void TransformROSBridge::calculateTwist(const tf::Transform& _current_trans, const tf::Transform& _prev_trans, tf::Vector3& _linear_twist, tf::Vector3& _angular_twist, double _dt)
{
// current rotation matrix
tf::Matrix3x3 current_basis = _current_trans.getBasis();
// linear twist
tf::Vector3 current_origin = _current_trans.getOrigin();
tf::Vector3 prev_origin = _prev_trans.getOrigin();
_linear_twist = current_basis.transpose() * ((current_origin - prev_origin) / _dt);
// angular twist
// R = exp(omega_w*dt) * prev_R
// omega_w is described in global coordinates in relationships of twist transformation.
// it is easier to calculate omega using hrp functions than tf functions
tf::Matrix3x3 prev_basis = _prev_trans.getBasis();
double current_rpy[3], prev_rpy[3];
current_basis.getRPY(current_rpy[0], current_rpy[1], current_rpy[2]);
prev_basis.getRPY(prev_rpy[0], prev_rpy[1], prev_rpy[2]);
hrp::Matrix33 current_hrpR = hrp::rotFromRpy(current_rpy[0], current_rpy[1], current_rpy[2]);
hrp::Matrix33 prev_hrpR = hrp::rotFromRpy(prev_rpy[0], prev_rpy[1], prev_rpy[2]);
hrp::Vector3 hrp_omega = current_hrpR.transpose() * hrp::omegaFromRot(current_hrpR * prev_hrpR.transpose()) / _dt;
_angular_twist.setX(hrp_omega[0]);
_angular_twist.setY(hrp_omega[1]);
_angular_twist.setZ(hrp_omega[2]);
return;
}
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;
}
void BeaconKFNode::initializeRos( void )
{
ros::NodeHandle private_nh("~");
ros::NodeHandle nh("");
private_nh.param("world_fixed_frame", _world_fixed_frame, std::string("map"));
private_nh.param("odometry_frame", _odometry_frame, std::string("odom"));
private_nh.param("platform_frame", _platform_frame, std::string("platform"));
//setup platform offset position and angle
int platform_index;
std::vector<double> empty_vec;
private_nh.param("platform_index", platform_index, 0);
private_nh.param("platform_x_coords", _platform_x_coords, empty_vec);
private_nh.param("platform_y_coords", _platform_y_coords, empty_vec);
double reference_x;
double reference_y;
private_nh.param("reference_x", reference_x, 1.0);
private_nh.param("reference_y", reference_y, 0.0);
_reference_coords.push_back(reference_x);
_reference_coords.push_back(reference_y);
double platform_angle;
private_nh.param("platform_orientation", platform_angle, 0.0);
_platform_origin.setX(_platform_x_coords[platform_index]);
_platform_origin.setY(_platform_y_coords[platform_index]);
_platform_origin.setZ(0);
platform_angle = platform_angle*(M_PI/180);
platform_angle = platform_angle + atan(_reference_coords[1]/_reference_coords[0]);
_platform_orientation = tf::createQuaternionFromYaw(platform_angle);
//beacon message subscriber callback
_beacon_sub = nh.subscribe( "beacon_pose", 1, &BeaconKFNode::beaconCallback, this);
//define timer rates
double update_period;
double broadcast_period;
private_nh.param("update_period", update_period, 1.0);
private_nh.param("broadcast_period", broadcast_period, 0.05);
//timer for broadcasting the map correction xfrom
_transform_broadcast_timer = private_nh.createTimer(ros::Duration(broadcast_period),
&BeaconKFNode::transformBroadcastCallback,
this);
//timer for updating the EKF
_update_timer = private_nh.createTimer(ros::Duration(update_period),
&BeaconKFNode::filterUpdateCallback,
this);
//set dynamic reconfigure callback
dr_server.setCallback(boost::bind(&BeaconKFNode::configCallback, this, _1, _2));
}
/* Dynamic reconfigure callback */
void BeaconKFNode::configCallback(beacon_localizer::beacon_localizer_paramsConfig &config, uint32_t level)
{
double platform_angle;
int platform_index;
_reference_coords[0] = config.reference_x;
_reference_coords[1] = config.reference_y;
//get platform orientation in degrees, convert to reference system
platform_angle = config.platform_orientation;
platform_angle = platform_angle*(M_PI/180);
platform_angle = platform_angle + atan(_reference_coords[1]/_reference_coords[0]);
_platform_orientation = tf::createQuaternionFromYaw(platform_angle);
platform_index = config.platform_index;
_platform_origin.setX(_platform_x_coords[platform_index]);
_platform_origin.setY(_platform_y_coords[platform_index]);
}
bool checkCloud(const sensor_msgs::PointCloud2& cloud_msg,
typename pcl::PointCloud<T>::Ptr hand_cloud,
//typename pcl::PointCloud<T>::Ptr finger_cloud,
const std::string& frame_id,
tf::Vector3& hand_position,
tf::Vector3& arm_position,
tf::Vector3& arm_direction)
{
typename pcl::PointCloud<T>::Ptr cloud(new pcl::PointCloud<T>);
pcl::fromROSMsg(cloud_msg, *cloud);
if((cloud->points.size() < g_config.min_cluster_size) ||
(cloud->points.size() > g_config.max_cluster_size))
return false;
pcl::PCA<T> pca;
pca.setInputCloud(cloud);
Eigen::Vector4f mean = pca.getMean();
if((mean.coeff(0) < g_config.min_x) || (mean.coeff(0) > g_config.max_x)) return false;
if((mean.coeff(1) < g_config.min_y) || (mean.coeff(1) > g_config.max_y)) return false;
if((mean.coeff(2) < g_config.min_z) || (mean.coeff(2) > g_config.max_z)) return false;
Eigen::Vector3f eigen_value = pca.getEigenValues();
double ratio = eigen_value.coeff(0) / eigen_value.coeff(1);
if((ratio < g_config.min_eigen_value_ratio) || (ratio > g_config.max_eigen_value_ratio)) return false;
T search_point;
Eigen::Matrix3f ev = pca.getEigenVectors();
Eigen::Vector3f main_axis(ev.coeff(0, 0), ev.coeff(1, 0), ev.coeff(2, 0));
main_axis.normalize();
arm_direction.setX(main_axis.coeff(0));
arm_direction.setY(main_axis.coeff(1));
arm_direction.setZ(main_axis.coeff(2));
arm_position.setX(mean.coeff(0));
arm_position.setY(mean.coeff(1));
arm_position.setZ(mean.coeff(2));
main_axis = (-main_axis * 0.3) + Eigen::Vector3f(mean.coeff(0), mean.coeff(1), mean.coeff(2));
search_point.x = main_axis.coeff(0);
search_point.y = main_axis.coeff(1);
search_point.z = main_axis.coeff(2);
//find hand
pcl::KdTreeFLANN<T> kdtree;
kdtree.setInputCloud(cloud);
//find the closet point from the serach_point
std::vector<int> point_indeices(1);
std::vector<float> point_distances(1);
if ( kdtree.nearestKSearch (search_point, 1, point_indeices, point_distances) > 0 )
{
//update search point
search_point = cloud->points[point_indeices[0]];
//show seach point
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushSimpleMarker(search_point.x, search_point.y, search_point.z,
1.0, 0, 0,
0.02,
g_marker_id, g_marker_array, frame_id);
}
//hand
point_indeices.clear();
point_distances.clear();
kdtree.radiusSearch(search_point, g_config.hand_lenght, point_indeices, point_distances);
for (size_t i = 0; i < point_indeices.size (); ++i)
{
hand_cloud->points.push_back(cloud->points[point_indeices[i]]);
hand_cloud->points.back().r = 255;
hand_cloud->points.back().g = 0;
hand_cloud->points.back().b = 0;
}
Eigen::Vector4f centroid;
pcl::compute3DCentroid(*hand_cloud, centroid);
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushSimpleMarker(centroid.coeff(0), centroid.coeff(1), centroid.coeff(2),
0.0, 1.0, 0,
0.02,
g_marker_id, g_marker_array, frame_id);
}
hand_position.setX(centroid.coeff(0));
hand_position.setY(centroid.coeff(1));
hand_position.setZ(centroid.coeff(2));
#if 0
//fingers
search_point.x = centroid.coeff(0);
search_point.y = centroid.coeff(1);
search_point.z = centroid.coeff(2);
std::vector<int> point_indeices_inner;
std::vector<float> point_distances_inner;
kdtree.radiusSearch(search_point, 0.07, point_indeices_inner, point_distances_inner);
std::vector<int> point_indeices_outter;
std::vector<float> point_distances_outter;
kdtree.radiusSearch(search_point, 0.1, point_indeices_outter, point_distances_outter);
//ROS_INFO("before %d %d", point_indeices_inner.size(), point_indeices_outter.size());
std::vector<int>::iterator it;
for(size_t i = 0; i < point_indeices_inner.size(); i++)
{
it = std::find(point_indeices_outter.begin(), point_indeices_outter.end(), point_indeices_inner[i]);
if(it != point_indeices_outter.end())
{
point_indeices_outter.erase(it);
}
}
//ROS_INFO("after %d %d", point_indeices_inner.size(), point_indeices_outter.size());
//ROS_DEBUG_THROTTLE(1.0, "found %lu", point_indeices.size ());
for (size_t i = 0; i < point_indeices_outter.size (); ++i)
{
finger_cloud->points.push_back(cloud->points[point_indeices_outter[i]]);
finger_cloud->points.back().r = 255;
finger_cloud->points.back().g = 0;
finger_cloud->points.back().b = 0;
}
#endif
}
else
{
return false;
}
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushEigenMarker<T>(pca, g_marker_id, g_marker_array, 0.1, frame_id);
}
return true;
}
void aero_path_planning::pointToVector(const aero_path_planning::Point& point, tf::Vector3& vector)
{
vector.setX(point.x);
vector.setY(point.y);
vector.setZ(point.z);
}
// 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 *********/
}