visp_camera_calibration: visp_camera_calibration: camera.cpp Source File

00001 /****************************************************************************
00002  *
00003  * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
00004  *
00005  * This file is part of the ViSP software.
00006  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
00007  * 
00008  * This software is free software; you can redistribute it and/or
00009  * modify it under the terms of the GNU General Public License
00010  * ("GPL") version 2 as published by the Free Software Foundation.
00011  * See the file LICENSE.txt at the root directory of this source
00012  * distribution for additional information about the GNU GPL.
00013  *
00014  * For using ViSP with software that can not be combined with the GNU
00015  * GPL, please contact INRIA about acquiring a ViSP Professional 
00016  * Edition License.
00017  *
00018  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
00019  * 
00020  * This software was developed at:
00021  * INRIA Rennes - Bretagne Atlantique
00022  * Campus Universitaire de Beaulieu
00023  * 35042 Rennes Cedex
00024  * France
00025  * http://www.irisa.fr/lagadic
00026  *
00027  * If you have questions regarding the use of this file, please contact
00028  * INRIA at visp@inria.fr
00029  * 
00030  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
00031  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
00032  *
00033  * Contact visp@irisa.fr if any conditions of this licensing are
00034  * not clear to you.
00035  *
00036  * Description:
00037  * 
00038  *
00039  * Authors:
00040  * Filip Novotny
00041  * 
00042  *
00043  *****************************************************************************/
00044 
00051 #include "camera.h"
00052 #include "names.h"
00053 #include <sstream>
00054 #include "conversions/image.h"
00055 #include "visp_camera_calibration/calibrate.h"
00056 #include "visp/vpImage.h"
00057 #include "visp/vpDot2.h"
00058 #include "visp/vpCalibration.h"
00059 #include "camera_calibration_parsers/parse.h"
00060 #include "camera_calibration_parsers/parse_ini.h"
00061 
00062 
00063 #include <visp/vpDisplayX.h>
00064 #include "visp/vpTrackingException.h"
00065 
00066 
00067 namespace visp_camera_calibration
00068 {
00069 Camera::Camera() :
00070             spinner(0),
00071             queue_size_(1000),
00072             nb_points_(4),
00073             img_(480,640,255)
00074 
00075 {
00076   std::string images_path;
00077 
00078   //prepare function objects
00079   set_camera_info_service_callback_t set_camera_info_callback = boost::bind(&Camera::setCameraInfoCallback, this, _1,_2);
00080 
00081   //define services
00082   set_camera_info_service_ = n_.advertiseService(visp_camera_calibration::set_camera_info_service,set_camera_info_callback);
00083 
00084   raw_image_publisher_ = n_.advertise<sensor_msgs::Image>(visp_camera_calibration::raw_image_topic, queue_size_);
00085 
00086   calibrate_service_ = n_.serviceClient<visp_camera_calibration::calibrate> (visp_camera_calibration::calibrate_service);
00087 
00088   ros::param::getCached(visp_camera_calibration::images_path_param,images_path);
00089 
00090   ROS_INFO_STREAM("str=" << images_path);
00091   vpDisplay* disp = new vpDisplayX();
00092   disp->init(img_);
00093   disp->setTitle("camera");
00094 
00095   vpDisplay::display(img_);
00096   vpDisplay::displayCharString(img_,img_.getHeight()/2,img_.getWidth()/4,"Click to publish camera feed.",vpColor::red);
00097   vpDisplay::flush(img_);
00098 
00099 
00100   reader_.setFileName(images_path.c_str());
00101   reader_.setFirstFrameIndex(1);
00102   reader_.open(img_);
00103 
00104 
00105   spinner.start();
00106 
00107 
00108 }
00109 
00110 void Camera::sendVideo(){
00111   double gray_level_precision;
00112   double size_precision;
00113 
00114   ros::param::getCached(visp_camera_calibration::gray_level_precision_param,gray_level_precision);
00115   ros::param::getCached(visp_camera_calibration::size_precision_param,size_precision);
00116   ROS_INFO("Click to start sending image data");
00117   while(ros::ok() && !vpDisplay::getClick(img_,false));
00118 
00119   for(unsigned int i=0;i<(unsigned int)reader_.getLastFrameIndex() && ros::ok();i++){
00120     reader_.acquire(img_);
00121     sensor_msgs::Image image;
00122 
00123     image = visp_bridge::toSensorMsgsImage(img_);
00124 
00125     vpDisplay::display(img_);
00126 
00127     vpDisplay::displayCharString(img_,img_.getHeight()/2,img_.getWidth()/4,boost::str(boost::format("publishing frame %1% on %2%") % (i+1) % raw_image_publisher_.getTopic()).c_str(),vpColor::red);
00128     vpDisplay::flush(img_);
00129 
00130     raw_image_publisher_.publish(image);
00131 
00132     ROS_INFO("Sending image %d/%d",i+1,(int)reader_.getLastFrameIndex());
00133     //vpDisplay::getClick(img_);
00134   }
00135 
00136   ROS_INFO("When finished selecting points, click on the camera window for calibration");
00137   vpDisplay::displayCharString(img_,img_.getHeight()/2+30,img_.getWidth()/4,"When finished selecting points, click here for calibration",vpColor::red);
00138   vpDisplay::flush(img_);
00139   while(ros::ok() && !vpDisplay::getClick(img_,false));
00140   visp_camera_calibration::calibrate calibrate_comm;
00141   calibrate_comm.request.method = vpCalibration::CALIB_VIRTUAL_VS_DIST;
00142   calibrate_comm.request.sample_width= img_.getWidth();
00143   calibrate_comm.request.sample_height = img_.getHeight();
00144   if (calibrate_service_.call(calibrate_comm)){
00145       ROS_INFO("service called successfully");
00146 
00147       ROS_INFO("standard deviation with distorsion:");
00148       for(std::vector<double>::iterator i = calibrate_comm.response.stdDevErrs.begin();i!=calibrate_comm.response.stdDevErrs.end();i++)
00149         ROS_INFO("%f",*i);
00150   }else{
00151     ROS_ERROR("Failed to call service");
00152   }
00153 }
00154 
00155 bool Camera::setCameraInfoCallback(sensor_msgs::SetCameraInfo::Request  &req,
00156                              sensor_msgs::SetCameraInfo::Response &res){
00157   std::string calib_info;
00158   std::stringstream ss(calib_info);
00159 
00160   //std::ostream os;
00161   ROS_INFO("setting camera info");
00162   camera_calibration_parsers::writeCalibrationIni(ss,visp_camera_calibration::raw_image_topic,req.camera_info);
00163   ROS_INFO("%s",ss.str().c_str());
00164   camera_calibration_parsers::writeCalibration("calibration.ini",visp_camera_calibration::raw_image_topic,req.camera_info);
00165 
00166 
00167   ROS_INFO("end of setting camera info");
00168   return true;
00169 }
00170 
00171 Camera::~Camera()
00172 {
00173   // TODO Auto-generated destructor stub
00174 }
00175 }