update last time body velocity was recieved
last_error = error;
last_error_yaw = error_yaw;
error_gm.linear.x = error.getX(); error_gm.linear.y = error.getY(); error_gm.linear.z = error.getZ(); error_gm.angular.z = error_yaw;
errorDot_gm.linear.x = errorDot.getX(); errorDot_gm.linear.y = errorDot.getY(); errorDot_gm.linear.z = errorDot.getZ(); errorDot_gm.angular.z = kyaw*msg.angular.z + kp_yaw*error_yaw + kd_yaw*errorDot_yaw;
error_pub.publish(error_gm);
errorDot_pub.publish(errorDot_gm);
if (start_autonomous)
{
recieved_command_from_tracking = true;
}
watchdogTimer.start();
}