void process_markers(const ros::Time& frame_time, unsigned int vicon_frame_num)
{
if (markers_pub.getNumSubscribers() > 0)
{
if (not marker_data_enabled)
{
MyClient.EnableMarkerData();
ROS_ASSERT(MyClient.IsMarkerDataEnabled().Enabled);
marker_data_enabled = true;
}
if (not unlabeled_marker_data_enabled)
{
MyClient.EnableUnlabeledMarkerData();
ROS_ASSERT(MyClient.IsUnlabeledMarkerDataEnabled().Enabled);
unlabeled_marker_data_enabled = true;
}
n_markers = 0;
vicon_mocap::Markers markers_msg;
markers_msg.header.stamp = frame_time;
markers_msg.frame_number = vicon_frame_num;
markers_msg.header.frame_id = tf_ref_frame_id;
// Count the number of subjects
unsigned int SubjectCount = MyClient.GetSubjectCount().SubjectCount;
// Get labeled markers
for (unsigned int SubjectIndex = 0; SubjectIndex < SubjectCount; ++SubjectIndex)
{
std::string this_subject_name = MyClient.GetSubjectName(SubjectIndex).SubjectName;
// Count the number of markers
unsigned int num_subject_markers = MyClient.GetMarkerCount(SubjectName).MarkerCount;
n_markers += num_subject_markers;
//std::cout << " Markers (" << MarkerCount << "):" << std::endl;
for (unsigned int MarkerIndex = 0; MarkerIndex < num_subject_markers; ++MarkerIndex)
{
vicon_mocap::Marker this_marker;
this_marker.marker_name = MyClient.GetMarkerName(this_subject_name, MarkerIndex).MarkerName;
this_marker.subject_name = this_subject_name;
this_marker.segment_name
= MyClient.GetMarkerParentName(this_subject_name, this_marker.marker_name).SegmentName;
// Get the global marker translation
Output_GetMarkerGlobalTranslation _Output_GetMarkerGlobalTranslation =
MyClient.GetMarkerGlobalTranslation(this_subject_name, this_marker.marker_name);
this_marker.translation.x = _Output_GetMarkerGlobalTranslation.Translation[0] / 1000;
this_marker.translation.y = _Output_GetMarkerGlobalTranslation.Translation[1] / 1000;
this_marker.translation.z = _Output_GetMarkerGlobalTranslation.Translation[2] / 1000;
this_marker.occluded = _Output_GetMarkerGlobalTranslation.Occluded;
markers_msg.markers.push_back(this_marker);
}
}
// get unlabeled markers
unsigned int UnlabeledMarkerCount = MyClient.GetUnlabeledMarkerCount().MarkerCount;
//ROS_INFO("# unlabeled markers: %d", UnlabeledMarkerCount);
n_markers += UnlabeledMarkerCount;
n_unlabeled_markers = UnlabeledMarkerCount;
for (unsigned int UnlabeledMarkerIndex = 0; UnlabeledMarkerIndex < UnlabeledMarkerCount; ++UnlabeledMarkerIndex)
{
// Get the global marker translation
Output_GetUnlabeledMarkerGlobalTranslation _Output_GetUnlabeledMarkerGlobalTranslation =
MyClient.GetUnlabeledMarkerGlobalTranslation(UnlabeledMarkerIndex);
if (_Output_GetUnlabeledMarkerGlobalTranslation.Result == Result::Success)
{
vicon_mocap::Marker this_marker;
this_marker.translation.x = _Output_GetUnlabeledMarkerGlobalTranslation.Translation[0] / 1000;
this_marker.translation.y = _Output_GetUnlabeledMarkerGlobalTranslation.Translation[1] / 1000;
this_marker.translation.z = _Output_GetUnlabeledMarkerGlobalTranslation.Translation[2] / 1000;
this_marker.occluded = false; // unlabeled markers can't be occluded
markers_msg.unlabeled_markers.push_back(this_marker);
}
else
{
ROS_WARN("GetUnlabeledMarkerGlobalTranslation failed (result = %d)",
(int)(_Output_GetUnlabeledMarkerGlobalTranslation.Result));
}
}
markers_pub.publish(markers_msg);
}
}
// mocap position thread
void DataStreamClient::run(void)
{
while (true) //TODO: exit cleanly?
{
// get frame
while (_vicon_client.GetFrame().Result != Result::Success) {
dbg("Couldn't GetFrame()\n");
usleep(1000);
}
// get timecode and populate subject message
// Output_GetTimecode time_code = _vicon_client.GetTimecode();
vicon::body_t msg;
msg.utime = _timestamp_now();
vicon::vicon_t system;
// get subject count
system.nummodels = _vicon_client.GetSubjectCount().SubjectCount;
// Uh oh, models disappeared - realloc the system
if (system.nummodels < system.models.size())
{
system.models.clear();
system.models.reserve(system.nummodels);
}
if (system.nummodels == 0)
{
std::cout << "no models detected" << std::endl;
continue;
}
// loop through subjects
for (uint subject_index = 0; subject_index < system.nummodels; subject_index++) {
////////////////////////////////////////////////////////////////////////
/// Marker
vicon::model_t& model = findModel(system.models, _vicon_client.GetSubjectName(subject_index).SubjectName);
model.nummarkers = _vicon_client.GetMarkerCount(model.name).MarkerCount;
if (model.nummarkers < model.markers.size())
{
model.markers.clear();
model.markers.reserve(model.nummarkers);
}
for(int32_t j = 0; j < model.nummarkers; j++)
{
vicon::marker_t& marker = findMarker(model.markers, _vicon_client.GetMarkerName(model.name, j).MarkerName);
Output_GetMarkerGlobalTranslation translation = _vicon_client.GetMarkerGlobalTranslation(model.name, marker.name);
marker.o = translation.Occluded;
memcpy(marker.xyz, translation.Translation, 3*sizeof(double));
}
////////////////////////////////////////////////////////////////////////
/// Segments
// get number of segments
model.numsegments = _vicon_client.GetSegmentCount(model.name).SegmentCount;
if (model.numsegments < model.segments.size())
{
model.segments.clear();
model.segments.reserve(model.numsegments);
}
// get subject name
std::string subject_name = _vicon_client.GetSubjectName(subject_index).SubjectName;
// get root segment name
std::string root_segment_name = _vicon_client.GetSubjectRootSegmentName(subject_name).SegmentName;
// loop through segments
for (uint segment_index = 0; segment_index < model.numsegments; segment_index++) {
// get segment name
std::string segment_name = _vicon_client.GetSegmentName(subject_name, segment_index).SegmentName;
vicon::segment_t& segment = findSegment(model.segments, segment_name);
Output_GetSegmentGlobalRotationEulerXYZ A = _vicon_client.GetSegmentGlobalRotationEulerXYZ(model.name, segment.name);
Output_GetSegmentGlobalTranslation T = _vicon_client.GetSegmentGlobalTranslation(model.name, segment.name);
Output_GetSegmentLocalRotationEulerXYZ ba = _vicon_client.GetSegmentLocalRotationEulerXYZ(model.name, segment.name);
Output_GetSegmentLocalTranslation bt = _vicon_client.GetSegmentLocalTranslation(model.name, segment.name);
memcpy(segment.A, A.Rotation, 3*sizeof(double));
memcpy(segment.T, T.Translation, 3*sizeof(double));
memcpy(segment.ba, ba.Rotation, 3*sizeof(double));
memcpy(segment.bt, bt.Translation, 3*sizeof(double));
// check if root segment
if (segment_name == root_segment_name) { //TODO: handle articulated bodies
// get segment translation
// Output_GetSegmentStaticTranslation segment_translation = _vicon_client.GetSegmentStaticTranslation(subject_name, segment_name);
Output_GetSegmentGlobalTranslation segment_translation = _vicon_client.GetSegmentGlobalTranslation(
subject_name, segment_name);
// get segment rotation
//Output_GetSegmentStaticRotationQuaternion segment_rotation = _vicon_client.GetSegmentStaticRotationQuaternion(subject_name, segment_name);
Output_GetSegmentGlobalRotationQuaternion segment_rotation =
_vicon_client.GetSegmentGlobalRotationQuaternion(subject_name, segment_name);
// Output_GetSegmentGlobalRotationEulerXYZ segment_rotation = _vicon_client.GetSegmentGlobalRotationEulerXYZ(subject_name, segment_name);
// populate message with position
for (int i = 0; i < 3; i++)
msg.trans[i] = segment_translation.Translation[i]/1000.0; //vicon data is in mm
msg.quat[0] = segment_rotation.Rotation[3]; //vicon is x,y,z,w
msg.quat[1] = segment_rotation.Rotation[0];
msg.quat[2] = segment_rotation.Rotation[1];
msg.quat[3] = segment_rotation.Rotation[2];
std::string channel = "VICON_" + subject_name;
_lcm.publish(channel.c_str(), &msg);
// break from segment for loop
break;
} // root segment
} // for each segment (model.numsegments)
} // for each subject (system.nummodels)
_lcm.publish("VICON_MARKERS", &system);
}
// disconnect client
dbg("Subject position thread terminated properly, disconnecting client\n");
_vicon_client.Disconnect();
}
