leap_camera.cpp

Go to the documentation of this file.

#include <iostream>
#include <string.h>
#include "Leap.h"
#include "ros/ros.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/CameraInfo.h"
#include "camera_info_manager/camera_info_manager.h"
#include "rospack/rospack.h"

#include <boost/shared_ptr.hpp>
#include <sstream>

/* ##################################################
    Deprecated and will be removed in the future  
################################################## */

#define targetWidth 500
#define targetHeight 500
#define cutWidth 280
#define cutHeight 220
#define startX 110
#define startY 140

using namespace Leap;
using namespace std;



class CameraListener : public Listener {
  public:
  //ros::NodeHandle _node;
  boost::shared_ptr <ros::NodeHandle> _left_node;
  boost::shared_ptr <ros::NodeHandle> _right_node;
  
  ros::Publisher _pub_image_left;
  ros::Publisher _pub_info_left;
  ros::Publisher _pub_image_right;
  ros::Publisher _pub_info_right;
  camera_info_manager::CameraInfoManager* info_mgr_right;
  camera_info_manager::CameraInfoManager* info_mgr_left;
  unsigned int seq;
  virtual void onInit(const Controller&);
  virtual void onConnect(const Controller&);
  virtual void onDisconnect(const Controller&);
  virtual void onExit(const Controller&);
  virtual void onFrame(const Controller&);
  virtual void onFocusGained(const Controller&);
  virtual void onFocusLost(const Controller&);
  virtual void onDeviceChange(const Controller&);
  virtual void onServiceConnect(const Controller&);
  virtual void onServiceDisconnect(const Controller&);  
  private:
};


void CameraListener::onInit(const Controller& controller){

  _left_node = boost::make_shared<ros::NodeHandle>("left");
  _right_node = boost::make_shared<ros::NodeHandle>("right");
  std::cout << "Initialized" << std::endl;
  _pub_image_left = _left_node->advertise<sensor_msgs::Image>("image_raw", 1);
  _pub_info_left = _left_node->advertise<sensor_msgs::CameraInfo>("camera_info", 1);
  _pub_image_right = _right_node->advertise<sensor_msgs::Image>("image_raw", 1);
  _pub_info_right = _right_node->advertise<sensor_msgs::CameraInfo>("camera_info", 1);
  seq = 0;
  std::string default_l_info_filename;
  std::string default_r_info_filename;
  rospack::Rospack rp;
  std::vector<std::string> search_path;
  rp.getSearchPathFromEnv(search_path);
  rp.crawl(search_path, 1);
  std::string path;
  if (rp.find("leap_motion",path)==true) {
    default_l_info_filename = path + std::string("/config/camera_info/leap_cal_left.yml");
    default_r_info_filename = path + std::string("/config/camera_info/leap_cal_right.yml");
  }
  else {
    default_l_info_filename = "";
    default_r_info_filename = "";
  }
  ros::NodeHandle local_nh("~");
  std::string l_info_filename;
  std::string r_info_filename;
  local_nh.param("template_filename_left", l_info_filename, default_l_info_filename);
  local_nh.param("template_filename_right", r_info_filename, default_r_info_filename);
  l_info_filename = std::string("file://") + l_info_filename;
  r_info_filename = std::string("file://") + r_info_filename;
  info_mgr_left = new camera_info_manager::CameraInfoManager(*_left_node, "left", l_info_filename);
  info_mgr_right = new camera_info_manager::CameraInfoManager(*_right_node, "right", r_info_filename);
}

void CameraListener::onConnect(const Controller& controller) {
  std::cout << "Connected" << std::endl;
  controller.enableGesture(Gesture::TYPE_CIRCLE);
  controller.enableGesture(Gesture::TYPE_KEY_TAP);
  controller.enableGesture(Gesture::TYPE_SCREEN_TAP);
  controller.enableGesture(Gesture::TYPE_SWIPE);
}

void CameraListener::onDisconnect(const Controller& controller) {
  // Note: not dispatched when running in a debugger.
  std::cout << "Disconnected" << std::endl;
}

void CameraListener::onExit(const Controller& controller) {
  std::cout << "Exited" << std::endl;
}

void CameraListener::onFrame(const Controller& controller) {
  // Get the most recent frame and report some basic information
  const Frame frame = controller.frame();  
  ImageList images = frame.images();

  sensor_msgs::Image image_msg;
  image_msg.header.seq = seq++;
  image_msg.header.stamp =ros::Time::now();
  image_msg.encoding ="mono8";
  image_msg.is_bigendian = 0;
  for(int camera_num=0; camera_num<2; camera_num++){
    Image image = images[camera_num];
    image_msg.width =  cutWidth;
    image_msg.height = cutHeight;
    image_msg.step = cutWidth;
    image_msg.data.resize(cutWidth*cutHeight);
#pragma omp parallel for
    for(int i=0; i<cutWidth; i++){
      for(int j=0; j<cutHeight; j++){
        Vector input = Vector((float)(i+startX)/targetWidth, (float)(j+startY)/targetHeight, 0);
        input.x = (input.x - image.rayOffsetX()) / image.rayScaleX();
        input.y = (input.y - image.rayOffsetY()) / image.rayScaleY();
        Vector pixel = image.warp(input);
        if(pixel.x >= 0 && pixel.x < image.width() && pixel.y >= 0 && pixel.y < image.height()) {
          int data_index = floor(pixel.y) * image.width() + floor(pixel.x);
          image_msg.data[cutWidth*j+i] = image.data()[data_index];
        } else {
          image_msg.data[cutWidth*j+i] = 0;
        }
      }
    }
    if(camera_num==0){
      sensor_msgs::CameraInfoPtr info_msg(new sensor_msgs::CameraInfo(info_mgr_left->getCameraInfo()));
      image_msg.header.frame_id = info_msg->header.frame_id ="leap_optical_frame";
      info_msg->width = image_msg.width;
      info_msg->height = image_msg.height;
      info_msg->header.stamp = image_msg.header.stamp;
      info_msg->header.seq = image_msg.header.seq;
      _pub_image_left.publish(image_msg);
      _pub_info_left.publish(*info_msg);
    }else{
      sensor_msgs::CameraInfoPtr info_msg(new sensor_msgs::CameraInfo(info_mgr_right->getCameraInfo()));
      image_msg.header.frame_id = info_msg->header.frame_id = "leap_optical_frame";
      info_msg->width = image_msg.width;
      info_msg->height = image_msg.height;
      info_msg->header.stamp = image_msg.header.stamp;
      info_msg->header.seq = image_msg.header.seq;
      _pub_image_right.publish(image_msg);
      _pub_info_right.publish(*info_msg);
    }
  }
  // test

  //to do
  // int start_x = 100;
  // int start_y = 100;
  // int end_x = 300;
  // int end_y = 300;
  // int width_x = end_x - start_x;
  // int width_y = end_y - start_y;
  //     } else {
  //    image_msg.data[width_x*(j-start_y)+(i-start_x)] = 255;
  //     }
  //   }
  // }
  //end for test
}

void CameraListener::onFocusGained(const Controller& controller) {
  std::cout << "Focus Gained" << std::endl;
}

void CameraListener::onFocusLost(const Controller& controller) {
  std::cout << "Focus Lost" << std::endl;
}

void CameraListener::onDeviceChange(const Controller& controller) {
  std::cout << "Device Changed" << std::endl;
  const DeviceList devices = controller.devices();

  for (int i = 0; i < devices.count(); ++i) {
    std::cout << "id: " << devices[i].toString() << std::endl;
    std::cout << "  isStreaming: " << (devices[i].isStreaming() ? "true" : "false") << std::endl;
  }
}

void CameraListener::onServiceConnect(const Controller& controller) {
  std::cout << "Service Connected" << std::endl;
}

void CameraListener::onServiceDisconnect(const Controller& controller) {
  std::cout << "Service Disconnected" << std::endl;
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "leap_sender");
  // Create a sample listener and controller
  CameraListener listener;
  Controller controller;

  
  
  // Have the sample listener receive events from the controller
  controller.addListener(listener);
  
  controller.setPolicyFlags(static_cast<Leap::Controller::PolicyFlag> (Leap::Controller::POLICY_IMAGES));
  ros::spin();
  // Remove the sample listener when done
  controller.removeListener(listener);

  return 0;
}