tracker-client.cpp

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#include <cstdlib>
#include <fstream>
#include <sstream>
#include <stdexcept>
 
#include <boost/filesystem.hpp>
#include <boost/filesystem/fstream.hpp>
#include <boost/format.hpp>
#include <boost/optional.hpp>
#include <boost/version.hpp>
 
#include <ros/ros.h>
#include <ros/param.h>
#include <ros/package.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <image_proc/advertisement_checker.h>
#include <image_transport/image_transport.h>
#include <visp_tracker/Init.h>
#include <visp_tracker/ModelBasedSettingsConfig.h>
 
#include <visp3/me/vpMe.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/vision/vpPose.h>
 
#include <visp3/mbt/vpMbGenericTracker.h>
 
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpIoTools.h>
 
#include "conversion.hh"
#include "callbacks.hh"
#include "file.hh"
#include "names.hh"
 
#include "tracker-client.hh"
 
 
namespace visp_tracker
{
  TrackerClient::TrackerClient(ros::NodeHandle& nh,
                               ros::NodeHandle& privateNh,
                               volatile bool& exiting,
                               unsigned queueSize)
    : exiting_ (exiting),
      queueSize_(queueSize),
      nodeHandle_(nh),
      nodeHandlePrivate_(privateNh),
      imageTransport_(nodeHandle_),
      image_(),
      modelPath_(),
      modelPathAndExt_(),
      modelName_(),
      cameraPrefix_(),
      rectifiedImageTopic_(),
      cameraInfoTopic_(),
      trackerType_("mbt"),
      frameSize_(0.1),
      bModelPath_(),
      bInitPath_(),
      cameraSubscriber_(),
      mutex_(),
      reconfigureSrv_(NULL),
      reconfigureKltSrv_(NULL),
      reconfigureEdgeSrv_(NULL),
      movingEdge_(),
      kltTracker_(),
      cameraParameters_(),
      tracker_(),
      startFromSavedPose_(),
      checkInputs_(),
      resourceRetriever_()
  {
    // Parameters.
    nodeHandlePrivate_.param<std::string>("model_path", modelPath_,
                                          visp_tracker::default_model_path);
    nodeHandlePrivate_.param<std::string>("model_name", modelName_, "");
 
    nodeHandlePrivate_.param<bool>
        ("start_from_saved_pose", startFromSavedPose_, false);
 
    nodeHandlePrivate_.param<bool>
        ("confirm_init", confirmInit_, true);
 
    nodeHandlePrivate_.param<std::string>("tracker_type", trackerType_, "mbt");
    if(trackerType_=="mbt")
      tracker_.setTrackerType(vpMbGenericTracker::EDGE_TRACKER);
    else if(trackerType_=="klt")
      tracker_.setTrackerType(vpMbGenericTracker::KLT_TRACKER);
    else
      tracker_.setTrackerType(vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER);
 
    nodeHandlePrivate_.param<double>("frame_size", frameSize_, 0.1);
 
    if (modelName_.empty ())
      throw std::runtime_error
        ("empty model\n"
         "Relaunch the client while setting the model_name parameter, i.e.\n"
         "$ rosrun visp_tracker client _model_name:=my-model"
         );
 
    // Compute topic and services names.
 
    ros::Rate rate (1);
    while (cameraPrefix_.empty ())
    {
      if (!nodeHandle_.getParam ("camera_prefix", cameraPrefix_) && !ros::param::get ("~camera_prefix", cameraPrefix_))
      {
        ROS_WARN
            ("the camera_prefix parameter does not exist.\n"
             "This may mean that:\n"
             "- the tracker is not launched,\n"
             "- the tracker and viewer are not running in the same namespace."
             );
      }
      else if (cameraPrefix_.empty ())
      {
        ROS_INFO
            ("tracker is not yet initialized, waiting...\n"
             "You may want to launch the client to initialize the tracker.");
      }
      if (this->exiting())
        return;
      rate.sleep ();
    }
 
    rectifiedImageTopic_ =
        ros::names::resolve(cameraPrefix_ + "/image_rect");
    cameraInfoTopic_ =
        ros::names::resolve(cameraPrefix_ + "/camera_info");
 
    // Check for subscribed topics.
    checkInputs();
 
    // Camera subscriber.
    cameraSubscriber_ = imageTransport_.subscribeCamera
        (rectifiedImageTopic_, queueSize_,
         bindImageCallback(image_, header_, info_));
 
    // Model loading.
    bModelPath_ = getModelFileFromModelName(modelName_, modelPath_);
    bInitPath_ = getInitFileFromModelName(modelName_, modelPath_);
 
    ROS_INFO_STREAM("Model file: " << bModelPath_);
    ROS_INFO_STREAM("Init file: " << bInitPath_);
 
    // Load the 3d model.
    loadModel();
 
    // Dynamic reconfigure.
    if(trackerType_=="mbt+klt"){ // Hybrid Tracker reconfigure
      reconfigureSrv_ = new reconfigureSrvStruct<visp_tracker::ModelBasedSettingsConfig>::reconfigureSrv_t(mutex_, nodeHandlePrivate_);
      reconfigureSrvStruct<visp_tracker::ModelBasedSettingsConfig>::reconfigureSrv_t::CallbackType f =
          boost::bind(&reconfigureCallback, boost::ref(tracker_),
                      boost::ref(image_), boost::ref(movingEdge_), boost::ref(kltTracker_),
                      boost::ref(mutex_), _1, _2);
      reconfigureSrv_->setCallback(f);
    }
    else if(trackerType_=="mbt"){ // Edge Tracker reconfigure
      reconfigureEdgeSrv_ = new reconfigureSrvStruct<visp_tracker::ModelBasedSettingsEdgeConfig>::reconfigureSrv_t(mutex_, nodeHandlePrivate_);
      reconfigureSrvStruct<visp_tracker::ModelBasedSettingsEdgeConfig>::reconfigureSrv_t::CallbackType f =
          boost::bind(&reconfigureEdgeCallback, boost::ref(tracker_),
                      boost::ref(image_), boost::ref(movingEdge_),
                      boost::ref(mutex_), _1, _2);
      reconfigureEdgeSrv_->setCallback(f);
    }
    else{ // KLT Tracker reconfigure
      reconfigureKltSrv_ = new reconfigureSrvStruct<visp_tracker::ModelBasedSettingsKltConfig>::reconfigureSrv_t(mutex_, nodeHandlePrivate_);
      reconfigureSrvStruct<visp_tracker::ModelBasedSettingsKltConfig>::reconfigureSrv_t::CallbackType f =
          boost::bind(&reconfigureKltCallback, boost::ref(tracker_),
                      boost::ref(image_), boost::ref(kltTracker_),
                      boost::ref(mutex_), _1, _2);
      reconfigureKltSrv_->setCallback(f);
    }
 
    // Wait for the image to be initialized.
    waitForImage();
    if (this->exiting())
      return;
    if (!image_.getWidth() || !image_.getHeight())
      throw std::runtime_error("failed to retrieve image");
 
    // Tracker initialization.
    // - Camera
    initializeVpCameraFromCameraInfo(cameraParameters_, info_);
    tracker_.setCameraParameters(cameraParameters_);
    tracker_.setDisplayFeatures(true);
 
    ROS_INFO_STREAM(convertVpMbTrackerToRosMessage(tracker_));
    // - Moving edges.
    if(trackerType_!="klt"){
      ROS_INFO_STREAM(convertVpMeToRosMessage(tracker_, movingEdge_));
    }
    
    if(trackerType_!="mbt"){
      ROS_INFO_STREAM(convertVpKltOpencvToRosMessage(tracker_,kltTracker_));
    }
 
    // Display camera parameters and moving edges settings.
    ROS_INFO_STREAM(cameraParameters_);
  }
 
  void
  TrackerClient::checkInputs()
  {
    ros::V_string topics;
    topics.push_back(rectifiedImageTopic_);
    topics.push_back(cameraInfoTopic_);
    checkInputs_.start(topics, 60.0);
  }
 
  void
  TrackerClient::spin()
  {
    boost::format fmtWindowTitle ("ViSP MBT tracker initialization - [ns: %s]");
    fmtWindowTitle % ros::this_node::getNamespace ();
 
    vpDisplayX d(image_, image_.getWidth(), image_.getHeight(),
                 fmtWindowTitle.str().c_str());
 
    ros::Rate loop_rate_tracking(200);
    bool ok = false;
    vpHomogeneousMatrix cMo;
    vpImagePoint point (10, 10);
    while (!ok && !exiting())
    {
      try
      {
        // Initialize.
        vpDisplay::display(image_);
        vpDisplay::flush(image_);
        if (!startFromSavedPose_)
          init();
        else
        {
          cMo = loadInitialPose();
          startFromSavedPose_ = false;
          tracker_.initFromPose(image_, cMo);
        }
        tracker_.getPose(cMo);
 
        ROS_INFO_STREAM("initial pose [tx,ty,tz,tux,tuy,tuz]:\n" << vpPoseVector(cMo).t());
 
        // Track once to make sure initialization is correct.
        if (confirmInit_)
        {
          vpImagePoint ip;
          vpMouseButton::vpMouseButtonType button =
              vpMouseButton::button1;
          do
          {
            vpDisplay::display(image_);
            mutex_.lock ();
            tracker_.track(image_);
            tracker_.getPose(cMo);
            tracker_.display(image_, cMo, cameraParameters_,
                             vpColor::red, 2);
            vpDisplay::displayFrame(image_, cMo, cameraParameters_,frameSize_,vpColor::none,2);
            mutex_.unlock();
            vpDisplay::displayText
                (image_, point, "tracking, click to initialize tracker",
                 vpColor::red);
            vpDisplay::flush(image_);
 
            ros::spinOnce();
            loop_rate_tracking.sleep();
            if (exiting())
              return;
          }
          while(!vpDisplay::getClick(image_, ip, button, false));
          ok = true;
        }
        else
          ok = true;
      }
      catch(const std::runtime_error& e)
      {
        mutex_.unlock();
        ROS_ERROR_STREAM("failed to initialize: "
                         << e.what() << ", retrying...");
      }
      catch(const std::string& str)
      {
        mutex_.unlock();
        ROS_ERROR_STREAM("failed to initialize: "
                         << str << ", retrying...");
      }
      catch(...)
      {
        mutex_.unlock();
        ROS_ERROR("failed to initialize, retrying...");
      }
    }
 
    ROS_INFO_STREAM("Initialization done, sending initial cMo:\n" << cMo);
    try
    {
      sendcMo(cMo);
    }
    catch(std::exception& e)
    {
      ROS_ERROR_STREAM("failed to send cMo: " << e.what ());
    }
    catch(...)
    {
      ROS_ERROR("unknown error happened while sending the cMo, retrying...");
    }
  }
  
  TrackerClient::~TrackerClient()
  {
    if(reconfigureSrv_ != NULL)
      delete reconfigureSrv_;
 
    if(reconfigureKltSrv_ != NULL)
      delete reconfigureKltSrv_;
 
    if(reconfigureEdgeSrv_ != NULL)
      delete reconfigureEdgeSrv_;
  }
 
  void
  TrackerClient::sendcMo(const vpHomogeneousMatrix& cMo)
  {
    ros::ServiceClient client =
        nodeHandle_.serviceClient<visp_tracker::Init>(visp_tracker::init_service);
 
 
    ros::ServiceClient clientViewer =
        nodeHandle_.serviceClient<visp_tracker::Init>(visp_tracker::init_service_viewer);
    visp_tracker::Init srv;
 
    // Load the model and send it to the parameter server.
    std::string modelDescription = fetchResource(modelPathAndExt_);
    nodeHandle_.setParam (model_description_param, modelDescription);
 
    vpHomogeneousMatrixToTransform(srv.request.initial_cMo, cMo);
    
    convertVpMbTrackerToInitRequest(tracker_, srv);
 
    if(trackerType_!="klt"){
      convertVpMeToInitRequest(movingEdge_, tracker_, srv);
    }
    
    if(trackerType_!="mbt"){
      convertVpKltOpencvToInitRequest(kltTracker_, tracker_, srv);
    }
 
    ros::Rate rate (1);
    while (!client.waitForExistence ())
    {
      ROS_INFO
          ("Waiting for the initialization service to become available.");
      rate.sleep ();
    }
 
    if (client.call(srv))
    {
      if (srv.response.initialization_succeed)
        ROS_INFO("Tracker initialized with success.");
      else
        throw std::runtime_error("failed to initialize tracker.");
    }
    else
      throw std::runtime_error("failed to call service init");
 
    if (clientViewer.call(srv))
    {
      if (srv.response.initialization_succeed)
        ROS_INFO("Tracker Viewer initialized with success.");
      else
        throw std::runtime_error("failed to initialize tracker viewer.");
    }
    else
      ROS_INFO("No Tracker Viewer node to initialize from service");
  }
 
  void
  TrackerClient::loadModel()
  {
    try
    {
      ROS_DEBUG_STREAM("Trying to load the model "
                       << bModelPath_.native());
 
      std::string modelPath;
      boost::filesystem::ofstream modelStream;
      if (!makeModelFile(modelStream,
                         bModelPath_.native(),
                         modelPath))
        throw std::runtime_error ("failed to retrieve model");
 
      tracker_.loadModel(modelPath);
      ROS_INFO("Model has been successfully loaded.");
 
      if(trackerType_=="mbt"){
        ROS_DEBUG_STREAM("Nb faces: "
                         << tracker_.getFaces().getPolygon().size());
        ROS_DEBUG_STREAM("Nb visible faces: " << tracker_.getFaces().getNbVisiblePolygon());
 
        std::list<vpMbtDistanceLine *> linesList;
        tracker_.getLline(linesList);
        ROS_DEBUG_STREAM("Nb line: " << linesList.size());
        //ROS_DEBUG_STREAM("nline: " << tracker_.nline);
      }
      else if(trackerType_=="klt"){
        ROS_DEBUG_STREAM("Nb faces: "
                         << tracker_.getFaces().getPolygon().size());
        ROS_DEBUG_STREAM("Nb visible faces: " << tracker_.getFaces().getNbVisiblePolygon());
        ROS_DEBUG_STREAM("Nb KLT points: " << tracker_.getKltNbPoints());
      }
      else {
        ROS_DEBUG_STREAM("Nb hidden faces: "
                         << tracker_.getFaces().getPolygon().size());
        ROS_DEBUG_STREAM("Nb visible faces: " << tracker_.getFaces().getNbVisiblePolygon());
        ROS_DEBUG_STREAM("Nb KLT points: " << tracker_.getKltNbPoints());
 
        std::list<vpMbtDistanceLine *> linesList;
        tracker_.getLline(linesList);
        ROS_DEBUG_STREAM("Nb line: " << linesList.size());
        //ROS_DEBUG_STREAM("nline: " << tracker_.nline);
      }
    }
    catch(...)
    {
      boost::format fmt
          ("Failed to load the model %1%\n"
           "Do you use resource_retriever syntax?\n"
           "I.e. replace /my/model/path by file:///my/model/path");
      fmt % bModelPath_;
      throw std::runtime_error(fmt.str());
    }
  }
 
  vpHomogeneousMatrix
  TrackerClient::loadInitialPose()
  {
    vpHomogeneousMatrix cMo;
    cMo.eye();
 
    std::string initialPose = getInitialPoseFileFromModelName (modelName_, modelPath_);
    std::string resource;
    try
    {
      resource = fetchResource (initialPose);
      std::stringstream file;
      file << resource;
 
      if (!file.good())
      {
        ROS_WARN_STREAM("failed to load initial pose: " << initialPose << "\n"
                        << "using identity as initial pose");
        return cMo;
      }
 
      vpPoseVector pose;
      for (unsigned i = 0; i < 6; ++i) {
        if (file.good())
          file >> pose[i];
        else
        {
          ROS_WARN("failed to parse initial pose file");
          return cMo;
        }
      }
#if VISP_VERSION_INT > VP_VERSION_INT(3,6,0)
      cMo.build(pose);
#else
      cMo.buildFrom(pose);
#endif
      return cMo;
    }
    catch (...)
    {
      // Failed to retrieve initial pose since model path starts with http://, package://, file:///
      // We try to read from temporary file /tmp/$USER/
      std::string username;
      vpIoTools::getUserName(username);
 
      std::string filename;
#if defined(_WIN32)
      filename ="C:/temp/" + username;
#else
      filename ="/tmp/" + username;
#endif
      filename += "/" + modelName_ + ".0.pos";
      ROS_INFO_STREAM("Try to read init pose from: " << filename);
      if (vpIoTools::checkFilename(filename)) {
        ROS_INFO_STREAM("Retrieve initial pose from: " << filename);
        std::ifstream in( filename.c_str() );
        vpPoseVector pose;
        pose.load(in);
#if VISP_VERSION_INT > VP_VERSION_INT(3,6,0)
        cMo.build(pose);
#else
        cMo.buildFrom(pose);
#endif
        in.close();
      }
 
      return cMo;
    }
  }
 
  void
  TrackerClient::saveInitialPose(const vpHomogeneousMatrix& cMo)
  {
    boost::filesystem::path initialPose = getInitialPoseFileFromModelName(modelName_, modelPath_);
    boost::filesystem::ofstream file(initialPose);
    if (!file.good())
    {
      // Failed to save initial pose since model path starts with http://, package://, file:///
      // We create a temporary file in /tmp/$USER/
      std::string username;
      vpIoTools::getUserName(username);
 
      // Create a log filename to save velocities...
      std::string logdirname;
#if defined(_WIN32)
      logdirname ="C:/temp/" + username;
#else
      logdirname ="/tmp/" + username;
#endif
      // Test if the output path exist. If no try to create it
      if (vpIoTools::checkDirectory(logdirname) == false) {
        try {
          vpIoTools::makeDirectory(logdirname);
        }
        catch (...) {
          ROS_WARN_STREAM("Unable to create the folder " << logdirname << " to save the initial pose");
          return;
        }
      }
      std::string filename = logdirname + "/" + modelName_ + ".0.pos";
      ROS_INFO_STREAM("Save initial pose in: " << filename);
      std::fstream finitpos ;
      finitpos.open(filename.c_str(), std::ios::out) ;
      vpPoseVector pose;
#if VISP_VERSION_INT > VP_VERSION_INT(3,6,0)
      pose.build(cMo);
#else
      pose.buildFrom(cMo);
#endif
 
      finitpos << pose;
      finitpos.close();
    }
    else {
      ROS_INFO_STREAM("Save initial pose in: " << initialPose);
      vpPoseVector pose;
#if VISP_VERSION_INT > VP_VERSION_INT(3,6,0)
      pose.build(cMo);
#else
      pose.buildFrom(cMo);
#endif
      file << pose;
    }
  }
 
  TrackerClient::points_t
  TrackerClient::loadInitializationPoints()
  {
    points_t points;
 
    std::string init =
        getInitFileFromModelName(modelName_, modelPath_);
    std::string resource = fetchResource(init);
    std::stringstream file;
    file << resource;
 
    if (!file.good())
    {
      boost::format fmt("failed to load initialization points: %1");
      fmt % init;
      throw std::runtime_error(fmt.str());
    }
 
    char c;
    // skip lines starting with # as comment
    file.get(c);
    while (!file.fail() && (c == '#')) {
      file.ignore(256, '\n');
      file.get(c);
    }
    file.unget();
 
    unsigned int npoints;
    file >> npoints;
    file.ignore(256, '\n'); // skip the rest of the line
    ROS_INFO_STREAM("Number of 3D points  " << npoints << "\n");
 
    if (npoints > 100000) {
      throw vpException(vpException::badValue,
                        "Exceed the max number of points.");
    }
 
    vpPoint point;
    double X = 0., Y = 0., Z = 0.;
    for (unsigned int i=0 ; i < npoints ; i++){
      // skip lines starting with # as comment
      file.get(c);
      while (!file.fail() && (c == '#')) {
        file.ignore(256, '\n');
        file.get(c);
      }
      file.unget();
 
      file >> X >> Y >> Z ;
      file.ignore(256, '\n'); // skip the rest of the line
 
      point.setWorldCoordinates(X,Y,Z) ; // (X,Y,Z)
      points.push_back(point);
    }
 
    return points;
  }
 
  bool
  TrackerClient::validatePose(const vpHomogeneousMatrix &cMo){
    ros::Rate loop_rate(200);
    vpImagePoint ip;
    vpMouseButton::vpMouseButtonType button = vpMouseButton::button1;
    vpDisplay::display(image_);
    tracker_.setDisplayFeatures(false);
    tracker_.display(image_, cMo, cameraParameters_, vpColor::green);
    vpDisplay::displayFrame(image_, cMo, cameraParameters_,frameSize_,vpColor::none,2);
    vpDisplay::displayText(image_, 15, 10,
                                 "Left click to validate, right click to modify initial pose",
                                 vpColor::red);
    vpDisplay::flush(image_);
    tracker_.setDisplayFeatures(true);
 
    do
    {
      ros::spinOnce();
      loop_rate.sleep();
      if (!ros::ok())
        return false;
    }
    while(ros::ok() && !vpDisplay::getClick(image_, ip, button, false));
 
    if(button == vpMouseButton::button1)
      return true;
 
    return false;
  }
 
  void
  TrackerClient::init()
  {
    ros::Rate loop_rate(200);
    vpHomogeneousMatrix cMo;
    vpImagePoint point (10, 10);
 
    cMo = loadInitialPose();
    tracker_.initFromPose(image_, cMo);
 
    // Show last cMo.
    vpImagePoint ip;
    vpMouseButton::vpMouseButtonType button = vpMouseButton::button1;
 
    if(validatePose(cMo))
    {
      return;
    }
    vpDisplayX *initHelpDisplay = NULL;
 
    std::string helpImagePath;
    nodeHandlePrivate_.param<std::string>("help_image_path", helpImagePath, "");
    if (helpImagePath.empty()){
 
      resource_retriever::MemoryResource resource;
 
      try{
        resource = resourceRetriever_.get( getHelpImageFileFromModelName(modelName_, modelPath_) );
        char* tmpname = strdup("/tmp/tmpXXXXXX");
        if (mkdtemp(tmpname) == NULL) {
          ROS_ERROR_STREAM("Failed to create the temporary directory: " << strerror(errno));
        }
        else {
          boost::filesystem::path path(tmpname);
          path /= ("help.ppm");
          free(tmpname);
 
          helpImagePath = path.native();
          ROS_INFO("Copy help image from %s to %s", getHelpImageFileFromModelName(modelName_, modelPath_).c_str(),
                   helpImagePath.c_str());
 
 
          FILE* f = fopen(helpImagePath.c_str(), "w");
          fwrite(resource.data.get(), resource.size, 1, f);
          fclose(f);
        }
      }
      catch(...){
      }
 
      ROS_WARN_STREAM("Auto detection of help file: " << helpImagePath);
    }
 
    if (!helpImagePath.empty()){
      try {
        // check if the file exists
        if (! vpIoTools::checkFilename(helpImagePath)) {
          ROS_WARN("Error tracker initialization help image file \"%s\" doesn't exist", helpImagePath.c_str());
        }
        else {
          ROS_INFO_STREAM("Load help image: " << helpImagePath);
          int winx = 0;
          int winy = 0;
#if VISP_VERSION_INT >= VP_VERSION_INT(2,10,0)
          winx = image_.display->getWindowXPosition();
          winy = image_.display->getWindowYPosition();
#endif
          initHelpDisplay = new vpDisplayX (winx+image_.getWidth()+20, winy, "Init help image");
 
          vpImage<vpRGBa> initHelpImage;
          vpImageIo::read(initHelpImage, helpImagePath);
          initHelpDisplay->init(initHelpImage);
          vpDisplay::display(initHelpImage);
          vpDisplay::flush(initHelpImage);
        }
      } catch(vpException &e) {
        ROS_WARN("Error diplaying tracker initialization help image file \"%s\":\n%s", helpImagePath.c_str(), e.what());
      }
    }
 
    points_t points = loadInitializationPoints();
    imagePoints_t imagePoints;
 
    bool done = false;
    while(!done){
      vpDisplay::display(image_);
      vpDisplay::flush(image_);
 
      imagePoints.clear();
      for(unsigned i = 0; i < points.size(); ++i)
      {
        do
        {
          ros::spinOnce();
          loop_rate.sleep();
          if (!ros::ok())
            return;
        }
        while(ros::ok() && !vpDisplay::getClick(image_, ip, button, false));
 
        imagePoints.push_back(ip);
        vpDisplay::displayCross(image_, imagePoints.back(), 5, vpColor::green);
        vpDisplay::flush(image_);
      }
 
      tracker_.initFromPoints(image_,imagePoints,points);
      tracker_.getPose(cMo);
      if(validatePose(cMo))
        done = true;
    }
    tracker_.initFromPose(image_, cMo);
    saveInitialPose(cMo);
    if (initHelpDisplay != NULL)
      delete initHelpDisplay;
  }
 
  void
  TrackerClient::initPoint(unsigned& i,
                           points_t& points,
                           imagePoints_t& imagePoints,
                           ros::Rate& rate,
                           vpPose& pose)
  {
    vpImagePoint ip;
    double x = 0., y = 0.;
    boost::format fmt("click on point %u/%u");
    fmt % (i + 1) % points.size(); // list points from 1 to n.
 
    // Click on the point.
    vpMouseButton::vpMouseButtonType button = vpMouseButton::button1;
    do
    {
      vpDisplay::display(image_);
      vpDisplay::displayText
          (image_, 15, 10,
           fmt.str().c_str(),
           vpColor::red);
 
      for (unsigned j = 0; j < imagePoints.size(); ++j)
        vpDisplay::displayCross(image_, imagePoints[j], 5, vpColor::green);
 
      vpDisplay::flush(image_);
      ros::spinOnce();
      rate.sleep();
      if (exiting())
        return;
    }
    while(!vpDisplay::getClick(image_, ip, button, false));
 
    imagePoints.push_back(ip);
    vpPixelMeterConversion::convertPoint(cameraParameters_, ip, x, y);
    points[i].set_x(x);
    points[i].set_y(y);
    pose.addPoint(points[i]);
  }
 
  void
  TrackerClient::waitForImage()
  {
    ros::Rate loop_rate(10);
    while (!exiting()
           && (!image_.getWidth() || !image_.getHeight()))
    {
      ROS_INFO_THROTTLE(1, "waiting for a rectified image...");
      ros::spinOnce();
      loop_rate.sleep();
    }
  }
 
  std::string
  TrackerClient::fetchResource(const std::string& s)
  {
    resource_retriever::MemoryResource resource =
        resourceRetriever_.get(s);
    std::string result;
    result.resize(resource.size);
    unsigned i = 0;
    for (; i < resource.size; ++i)
      result[i] = resource.data.get()[i];
    return result;
  }
 
  bool
  TrackerClient::makeModelFile(boost::filesystem::ofstream& modelStream,
                               const std::string& resourcePath,
                               std::string& fullModelPath)
  {
    std::string modelExt_ = ".cao";
    bool caoWorked = true;
    resource_retriever::MemoryResource resource;
 
    try{
      resource = resourceRetriever_.get(resourcePath + modelExt_);
    }
    catch(...){
      caoWorked = false;
    }
 
    if(!caoWorked){
      modelExt_ = ".wrl";
 
      try{
        resource = resourceRetriever_.get(resourcePath + modelExt_);
      }
      catch(...){
        ROS_ERROR_STREAM("No .cao nor .wrl file found in: " << resourcePath);
      }
    }
 
    modelPathAndExt_ = resourcePath + modelExt_;
 
    //ROS_WARN_STREAM("Model file Make Client: " << resourcePath << modelExt_);
 
    // Crash after when model not found
    std::string result;
    result.resize(resource.size);
    unsigned i = 0;
    for (; i < resource.size; ++i)
      result[i] = resource.data.get()[i];
    result[resource.size];
 
    char* tmpname = strdup("/tmp/tmpXXXXXX");
    if (mkdtemp(tmpname) == NULL)
    {
      ROS_ERROR_STREAM
          ("Failed to create the temporary directory: " << strerror(errno));
      return false;
    }
    boost::filesystem::path path(tmpname);
    path /= ("model" + modelExt_);
    free(tmpname);
 
    fullModelPath = path.native();
 
 
    //ROS_WARN_STREAM("Model file Make Client Full path tmp: " << fullModelPath );
 
    modelStream.open(path);
    if (!modelStream.good())
    {
      ROS_ERROR_STREAM
          ("Failed to create the temporary file: " << path);
      return false;
    }
    modelStream << result;
    modelStream.flush();
    return true;
  }
} // end of namespace visp_tracker.