simple_double.cpp

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/*****************************
 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
 
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 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
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 ********************************/
 
#include <iostream>
#include <aruco/aruco.h>
#include <aruco/cvdrawingutils.h>
 
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <aruco_ros/aruco_ros_utils.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
 
#include <dynamic_reconfigure/server.h>
#include <aruco_ros/ArucoThresholdConfig.h>
 
cv::Mat inImage;
aruco::CameraParameters camParam;
bool useRectifiedImages, normalizeImageIllumination;
int dctComponentsToRemove;
aruco::MarkerDetector mDetector;
std::vector<aruco::Marker> markers;
ros::Subscriber cam_info_sub;
bool cam_info_received;
image_transport::Publisher image_pub;
image_transport::Publisher debug_pub;
ros::Publisher pose_pub1;
ros::Publisher pose_pub2;
std::string child_name1;
std::string parent_name;
std::string child_name2;
 
double marker_size;
int marker_id1;
int marker_id2;
 
void image_callback(const sensor_msgs::ImageConstPtr& msg)
{
  double ticksBefore = cv::getTickCount();
  static tf::TransformBroadcaster br;
  if (cam_info_received)
  {
    ros::Time curr_stamp = msg->header.stamp;
    cv_bridge::CvImagePtr cv_ptr;
    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
      inImage = cv_ptr->image;
 
      if (normalizeImageIllumination)
      {
        ROS_WARN("normalizeImageIllumination is unimplemented!");
//        cv::Mat inImageNorm;
//        pal_vision_util::dctNormalization(inImage, inImageNorm, dctComponentsToRemove);
//        inImage = inImageNorm;
      }
 
      // detection results will go into "markers"
      markers.clear();
      // ok, let's detect
      mDetector.detect(inImage, markers, camParam, marker_size, false);
      // for each marker, draw info and its boundaries in the image
      for (unsigned int i = 0; i < markers.size(); ++i)
      {
        // only publishing the selected marker
        if (markers[i].id == marker_id1)
        {
          tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]);
          br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name1));
          geometry_msgs::Pose poseMsg;
          tf::poseTFToMsg(transform, poseMsg);
          pose_pub1.publish(poseMsg);
        }
        else if (markers[i].id == marker_id2)
        {
          tf::Transform transform = aruco_ros::arucoMarker2Tf(markers[i]);
          br.sendTransform(tf::StampedTransform(transform, curr_stamp, parent_name, child_name2));
          geometry_msgs::Pose poseMsg;
          tf::poseTFToMsg(transform, poseMsg);
          pose_pub2.publish(poseMsg);
        }
 
        // but drawing all the detected markers
        markers[i].draw(inImage, cv::Scalar(0, 0, 255), 2);
      }
 
      // paint a circle in the center of the image
      cv::circle(inImage, cv::Point(inImage.cols / 2, inImage.rows / 2), 4, cv::Scalar(0, 255, 0), 1);
 
      if (markers.size() == 2)
      {
        float x[2], y[2], u[2], v[2];
        for (unsigned int i = 0; i < 2; ++i)
        {
          ROS_DEBUG_STREAM(
              "Marker(" << i << ") at camera coordinates = (" << markers[i].Tvec.at<float>(0,0) << ", " << markers[i].Tvec.at<float>(1,0) << ", " << markers[i].Tvec.at<float>(2,0));
          // normalized coordinates of the marker
          x[i] = markers[i].Tvec.at<float>(0, 0) / markers[i].Tvec.at<float>(2, 0);
          y[i] = markers[i].Tvec.at<float>(1, 0) / markers[i].Tvec.at<float>(2, 0);
          // undistorted pixel
          u[i] = x[i] * camParam.CameraMatrix.at<float>(0, 0) + camParam.CameraMatrix.at<float>(0, 2);
          v[i] = y[i] * camParam.CameraMatrix.at<float>(1, 1) + camParam.CameraMatrix.at<float>(1, 2);
        }
 
        ROS_DEBUG_STREAM(
            "Mid point between the two markers in the image = (" << (x[0]+x[1])/2 << ", " << (y[0]+y[1])/2 << ")");
 
//        // paint a circle in the mid point of the normalized coordinates of both markers
//        cv::circle(inImage, cv::Point((u[0] + u[1]) / 2, (v[0] + v[1]) / 2), 3, cv::Scalar(0, 0, 255), cv::FILLED);
 
        // compute the midpoint in 3D:
        float midPoint3D[3]; // 3D point
        for (unsigned int i = 0; i < 3; ++i)
          midPoint3D[i] = (markers[0].Tvec.at<float>(i, 0) + markers[1].Tvec.at<float>(i, 0)) / 2;
        // now project the 3D mid point to normalized coordinates
        float midPointNormalized[2];
        midPointNormalized[0] = midPoint3D[0] / midPoint3D[2]; //x
        midPointNormalized[1] = midPoint3D[1] / midPoint3D[2]; //y
        u[0] = midPointNormalized[0] * camParam.CameraMatrix.at<float>(0, 0) + camParam.CameraMatrix.at<float>(0, 2);
        v[0] = midPointNormalized[1] * camParam.CameraMatrix.at<float>(1, 1) + camParam.CameraMatrix.at<float>(1, 2);
 
        ROS_DEBUG_STREAM(
            "3D Mid point between the two markers in undistorted pixel coordinates = (" << u[0] << ", " << v[0] << ")");
 
        // paint a circle in the mid point of the normalized coordinates of both markers
        cv::circle(inImage, cv::Point(u[0], v[0]), 3, cv::Scalar(0, 0, 255), cv::FILLED);
 
      }
 
      // draw a 3D cube in each marker if there is 3D info
      if (camParam.isValid() && marker_size != -1)
      {
        for (unsigned int i = 0; i < markers.size(); ++i)
        {
          aruco::CvDrawingUtils::draw3dCube(inImage, markers[i], camParam);
        }
      }
 
      if (image_pub.getNumSubscribers() > 0)
      {
        // show input with augmented information
        cv_bridge::CvImage out_msg;
        out_msg.header.stamp = curr_stamp;
        out_msg.encoding = sensor_msgs::image_encodings::RGB8;
        out_msg.image = inImage;
        image_pub.publish(out_msg.toImageMsg());
      }
 
      if (debug_pub.getNumSubscribers() > 0)
      {
        // show also the internal image resulting from the threshold operation
        cv_bridge::CvImage debug_msg;
        debug_msg.header.stamp = curr_stamp;
        debug_msg.encoding = sensor_msgs::image_encodings::MONO8;
        debug_msg.image = mDetector.getThresholdedImage();
        debug_pub.publish(debug_msg.toImageMsg());
      }
 
      ROS_DEBUG("runtime: %f ms", 1000 * (cv::getTickCount() - ticksBefore) / cv::getTickFrequency());
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }
  }
}
 
// wait for one camerainfo, then shut down that subscriber
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
  camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages);
  cam_info_received = true;
  cam_info_sub.shutdown();
}
 
void reconf_callback(aruco_ros::ArucoThresholdConfig &config, std::uint32_t level)
{
  mDetector.setDetectionMode(aruco::DetectionMode(config.detection_mode), config.min_image_size);
  normalizeImageIllumination = config.normalizeImage;
  dctComponentsToRemove = config.dctComponentsToRemove;
}
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "aruco_simple");
  ros::NodeHandle nh("~");
  image_transport::ImageTransport it(nh);
 
  dynamic_reconfigure::Server<aruco_ros::ArucoThresholdConfig> server;
  dynamic_reconfigure::Server<aruco_ros::ArucoThresholdConfig>::CallbackType f_;
  f_ = boost::bind(&reconf_callback, _1, _2);
  server.setCallback(f_);
 
  normalizeImageIllumination = false;
 
  nh.param<bool>("image_is_rectified", useRectifiedImages, true);
  ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages);
 
  image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback);
  cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback);
 
  cam_info_received = false;
  image_pub = it.advertise("result", 1);
  debug_pub = it.advertise("debug", 1);
  pose_pub1 = nh.advertise<geometry_msgs::Pose>("pose", 100);
  pose_pub2 = nh.advertise<geometry_msgs::Pose>("pose2", 100);
 
  nh.param<double>("marker_size", marker_size, 0.05);
  nh.param<int>("marker_id1", marker_id1, 582);
  nh.param<int>("marker_id2", marker_id2, 26);
  nh.param<bool>("normalizeImage", normalizeImageIllumination, true);
  nh.param<int>("dct_components_to_remove", dctComponentsToRemove, 2);
  if (dctComponentsToRemove == 0)
    normalizeImageIllumination = false;
  nh.param<std::string>("parent_name", parent_name, "");
  nh.param<std::string>("child_name1", child_name1, "");
  nh.param<std::string>("child_name2", child_name2, "");
 
  if (parent_name == "" || child_name1 == "" || child_name2 == "")
  {
    ROS_ERROR("parent_name and/or child_name was not set!");
    return -1;
  }
 
  ROS_INFO("ArUco node started with marker size of %f meters and marker ids to track: %d, %d", marker_size, marker_id1,
           marker_id2);
  ROS_INFO("ArUco node will publish pose to TF with (%s, %s) and (%s, %s) as (parent,child).", parent_name.c_str(),
           child_name1.c_str(), parent_name.c_str(), child_name2.c_str());
 
  ros::spin();
}