IndividualMarkersNoKinect.cpp

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/*
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 Copyright (c) 2012, Scott Niekum
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 author: Scott Niekum
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#include <std_msgs/Bool.h>
#include "ar_track_alvar/CvTestbed.h"
#include "ar_track_alvar/MarkerDetector.h"
#include "ar_track_alvar/Shared.h"
#include <cv_bridge/cv_bridge.h>
#include <ar_track_alvar_msgs/AlvarMarker.h>
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <ar_track_alvar/ParamsConfig.h>

using namespace alvar;
using namespace std;

bool init=true;
Camera *cam;
cv_bridge::CvImagePtr cv_ptr_;
image_transport::Subscriber cam_sub_;
ros::Publisher arMarkerPub_;
ros::Publisher rvizMarkerPub_;
ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_;
visualization_msgs::Marker rvizMarker_;
tf::TransformListener *tf_listener;
tf::TransformBroadcaster *tf_broadcaster;
MarkerDetector<MarkerData> marker_detector;

bool enableSwitched = false;
bool enabled = true;
double max_frequency;
double marker_size;
double max_new_marker_error;
double max_track_error;
std::string cam_image_topic;
std::string cam_info_topic;
std::string output_frame;
int marker_resolution = 5; // default marker resolution
int marker_margin = 2; // default marker margin

void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg);


void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg)
{
    //If we've already gotten the cam info, then go ahead
        if(cam->getCamInfo_){
                try{
                        tf::StampedTransform CamToOutput;
                        try{
                                        tf_listener->waitForTransform(output_frame, image_msg->header.frame_id, image_msg->header.stamp, ros::Duration(1.0));
                                        tf_listener->lookupTransform(output_frame, image_msg->header.frame_id, image_msg->header.stamp, CamToOutput);
                                }
                        catch (tf::TransformException ex){
                                ROS_ERROR("%s",ex.what());
                        }


            //Convert the image
            cv_ptr_ = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8);

            //Get the estimated pose of the main markers by using all the markers in each bundle

            // GetMultiMarkersPoses expects an IplImage*, but as of ros groovy, cv_bridge gives
            // us a cv::Mat. I'm too lazy to change to cv::Mat throughout right now, so I
            // do this conversion here -jbinney
            IplImage ipl_image = cv_ptr_->image;

            marker_detector.Detect(&ipl_image, cam, true, false, max_new_marker_error, max_track_error, CVSEQ, true);
            arPoseMarkers_.markers.clear ();
                        for (size_t i=0; i<marker_detector.markers->size(); i++)
                        {
                                //Get the pose relative to the camera
                        int id = (*(marker_detector.markers))[i].GetId();
                                Pose p = (*(marker_detector.markers))[i].pose;
                                double px = p.translation[0]/100.0;
                                double py = p.translation[1]/100.0;
                                double pz = p.translation[2]/100.0;
                                double qx = p.quaternion[1];
                                double qy = p.quaternion[2];
                                double qz = p.quaternion[3];
                                double qw = p.quaternion[0];

                tf::Quaternion rotation (qx,qy,qz,qw);
                tf::Vector3 origin (px,py,pz);
                tf::Transform t (rotation, origin);
                tf::Vector3 markerOrigin (0, 0, 0);
                tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin);
                tf::Transform markerPose = t * m; // marker pose in the camera frame

                tf::Vector3 z_axis_cam = tf::Transform(rotation, tf::Vector3(0,0,0)) * tf::Vector3(0, 0, 1);
//                ROS_INFO("%02i Z in cam frame: %f %f %f",id, z_axis_cam.x(), z_axis_cam.y(), z_axis_cam.z());
                if (z_axis_cam.z() > 0)
                {
                    continue;
                }

                                //Publish the transform from the camera to the marker
                                std::string markerFrame = "ar_marker_";
                                std::stringstream out;
                                out << id;
                                std::string id_string = out.str();
                                markerFrame += id_string;
                                tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, markerFrame.c_str());
                        tf_broadcaster->sendTransform(camToMarker);

                                //Create the rviz visualization messages
                                tf::poseTFToMsg (markerPose, rvizMarker_.pose);
                                rvizMarker_.header.frame_id = image_msg->header.frame_id;
                                rvizMarker_.header.stamp = image_msg->header.stamp;
                                rvizMarker_.id = id;

                                rvizMarker_.scale.x = 1.0 * marker_size/100.0;
                                rvizMarker_.scale.y = 1.0 * marker_size/100.0;
                                rvizMarker_.scale.z = 0.2 * marker_size/100.0;
                                rvizMarker_.ns = "basic_shapes";
                                rvizMarker_.type = visualization_msgs::Marker::CUBE;
                                rvizMarker_.action = visualization_msgs::Marker::ADD;
                                switch (id)
                                {
                                  case 0:
                                    rvizMarker_.color.r = 0.0f;
                                    rvizMarker_.color.g = 0.0f;
                                    rvizMarker_.color.b = 1.0f;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                  case 1:
                                    rvizMarker_.color.r = 1.0f;
                                    rvizMarker_.color.g = 0.0f;
                                    rvizMarker_.color.b = 0.0f;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                  case 2:
                                    rvizMarker_.color.r = 0.0f;
                                    rvizMarker_.color.g = 1.0f;
                                    rvizMarker_.color.b = 0.0f;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                  case 3:
                                    rvizMarker_.color.r = 0.0f;
                                    rvizMarker_.color.g = 0.5f;
                                    rvizMarker_.color.b = 0.5f;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                  case 4:
                                    rvizMarker_.color.r = 0.5f;
                                    rvizMarker_.color.g = 0.5f;
                                    rvizMarker_.color.b = 0.0;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                  default:
                                    rvizMarker_.color.r = 0.5f;
                                    rvizMarker_.color.g = 0.0f;
                                    rvizMarker_.color.b = 0.5f;
                                    rvizMarker_.color.a = 1.0;
                                    break;
                                }
                                rvizMarker_.lifetime = ros::Duration (1.0);
                                rvizMarkerPub_.publish (rvizMarker_);

                                //Get the pose of the tag in the camera frame, then the output frame (usually torso)
                                tf::Transform tagPoseOutput = CamToOutput * markerPose;

                                //Create the pose marker messages
                                ar_track_alvar_msgs::AlvarMarker ar_pose_marker;
                                tf::poseTFToMsg (tagPoseOutput, ar_pose_marker.pose.pose);
                        ar_pose_marker.header.frame_id = output_frame;
                            ar_pose_marker.header.stamp = image_msg->header.stamp;
                            ar_pose_marker.id = id;
                            arPoseMarkers_.markers.push_back (ar_pose_marker);
                        }
                        arMarkerPub_.publish (arPoseMarkers_);
                }
        catch (cv_bridge::Exception& e){
                ROS_ERROR ("Could not convert from '%s' to 'rgb8'.", image_msg->encoding.c_str ());
        }
        }
}

void configCallback(ar_track_alvar::ParamsConfig &config, uint32_t level)
{
  ROS_INFO("AR tracker reconfigured: %s %.2f %.2f %.2f %.2f", config.enabled ? "ENABLED" : "DISABLED",
           config.max_frequency, config.marker_size, config.max_new_marker_error, config.max_track_error);

  enableSwitched = enabled != config.enabled;

  enabled = config.enabled;
  max_frequency = config.max_frequency;
  marker_size = config.marker_size;
  max_new_marker_error = config.max_new_marker_error;
  max_track_error = config.max_track_error;
}

void enableCallback(const std_msgs::BoolConstPtr& msg)
{
    enableSwitched = enabled != msg->data;
    enabled = msg->data;
}

int main(int argc, char *argv[])
{
        ros::init (argc, argv, "marker_detect");
        ros::NodeHandle n, pn("~");

  if(argc > 1) {
    ROS_WARN("Command line arguments are deprecated. Consider using ROS parameters and remappings.");

    if(argc < 7){
      std::cout << std::endl;
      cout << "Not enough arguments provided." << endl;
      cout << "Usage: ./individualMarkersNoKinect <marker size in cm> <max new marker error> <max track error> "
           << "<cam image topic> <cam info topic> <output frame> [ <max frequency> <marker_resolution> <marker_margin>]";
      std::cout << std::endl;
      return 0;
    }

    // Get params from command line
    marker_size = atof(argv[1]);
    max_new_marker_error = atof(argv[2]);
    max_track_error = atof(argv[3]);
    cam_image_topic = argv[4];
    cam_info_topic = argv[5];
    output_frame = argv[6];

    if (argc > 7) {
      max_frequency = atof(argv[7]);
      pn.setParam("max_frequency", max_frequency);
    }
    if (argc > 8)
      marker_resolution = atoi(argv[8]);
    if (argc > 9)
      marker_margin = atoi(argv[9]);

  } else {
    // Get params from ros param server.
    pn.param("marker_size", marker_size, 10.0);
    pn.param("max_new_marker_error", max_new_marker_error, 0.08);
    pn.param("max_track_error", max_track_error, 0.2);
    pn.param("max_frequency", max_frequency, 8.0);
    pn.setParam("max_frequency", max_frequency);  // in case it was not set.
    pn.param("marker_resolution", marker_resolution, 5);
    pn.param("marker_margin", marker_margin, 2);
    if (!pn.getParam("output_frame", output_frame)) {
      ROS_ERROR("Param 'output_frame' has to be set.");
      exit(EXIT_FAILURE);
    }

    // Camera input topics. Use remapping to map to your camera topics.
    cam_image_topic = "camera_image";
    cam_info_topic = "camera_info";
  }

  // Set dynamically configurable parameters so they don't get replaced by default values
  pn.setParam("marker_size", marker_size);
  pn.setParam("max_new_marker_error", max_new_marker_error);
  pn.setParam("max_track_error", max_track_error);

        marker_detector.SetMarkerSize(marker_size, marker_resolution, marker_margin);

        cam = new Camera(n, cam_info_topic);
        tf_listener = new tf::TransformListener(n);
        tf_broadcaster = new tf::TransformBroadcaster();
        arMarkerPub_ = n.advertise < ar_track_alvar_msgs::AlvarMarkers > ("ar_pose_marker", 0);
        rvizMarkerPub_ = n.advertise < visualization_msgs::Marker > ("visualization_marker", 0);

  // Prepare dynamic reconfiguration
  dynamic_reconfigure::Server < ar_track_alvar::ParamsConfig > server;
  dynamic_reconfigure::Server<ar_track_alvar::ParamsConfig>::CallbackType f;

  f = boost::bind(&configCallback, _1, _2);
  server.setCallback(f);

        //Give tf a chance to catch up before the camera callback starts asking for transforms
  // It will also reconfigure parameters for the first time, setting the default values
        ros::Duration(1.0).sleep();
        ros::spinOnce();

        image_transport::ImageTransport it_(n);

  // Run at the configured rate, discarding pointcloud msgs if necessary
  ros::Rate rate(max_frequency);

  ros::Subscriber enable_sub_ = pn.subscribe("enable_detection", 1, &enableCallback);

  enableSwitched = true;
  while (ros::ok())
  {
    ros::spinOnce();
    rate.sleep();

    if (std::abs((rate.expectedCycleTime() - ros::Duration(1.0 / max_frequency)).toSec()) > 0.001)
    {
      // Change rate dynamically; if must be above 0, as 0 will provoke a segfault on next spinOnce
      ROS_DEBUG("Changing frequency from %.2f to %.2f", 1.0 / rate.expectedCycleTime().toSec(), max_frequency);
      rate = ros::Rate(max_frequency);
    }

    if (enableSwitched)
    {
      // Enable/disable switch: subscribe/unsubscribe to make use of pointcloud processing nodelet
      // lazy publishing policy; in CPU-scarce computer as TurtleBot's laptop this is a huge saving
        if (enabled)
            cam_sub_ = it_.subscribe(cam_image_topic, 1, &getCapCallback);
        else
            cam_sub_.shutdown();
        enableSwitched = false;
    }
  }

    return 0;
}