jsk_pcl_ros: interactive_cuboid_likelihood

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00001 // -*- mode: c++ -*-
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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include "jsk_pcl_ros/interactive_cuboid_likelihood.h"
00038 #include "jsk_pcl_ros/pcl_conversion_util.h"
00039 
00040 namespace jsk_pcl_ros
00041 {
00042   void InteractiveCuboidLikelihood::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045     tf_ = TfListenerSingleton::getInstance();
00046     pub_ = pnh_->advertise<std_msgs::Float32>("output", 1);
00047     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00048     pnh_->param("frame_id", frame_id_, std::string("odom"));
00049     pnh_->param("sensor_frame", sensor_frame_, std::string("odom"));
00050     typename dynamic_reconfigure::Server<Config>::CallbackType f =
00051       boost::bind (&InteractiveCuboidLikelihood::configCallback, this, _1, _2);
00052     srv_->setCallback (f);
00053     sub_ = pnh_->subscribe("input", 1, &InteractiveCuboidLikelihood::likelihood, this);
00054     // Cuboid
00055     server_.reset(new interactive_markers::InteractiveMarkerServer(getName()));
00056     visualization_msgs::InteractiveMarker int_marker = particleToInteractiveMarker(particle_);
00057     server_->insert(int_marker, boost::bind(&InteractiveCuboidLikelihood::processFeedback, this, _1));
00058     server_->applyChanges();
00059 
00060     // SupportPlane
00061     plane_server_.reset(new interactive_markers::InteractiveMarkerServer(getName() + "_plane"));
00062     plane_pose_ = Eigen::Affine3f::Identity();
00063     visualization_msgs::InteractiveMarker plane_int_marker = planeInteractiveMarker();
00064     plane_server_->insert(plane_int_marker, boost::bind(&InteractiveCuboidLikelihood::processPlaneFeedback, this, _1));
00065     plane_server_->applyChanges();
00066   }
00067 
00068   void InteractiveCuboidLikelihood::subscribe()
00069   {
00070     
00071   }
00072 
00073   void InteractiveCuboidLikelihood::unsubscribe()
00074   {
00075 
00076   }
00077 
00078   void InteractiveCuboidLikelihood::processFeedback(
00079     const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback)
00080   {
00081     boost::mutex::scoped_lock lock(mutex_);
00082     Eigen::Affine3f pose;
00083     tf::poseMsgToEigen(feedback->pose, pose);
00084     particle_.fromEigen(pose);
00085   }
00086   
00087   void InteractiveCuboidLikelihood::processPlaneFeedback(
00088     const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback)
00089   {
00090     boost::mutex::scoped_lock lock(mutex_);
00091     tf::poseMsgToEigen(feedback->pose, plane_pose_);
00092   }
00093 
00094   void InteractiveCuboidLikelihood::likelihood(
00095     const sensor_msgs::PointCloud2::ConstPtr& msg)
00096   {
00097     boost::mutex::scoped_lock lock(mutex_);
00098     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
00099     pcl::fromROSMsg(*msg, *cloud);
00100     tf::StampedTransform transform
00101       = lookupTransformWithDuration(tf_, sensor_frame_, msg->header.frame_id,
00102                                     ros::Time(0.0),
00103                                     ros::Duration(0.0));
00104     Eigen::Vector3f vp;
00105     tf::vectorTFToEigen(transform.getOrigin(), vp);
00106     Vertices vertices;
00107     vertices.push_back(Eigen::Vector3f(plane_pose_ * (Eigen::Vector3f::UnitX() + Eigen::Vector3f::UnitY())));
00108     vertices.push_back(Eigen::Vector3f(plane_pose_ * (- Eigen::Vector3f::UnitX() + Eigen::Vector3f::UnitY())));
00109     vertices.push_back(Eigen::Vector3f(plane_pose_ * (- Eigen::Vector3f::UnitX() - Eigen::Vector3f::UnitY())));
00110     vertices.push_back(Eigen::Vector3f(plane_pose_ * (Eigen::Vector3f::UnitX() - Eigen::Vector3f::UnitY())));
00111     Polygon::Ptr plane(new Polygon(vertices));
00112     //particle_.plane = plane;
00113     particle_.plane_index = 0;
00114     std::vector<Polygon::Ptr> polygons;
00115     polygons.push_back(plane);
00116     // for (size_t i = 0; i < vertices.size(); i++) {
00117     //   ROS_INFO("v: [%f, %f, %f]", vertices[i][0], vertices[i][1], vertices[i][2]);
00118     // }
00119     pcl::KdTreeFLANN<pcl::PointXYZ> tree;
00120     tree.setInputCloud(cloud);
00121     std::vector<float> polygon_likelihood(1, 1.0);
00122     double l = computeLikelihood(particle_, cloud, tree, vp, polygons, polygon_likelihood, config_);
00123     NODELET_INFO("likelihood: %f", l);
00124     std_msgs::Float32 float_msg;
00125     float_msg.data = l;
00126     pub_.publish(float_msg);
00127   }
00128 
00129   void InteractiveCuboidLikelihood::configCallback(
00130     Config& config, uint32_t level)
00131   {
00132     boost::mutex::scoped_lock lock(mutex_);
00133     config_ = config;
00134     particle_.dx = config_.dx;
00135     particle_.dy = config_.dy;
00136     particle_.dz = config_.dz;
00137     if (server_) {
00138       visualization_msgs::InteractiveMarker int_marker = particleToInteractiveMarker(particle_);
00139       server_->insert(int_marker, boost::bind(&InteractiveCuboidLikelihood::processFeedback, this, _1));
00140       server_->applyChanges();
00141     }
00142   }
00143 
00144   visualization_msgs::InteractiveMarker
00145   InteractiveCuboidLikelihood::planeInteractiveMarker()
00146   {
00147     visualization_msgs::InteractiveMarker int_marker;
00148     int_marker.header.frame_id = frame_id_;
00149     int_marker.header.stamp = ros::Time::now();
00150     int_marker.name = getName() + "_plane";
00151     visualization_msgs::InteractiveMarkerControl control;
00152     control.orientation.w = 1;
00153     control.orientation.x = 1;
00154     control.orientation.y = 0;
00155     control.orientation.z = 0;
00156     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00157     int_marker.controls.push_back(control);
00158     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00159     int_marker.controls.push_back(control);
00160 
00161     control.orientation.w = 1;
00162     control.orientation.x = 0;
00163     control.orientation.y = 1;
00164     control.orientation.z = 0;
00165     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00166     int_marker.controls.push_back(control);
00167     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00168     int_marker.controls.push_back(control);
00169 
00170     control.orientation.w = 1;
00171     control.orientation.x = 0;
00172     control.orientation.y = 0;
00173     control.orientation.z = 1;
00174     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00175     int_marker.controls.push_back(control);
00176     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00177     int_marker.controls.push_back(control);
00178     visualization_msgs::InteractiveMarkerControl box_control;
00179     box_control.always_visible = true;
00180     visualization_msgs::Marker plane_marker;
00181     plane_marker.type = visualization_msgs::Marker::CUBE;
00182     plane_marker.scale.x = 1.0;
00183     plane_marker.scale.y = 1.0;
00184     plane_marker.scale.z = 0.01;
00185     plane_marker.color.r = 1.0;
00186     plane_marker.color.a = 1.0;
00187     plane_marker.pose.orientation.w = 1.0;
00188     box_control.markers.push_back(plane_marker);
00189     int_marker.controls.push_back(box_control);
00190     return int_marker;
00191   }
00192   
00193   visualization_msgs::Marker
00194   InteractiveCuboidLikelihood::particleToMarker(
00195     const Particle& p)
00196   {
00197     visualization_msgs::Marker marker;
00198     marker.type = visualization_msgs::Marker::CUBE;
00199     marker.scale.x = p.dx;
00200     marker.scale.y = p.dy;
00201     marker.scale.z = p.dz;
00202     marker.pose.orientation.w = 1.0;
00203     marker.color.r = 0.5;
00204     marker.color.g = 0.5;
00205     marker.color.b = 0.5;
00206     marker.color.a = 1.0;
00207     return marker;
00208   }
00209   
00210   visualization_msgs::InteractiveMarker InteractiveCuboidLikelihood::particleToInteractiveMarker(const Particle& p)
00211   {
00212     visualization_msgs::InteractiveMarker int_marker;
00213     int_marker.header.frame_id = frame_id_;
00214     int_marker.header.stamp = ros::Time::now();
00215     int_marker.name = getName();
00216     Eigen::Affine3f pose = particle_.toEigenMatrix();
00217     tf::poseEigenToMsg(pose, int_marker.pose);
00218 
00219     visualization_msgs::InteractiveMarkerControl control;
00220     control.orientation.w = 1;
00221     control.orientation.x = 1;
00222     control.orientation.y = 0;
00223     control.orientation.z = 0;
00224     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00225     int_marker.controls.push_back(control);
00226     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00227     int_marker.controls.push_back(control);
00228 
00229     control.orientation.w = 1;
00230     control.orientation.x = 0;
00231     control.orientation.y = 1;
00232     control.orientation.z = 0;
00233     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00234     int_marker.controls.push_back(control);
00235     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00236     int_marker.controls.push_back(control);
00237 
00238     control.orientation.w = 1;
00239     control.orientation.x = 0;
00240     control.orientation.y = 0;
00241     control.orientation.z = 1;
00242     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
00243     int_marker.controls.push_back(control);
00244     control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00245     int_marker.controls.push_back(control);
00246     visualization_msgs::InteractiveMarkerControl box_control;
00247     box_control.always_visible = true;
00248     box_control.markers.push_back(particleToMarker(particle_));
00249     int_marker.controls.push_back(box_control);
00250     return int_marker;
00251   }
00252 
00253   
00254   
00255 }
00256 
00257 #include <pluginlib/class_list_macros.h>
00258 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::InteractiveCuboidLikelihood, nodelet::Nodelet);