FindObjectROS.cpp

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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      names of its contributors may be used to endorse or promote products
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#include "FindObjectROS.h"

#include <std_msgs/Float32MultiArray.h>
#include "find_object_2d/ObjectsStamped.h"

#include <cmath>

using namespace find_object;

FindObjectROS::FindObjectROS(QObject * parent) :
        FindObject(true, parent),
        objFramePrefix_("object")
{
        ros::NodeHandle pnh("~"); // public
        pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
        ROS_INFO("object_prefix = %s", objFramePrefix_.c_str());

        ros::NodeHandle nh; // public

        pub_ = nh.advertise<std_msgs::Float32MultiArray>("objects", 1);
        pubStamped_ = nh.advertise<find_object_2d::ObjectsStamped>("objectsStamped", 1);

        this->connect(this, SIGNAL(objectsFound(find_object::DetectionInfo)), this, SLOT(publish(find_object::DetectionInfo)));
}

void FindObjectROS::publish(const find_object::DetectionInfo & info)
{
        // send tf before the message
        if(info.objDetected_.size() && !depth_.empty() && depthConstant_ != 0.0f)
        {
                std::vector<tf::StampedTransform> transforms;
                QMultiMap<int, QSize>::const_iterator iterSizes=info.objDetectedSizes_.constBegin();
                for(QMultiMap<int, QTransform>::const_iterator iter=info.objDetected_.constBegin();
                        iter!=info.objDetected_.constEnd();
                        ++iter, ++iterSizes)
                {
                        // get data
                        int id = iter.key();
                        float objectWidth = iterSizes->width();
                        float objectHeight = iterSizes->height();

                        // Find center of the object
                        QPointF center = iter->map(QPointF(objectWidth/2, objectHeight/2));
                        QPointF xAxis = iter->map(QPointF(3*objectWidth/4, objectHeight/2));
                        QPointF yAxis = iter->map(QPointF(objectWidth/2, 3*objectHeight/4));

                        cv::Vec3f center3D = this->getDepth(depth_,
                                        center.x()+0.5f, center.y()+0.5f,
                                        float(depth_.cols/2)-0.5f, float(depth_.rows/2)-0.5f,
                                        1.0f/depthConstant_, 1.0f/depthConstant_);

                        cv::Vec3f axisEndX = this->getDepth(depth_,
                                        xAxis.x()+0.5f, xAxis.y()+0.5f,
                                        float(depth_.cols/2)-0.5f, float(depth_.rows/2)-0.5f,
                                        1.0f/depthConstant_, 1.0f/depthConstant_);

                        cv::Vec3f axisEndY = this->getDepth(depth_,
                                        yAxis.x()+0.5f, yAxis.y()+0.5f,
                                        float(depth_.cols/2)-0.5f, float(depth_.rows/2)-0.5f,
                                        1.0f/depthConstant_, 1.0f/depthConstant_);

                        if(std::isfinite(center3D.val[0]) && std::isfinite(center3D.val[1]) && std::isfinite(center3D.val[2]) &&
                                std::isfinite(axisEndX.val[0]) && std::isfinite(axisEndX.val[1]) && std::isfinite(axisEndX.val[2]) &&
                                std::isfinite(axisEndY.val[0]) && std::isfinite(axisEndY.val[1]) && std::isfinite(axisEndY.val[2]))
                        {
                                tf::StampedTransform transform;
                                transform.setIdentity();
                                transform.child_frame_id_ = QString("%1_%2").arg(objFramePrefix_.c_str()).arg(id).toStdString();
                                transform.frame_id_ = frameId_;
                                transform.stamp_ = stamp_;
                                transform.setOrigin(tf::Vector3(center3D.val[0], center3D.val[1], center3D.val[2]));

                                //set rotation (y inverted)
                                tf::Vector3 xAxis(axisEndX.val[0] - center3D.val[0], axisEndX.val[1] - center3D.val[1], axisEndX.val[2] - center3D.val[2]);
                                xAxis.normalize();
                                tf::Vector3 yAxis(axisEndY.val[0] - center3D.val[0], axisEndY.val[1] - center3D.val[1], axisEndY.val[2] - center3D.val[2]);
                                yAxis.normalize();
                                tf::Vector3 zAxis = xAxis*yAxis;
                                tf::Matrix3x3 rotationMatrix(
                                                        xAxis.x(), yAxis.x() ,zAxis.x(),
                                                        xAxis.y(), yAxis.y(), zAxis.y(),
                                                        xAxis.z(), yAxis.z(), zAxis.z());
                                tf::Quaternion q;
                                rotationMatrix.getRotation(q);
                                // set x axis going front of the object, with z up and z left
                                q *= tf::createQuaternionFromRPY(CV_PI/2.0, CV_PI/2.0, 0);
                                transform.setRotation(q.normalized());

                                transforms.push_back(transform);
                        }
                        else
                        {
                                ROS_WARN("Object %d detected, center 2D at (%f,%f), but invalid depth, cannot set frame \"%s\"! "
                                                 "(maybe object is too near of the camera or bad depth image)\n",
                                                id,
                                                center.x(), center.y(),
                                                QString("%1_%2").arg(objFramePrefix_.c_str()).arg(id).toStdString().c_str());
                        }
                }
                if(transforms.size())
                {
                        tfBroadcaster_.sendTransform(transforms);
                }
        }

        if(pub_.getNumSubscribers() || pubStamped_.getNumSubscribers())
        {
                std_msgs::Float32MultiArray msg;
                find_object_2d::ObjectsStamped msgStamped;
                msg.data = std::vector<float>(info.objDetected_.size()*12);
                msgStamped.objects.data = std::vector<float>(info.objDetected_.size()*12);
                int i=0;
                QMultiMap<int, QSize>::const_iterator iterSizes=info.objDetectedSizes_.constBegin();
                for(QMultiMap<int, QTransform>::const_iterator iter=info.objDetected_.constBegin();
                        iter!=info.objDetected_.constEnd();
                        ++iter, ++iterSizes)
                {
                        msg.data[i] = msgStamped.objects.data[i] = iter.key(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iterSizes->width(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iterSizes->height(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m11(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m12(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m13(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m21(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m22(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m23(); ++i;
                        msg.data[i] = msgStamped.objects.data[i] = iter->m31(); ++i;// dx
                        msg.data[i] = msgStamped.objects.data[i] = iter->m32(); ++i;// dy
                        msg.data[i] = msgStamped.objects.data[i] = iter->m33(); ++i;
                }
                if(pub_.getNumSubscribers())
                {
                        pub_.publish(msg);
                }
                if(pubStamped_.getNumSubscribers())
                {
                        // use same header as the input image (for synchronization and frame reference)
                        msgStamped.header.frame_id = frameId_;
                        msgStamped.header.stamp = stamp_;
                        pubStamped_.publish(msgStamped);
                }
        }
}

void FindObjectROS::setDepthData(const std::string & frameId,
                const ros::Time & stamp,
                const cv::Mat & depth,
                float depthConstant)
{
        frameId_ = frameId;
        stamp_ = stamp;
        depth_ = depth;
        depthConstant_ = depthConstant;
}

cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
                                   int x, int y,
                                   float cx, float cy,
                                   float fx, float fy)
{
        if(!(x >=0 && x<depthImage.cols && y >=0 && y<depthImage.rows))
        {
                ROS_ERROR("Point must be inside the image (x=%d, y=%d), image size=(%d,%d)",
                                x, y,
                                depthImage.cols, depthImage.rows);
                return cv::Vec3f(
                                std::numeric_limits<float>::quiet_NaN (),
                                std::numeric_limits<float>::quiet_NaN (),
                                std::numeric_limits<float>::quiet_NaN ());
        }


        cv::Vec3f pt;

        // Use correct principal point from calibration
        float center_x = cx; //cameraInfo.K.at(2)
        float center_y = cy; //cameraInfo.K.at(5)

        bool isInMM = depthImage.type() == CV_16UC1; // is in mm?

        // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
        float unit_scaling = isInMM?0.001f:1.0f;
        float constant_x = unit_scaling / fx; //cameraInfo.K.at(0)
        float constant_y = unit_scaling / fy; //cameraInfo.K.at(4)
        float bad_point = std::numeric_limits<float>::quiet_NaN ();

        float depth;
        bool isValid;
        if(isInMM)
        {
                depth = (float)depthImage.at<uint16_t>(y,x);
                isValid = depth != 0.0f;
        }
        else
        {
                depth = depthImage.at<float>(y,x);
                isValid = std::isfinite(depth);
        }

        // Check for invalid measurements
        if (!isValid)
        {
                pt.val[0] = pt.val[1] = pt.val[2] = bad_point;
        }
        else
        {
                // Fill in XYZ
                pt.val[0] = (float(x) - center_x) * depth * constant_x;
                pt.val[1] = (float(y) - center_y) * depth * constant_y;
                pt.val[2] = depth*unit_scaling;
        }
        return pt;
}