iri_people_tracking_alg_node.cpp

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#include "iri_people_tracking_alg_node.h"

IriPeopleTrackingAlgNode::IriPeopleTrackingAlgNode(void) :
  people_tracking_aserver_(public_node_handle_, "people_tracking")
{
  //init class attributes if necessary
  this->loop_rate_ = 30;//in [Hz]
    
//   markerSize = 1.2;
//   markerR    = 0.0;
//   markerG    = 0.0;
//   markerB    = 0.0;

  // [init publishers]
  this->peopleSet_publisher_ = this->public_node_handle_.advertise<iri_perception_msgs::peopleTrackingArray>("peopleSet", 100);
  this->particleSet_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("particleSet", 100);
  
  // [init subscribers]
  people_detection_subscriber_ = public_node_handle_.subscribe("people_detection", 100, &IriPeopleTrackingAlgNode::people_detection_callback, this);
  platformOdometry_subscriber_ = public_node_handle_.subscribe("odom", 100, &IriPeopleTrackingAlgNode::platformOdometry_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  people_tracking_aserver_.registerStartCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingStartCallback, this, _1)); 
  people_tracking_aserver_.registerStopCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingStopCallback, this)); 
  people_tracking_aserver_.registerIsFinishedCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingIsFinishedCallback, this)); 
  people_tracking_aserver_.registerHasSucceedCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingHasSucceedCallback, this)); 
  people_tracking_aserver_.registerGetResultCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingGetResultCallback, this, _1)); 
  people_tracking_aserver_.registerGetFeedbackCallback(boost::bind(&IriPeopleTrackingAlgNode::people_trackingGetFeedbackCallback, this, _1)); 
  people_tracking_aserver_.start();
  
  // [init action clients]
}

IriPeopleTrackingAlgNode::~IriPeopleTrackingAlgNode(void)
{
  // [free dynamic memory]
}

void IriPeopleTrackingAlgNode::fillTopicMsgs(std::list<CpeopleTrackingObservation> & peopleList)
{
  alg_.lock();
    this->peopleTrackingArray_msg_.peopleSet.clear();
    this->peopleTrackingArray_msg_.peopleSet.resize(peopleList.size());
    this->MarkerArray_msg_.markers.clear();
    static unsigned int lastSize=0;
    this->MarkerArray_msg_.markers.resize(std::max(uint(peopleList.size()), lastSize));
    lastSize = peopleList.size();

    // update header
    peopleTrackingArray_msg_.header.seq++;
    people_detection_mutex_.enter();
      peopleTrackingArray_msg_.header.frame_id = people_detector_frame_id_;
      peopleTrackingArray_msg_.header.stamp    = people_detector_stamp_;
    people_detection_mutex_.exit();

    unsigned int ii = 0;
    for (std::list<CpeopleTrackingObservation>::iterator iiP=peopleList.begin();
         iiP!=peopleList.end(); iiP++,ii++)
    {
      //peopleTrackingArray_msg_
      this->peopleTrackingArray_msg_.peopleSet[ii].targetId = iiP->id;
      this->peopleTrackingArray_msg_.peopleSet[ii].x = iiP->point.getX();
      this->peopleTrackingArray_msg_.peopleSet[ii].y = iiP->point.getY();
      this->peopleTrackingArray_msg_.peopleSet[ii].vx = iiP->velocities.getX();
      this->peopleTrackingArray_msg_.peopleSet[ii].vy = iiP->velocities.getY();
      this->peopleTrackingArray_msg_.peopleSet[ii].covariances[0] = iiP->point.getCxx();
      this->peopleTrackingArray_msg_.peopleSet[ii].covariances[1] = iiP->point.getCxy();
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[2] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[3] = 0.0;
      this->peopleTrackingArray_msg_.peopleSet[ii].covariances[4] = iiP->point.getCxy();
      this->peopleTrackingArray_msg_.peopleSet[ii].covariances[5] = iiP->point.getCyy();
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[6] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[7] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[8] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[9] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[10] = 0.0; //iiP->cvx;//to do 
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[11] = 0.0; //iiP->cvxy;//to do 
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[12] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[13] = 0.0;
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[14] = 0.0; //iiP->cvxy;//to do
//       this->peopleTrackingArray_msg_.peopleSet[ii].covariances[15] = 0.0; //iiP->cvy;//to do
      
      //MarkerArray_msg_
      this->MarkerArray_msg_.markers[ii].header = this->peopleTrackingArray_msg_.header;
      this->MarkerArray_msg_.markers[ii].id = iiP->id;
   //   this->MarkerArray_msg_.markers[ii].type = visualization_msgs::Marker::ARROW;          // draw arrow 
      this->MarkerArray_msg_.markers[ii].type = visualization_msgs::Marker::TEXT_VIEW_FACING; // write text
      this->MarkerArray_msg_.markers[ii].action = visualization_msgs::Marker::ADD;

      this->MarkerArray_msg_.markers[ii].pose.position.x = iiP->point.getX();
      this->MarkerArray_msg_.markers[ii].pose.position.y = iiP->point.getY();
      this->MarkerArray_msg_.markers[ii].pose.position.z = 0.2;

      //headingAngle = atan2(iiP->velocities.getY(), iiP->velocities.getX());
      double headingAngle = iiP->heading;
      geometry_msgs::Quaternion headingQuaternion = tf::createQuaternionMsgFromYaw(headingAngle);
      this->MarkerArray_msg_.markers[ii].pose.orientation.x = headingQuaternion.x;
      this->MarkerArray_msg_.markers[ii].pose.orientation.y = headingQuaternion.y;
      this->MarkerArray_msg_.markers[ii].pose.orientation.z = headingQuaternion.z;
      this->MarkerArray_msg_.markers[ii].pose.orientation.w = headingQuaternion.w;

      //matker size, color and duration
      //double markerSize = 1.2;//0.9;
      this->MarkerArray_msg_.markers[ii].scale.x = markerSize/2.0;//0.6;
      this->MarkerArray_msg_.markers[ii].scale.y = markerSize*3.0;//0.6;
      this->MarkerArray_msg_.markers[ii].scale.z = markerSize/2.0;//0.6;
      this->MarkerArray_msg_.markers[ii].color.a = 1.0;
      this->MarkerArray_msg_.markers[ii].color.r = 0.02*iiP->id*markerR - int(0.02*iiP->id*markerR) ;//0;
      this->MarkerArray_msg_.markers[ii].color.g = 0.04*iiP->id*markerG - int(0.04*iiP->id*markerG) ;//1.0;
      this->MarkerArray_msg_.markers[ii].color.b = 0.06*iiP->id*markerB - int(0.06*iiP->id*markerB) ;//1.0;
      this->MarkerArray_msg_.markers[ii].lifetime = ros::Duration(1.0f);//0.1f;

      // write marker text
      std::stringstream idtracker;
      idtracker << iiP->id ;
      this->MarkerArray_msg_.markers[ii].text = idtracker.str();    

  //     ii++;
    }

    //Delete extra previous markers;
    for(unsigned int i=peopleList.size(); i<this->MarkerArray_msg_.markers.size(); i++)
    {
      this->MarkerArray_msg_.markers[i].header = this->peopleTrackingArray_msg_.header;
      this->MarkerArray_msg_.markers[i].action = visualization_msgs::Marker::DELETE;
    }
  alg_.unlock();
}

void IriPeopleTrackingAlgNode::mainNodeThread(void)
{
  people_detection_mutex_.enter();
    //single iteration of the tracker
    std::cout << "Detection Set:"; tracker.printDetectionSet();

    //prior
    platformOdometry_mutex_.enter(); 
      tracker.propagateFilters(odometry);
    platformOdometry_mutex_.exit(); 
  
    tracker.propagateFilters();
    //std::cout << "Prior peopleSet: "; tracker.printPeopleSet();

    //posterior
    tracker.negotiateNewFilters();
    tracker.correctFilters();
    std::cout << "Posterior People Set: "; tracker.printPeopleSet();
    tracker.negotiateDeleteFilters();

    //get results & resampling
    std::list<CpeopleTrackingObservation> peopleList;
    tracker.getTrackingResult(peopleList);
    tracker.resampleFilters();
    std::cout << "*********************************" << std::endl;
  people_detection_mutex_.exit();
    
  // [fill msg structures]
  fillTopicMsgs(peopleList);

  // [fill srv structure and make request to the server]

  // [fill action structure and make request to the action server]

  // [publish messages]
  peopleSet_publisher_.publish(peopleTrackingArray_msg_);
  particleSet_publisher_.publish(MarkerArray_msg_);
}

/*  [subscriber callbacks] */
void IriPeopleTrackingAlgNode::people_detection_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg) 
{ 
  //ROS_INFO("IriPeopleTrackingAlgNode::people_detection_callback: New Message Received"); 

  people_detection_mutex_.enter();
    //deletes previous detections
    tracker.resetDetectionSet();

    people_detector_frame_id_ = msg->header.frame_id;
    people_detector_stamp_    = msg->header.stamp;

    //sets current (received) detections
    for (unsigned int ii=0; ii<msg->detection.size(); ii++)
    {
      CpeopleDetectionObservation newDetection;
      newDetection.point.setXY(msg->detection[ii].position.x, msg->detection[ii].position.y);
      newDetection.point.setCov(DEFAULT_DET_COV_XY,DEFAULT_DET_COV_XY,0.0);
      tracker.addDetection(newDetection);
    }

    //ROS_WARN("from msg->detection.size=%d", (int)msg->detection.size());
  people_detection_mutex_.exit();
}

void IriPeopleTrackingAlgNode::platformOdometry_callback(const nav_msgs::Odometry::ConstPtr& msg) 
{ 
        double vx,vy,vz,vTrans;
        double tLast, dT;
        
        //ROS_INFO("::platformOdometry_callback: New Message Received"); 

        //use appropiate mutex to shared variables if necessary 
        //this->driver_.lock(); 
        this->platformOdometry_mutex_.enter(); 
        
        //std::cout << msg->data << std::endl; 
        tLast = odometry.getTimeStamp();
        odometry.setTimeStamp();
        dT = odometry.getTimeStamp() - tLast;
        vx = msg->twist.twist.linear.x; 
        vy = msg->twist.twist.linear.y;
        vz = msg->twist.twist.linear.z;
        vTrans = sqrt(vx*vx+vy*vy+vz*vz);  //odometry observation considers only forward velocity
        odometry.acumulateToDeltas( dT*vTrans , dT*msg->twist.twist.angular.z ); //accumulates translational / rotational (only heading) displacement

        //unlock previously blocked shared variables 
        //this->driver_.unlock(); 
        this->platformOdometry_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */
void IriPeopleTrackingAlgNode::people_trackingStartCallback(const iri_perception_msgs::peopleTrackGoalConstPtr& goal)
{ 
  alg_.lock(); 
    //check goal 
    //execute goal 
  alg_.unlock(); 
} 

void IriPeopleTrackingAlgNode::people_trackingStopCallback(void) 
{ 
  alg_.lock(); 
    //stop action 
  alg_.unlock(); 
} 

bool IriPeopleTrackingAlgNode::people_trackingIsFinishedCallback(void) 
{ 
  bool ret = false; 

  alg_.lock(); 
    if(peopleTrackingArray_msg_.header.stamp != ros::Time(0))
    {
      ret = true;
    }
  alg_.unlock(); 

  return ret; 
} 

bool IriPeopleTrackingAlgNode::people_trackingHasSucceedCallback(void) 
{ 
  bool ret = true; 

  alg_.lock(); 
    //if goal was accomplished 
    //ret = true 
  alg_.unlock(); 

  return ret; 
} 

void IriPeopleTrackingAlgNode::people_trackingGetResultCallback(iri_perception_msgs::peopleTrackResultPtr& result) 
{ 
  alg_.lock(); 
    //update result data to be sent to client 
    result->ps.header    = peopleTrackingArray_msg_.header;
    result->ps.peopleSet.resize(peopleTrackingArray_msg_.peopleSet.size());
    for(unsigned int ii=0; ii<peopleTrackingArray_msg_.peopleSet.size(); ii++)
    {
      result->ps.peopleSet[ii].targetId    = peopleTrackingArray_msg_.peopleSet[ii].targetId;
      result->ps.peopleSet[ii].x           = peopleTrackingArray_msg_.peopleSet[ii].x;
      result->ps.peopleSet[ii].y           = peopleTrackingArray_msg_.peopleSet[ii].y;
      result->ps.peopleSet[ii].vx          = peopleTrackingArray_msg_.peopleSet[ii].vx;
      result->ps.peopleSet[ii].vy          = peopleTrackingArray_msg_.peopleSet[ii].vy;
      result->ps.peopleSet[ii].covariances = peopleTrackingArray_msg_.peopleSet[ii].covariances;
    }
  alg_.unlock(); 
} 

void IriPeopleTrackingAlgNode::people_trackingGetFeedbackCallback(iri_perception_msgs::peopleTrackFeedbackPtr& feedback) 
{ 
  alg_.lock(); 
    //keep track of feedback 
    //ROS_INFO("feedback: %s", feedback->data.c_str()); 
  alg_.unlock(); 
}

/*  [action requests] */

void IriPeopleTrackingAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();
  
  markerSize = config.markerSize;
  markerR    = config.markerR;
  markerG    = config.markerG;
  markerB    = config.markerB;
  
  this->alg_.config_   = config;

  this->alg_.unlock();
}

void IriPeopleTrackingAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<IriPeopleTrackingAlgNode>(argc, argv, "iri_people_tracking_alg_node");
}