tracker-viewer.cpp

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#include <cstdlib>
#include <fstream>
#include <sstream>

#include <boost/bind.hpp>
#include <boost/filesystem.hpp>
#include <boost/filesystem/fstream.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/format.hpp>
#include <boost/optional.hpp>

#include <ros/ros.h>
#include <ros/param.h>
#include <image_transport/image_transport.h>

#include <visp/vpDisplayX.h>

#include "conversion.hh"
#include "callbacks.hh"
#include "file.hh"
#include "names.hh"

#include "tracker-viewer.hh"

namespace visp_tracker
{
  namespace
  {
    static void increment(unsigned int* value)
    {
      ++(*value);
    }
  } // end of anonymous namespace.

  TrackerViewer::TrackerViewer(ros::NodeHandle& nh,
                               ros::NodeHandle& privateNh,
                               volatile bool& exiting,
                               unsigned queueSize)
    : exiting_ (exiting),
      queueSize_(queueSize),
      nodeHandle_(nh),
      nodeHandlePrivate_(privateNh),
      imageTransport_(nodeHandle_),
      rectifiedImageTopic_(),
      cameraInfoTopic_(),
      checkInputs_(nodeHandle_, ros::this_node::getName()),
      tracker_(),
      cameraParameters_(),
      image_(),
      info_(),
      cMo_(boost::none),
      sites_(),
      imageSubscriber_(),
      cameraInfoSubscriber_(),
      trackingResultSubscriber_(),
      movingEdgeSitesSubscriber_(),
      kltPointsSubscriber_(),
      synchronizer_(syncPolicy_t(queueSize_)),
      timer_(),
      countAll_(0u),
      countImages_(0u),
      countCameraInfo_(0u),
      countTrackingResult_(0u),
      countMovingEdgeSites_(0u),
      countKltPoints_(0u)
  {
    // Compute topic and services names.
    std::string cameraPrefix;

    ros::Rate rate (1);
    while (cameraPrefix.empty ())
      {
        if (!nodeHandle_.getParam ("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");

    boost::filesystem::ofstream modelStream;
    std::string path;

    while (!nodeHandle_.hasParam(visp_tracker::model_description_param))
      {
        if (!nodeHandle_.hasParam(visp_tracker::model_description_param))
          {
            ROS_WARN
              ("the model_description parameter does not exist.\n"
               "This may mean that:\n"
               "- the tracker is not launched or not initialized,\n"
               "- the tracker and viewer are not running in the same namespace."
               );
          }
        if (this->exiting())
          return;
        rate.sleep ();
      }

    if (!makeModelFile(modelStream, path))
      throw std::runtime_error
        ("failed to load the model from the parameter server");
    ROS_INFO_STREAM("Model loaded from the parameter server.");
    vrmlPath_ = path;

    initializeTracker();
    if (this->exiting())
      return;

    checkInputs();
    if (this->exiting())
      return;

    // Subscribe to camera and tracker synchronously.
    imageSubscriber_.subscribe
      (imageTransport_, rectifiedImageTopic_, queueSize_);
    cameraInfoSubscriber_.subscribe
      (nodeHandle_, cameraInfoTopic_, queueSize_);
    trackingResultSubscriber_.subscribe
      (nodeHandle_, visp_tracker::object_position_covariance_topic,
       queueSize_);
    movingEdgeSitesSubscriber_.subscribe
      (nodeHandle_, visp_tracker::moving_edge_sites_topic, queueSize_);
    kltPointsSubscriber_.subscribe
      (nodeHandle_, visp_tracker::klt_points_topic, queueSize_);

    synchronizer_.connectInput
      (imageSubscriber_, cameraInfoSubscriber_,
       trackingResultSubscriber_, movingEdgeSitesSubscriber_, kltPointsSubscriber_);
    synchronizer_.registerCallback(boost::bind(&TrackerViewer::callback,
                 this, _1, _2, _3, _4, _5));

    // Check for synchronization every 30s.
    synchronizer_.registerCallback(boost::bind(increment, &countAll_));
    imageSubscriber_.registerCallback(boost::bind(increment, &countImages_));
    cameraInfoSubscriber_.registerCallback
      (boost::bind(increment, &countCameraInfo_));
    trackingResultSubscriber_.registerCallback
      (boost::bind(increment, &countTrackingResult_));
    movingEdgeSitesSubscriber_.registerCallback
      (boost::bind(increment, &countMovingEdgeSites_));
    kltPointsSubscriber_.registerCallback
      (boost::bind(increment, &countKltPoints_));

    timer_ = nodeHandle_.createWallTimer
      (ros::WallDuration(30.),
       boost::bind(&TrackerViewer::timerCallback, this));

    // Wait for image.
    waitForImage();
    if (this->exiting())
      return;
    if (!image_.getWidth() || !image_.getHeight())
      throw std::runtime_error("failed to retrieve image");

    // Load camera parameters.
    initializeVpCameraFromCameraInfo(cameraParameters_, info_);
    tracker_.setCameraParameters(cameraParameters_);
  }

  void
  TrackerViewer::spin()
  {
    boost::format fmtWindowTitle ("ViSP MBT tracker viewer - [ns: %s]");
    fmtWindowTitle % ros::this_node::getNamespace ();

    vpDisplayX d(image_,
                 image_.getWidth(), image_.getHeight(),
                 fmtWindowTitle.str().c_str());
    vpImagePoint point (10, 10);
    vpImagePoint pointTime (22, 10);
    vpImagePoint pointCameraTopic (34, 10);
    ros::Rate loop_rate(80);

    boost::format fmt("tracking (x=%f y=%f z=%f)");
    boost::format fmtTime("time = %f");

    boost::format fmtCameraTopic("camera topic = %s");
    fmtCameraTopic % rectifiedImageTopic_;
    while (!exiting())
      {
        vpDisplay::display(image_);
  displayMovingEdgeSites();
  displayKltPoints();
  if (cMo_)
          {
            try
              {
                tracker_.initFromPose(image_, *cMo_);
                tracker_.display(image_, *cMo_,
                                 cameraParameters_, vpColor::red);
              }
            catch(...)
              {
                ROS_DEBUG_STREAM_THROTTLE(10, "failed to display cmo");
              }

        ROS_DEBUG_STREAM_THROTTLE(10, "cMo viewer:\n" << *cMo_);

            fmt % (*cMo_)[0][3] % (*cMo_)[1][3] % (*cMo_)[2][3];
            vpDisplay::displayCharString
              (image_, point, fmt.str().c_str(), vpColor::red);
            fmtTime % info_->header.stamp.toSec();
            vpDisplay::displayCharString
              (image_, pointTime, fmtTime.str().c_str(), vpColor::red);
            vpDisplay::displayCharString
              (image_, pointCameraTopic, fmtCameraTopic.str().c_str(),
               vpColor::red);
          }
        else
          vpDisplay::displayCharString
            (image_, point, "tracking failed", vpColor::red);
        vpDisplay::flush(image_);
    ros::spinOnce();
        loop_rate.sleep();
      }
  }

  void
  TrackerViewer::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();
      }
  }

  void
  TrackerViewer::checkInputs()
  {
    ros::V_string topics;
    topics.push_back(rectifiedImageTopic_);
    topics.push_back(cameraInfoTopic_);
    topics.push_back(visp_tracker::object_position_topic);
    topics.push_back(visp_tracker::moving_edge_sites_topic);
    topics.push_back(visp_tracker::klt_points_topic);
    checkInputs_.start(topics, 60.0);
  }

  void
  TrackerViewer::initializeTracker()
  {
    try
      {
        ROS_DEBUG_STREAM("Trying to load the model " << vrmlPath_);
        tracker_.loadModel(vrmlPath_.native().c_str());
      }
    catch(...)
      {
        boost::format fmt("failed to load the model %1%");
        fmt % vrmlPath_;
        throw std::runtime_error(fmt.str());
      }
    ROS_INFO("Model has been successfully loaded.");
  }

  void
  TrackerViewer::callback
  (const sensor_msgs::ImageConstPtr& image,
   const sensor_msgs::CameraInfoConstPtr& info,
   const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& trackingResult,
   const visp_tracker::MovingEdgeSites::ConstPtr& sites,
   const visp_tracker::KltPoints::ConstPtr& klt)
  {
    // Copy image.
    try
      {
        rosImageToVisp(image_, image);
      }
    catch(std::exception& e)
      {
        ROS_ERROR_STREAM("dropping frame: " << e.what());
      }

    // Copy moving camera infos, edges sites and optional KLT points.
    info_ = info;
    sites_ = sites;
    klt_ = klt;

    // Copy cMo.
    cMo_ = vpHomogeneousMatrix();
    transformToVpHomogeneousMatrix(*cMo_, trackingResult->pose.pose);
  }

  void
  TrackerViewer::displayMovingEdgeSites()
  {
    if (!sites_)
      return;
    for (unsigned i = 0; i < sites_->moving_edge_sites.size(); ++i)
      {
        double x = sites_->moving_edge_sites[i].x;
        double y = sites_->moving_edge_sites[i].y;
        int suppress = sites_->moving_edge_sites[i].suppress;
        vpColor color = vpColor::black;

        switch(suppress)
          {
          case 0:
            color = vpColor::green;
            break;
          case 1:
            color = vpColor::blue;
            break;
          case 2:
            color = vpColor::purple;
            break;
          case 4:
            color = vpColor::red;
            break;
          default:
            ROS_ERROR_THROTTLE(10, "bad suppress value");
          }

        vpDisplay::displayCross(image_, vpImagePoint(x, y), 3, color, 1);
      }
  }


  void
  TrackerViewer::displayKltPoints()
  {
    if (!klt_)
      return;
    vpImagePoint pos;

    for (unsigned i = 0; i < klt_->klt_points_positions.size(); ++i)
    {
      double ii = klt_->klt_points_positions[i].i;
      double jj = klt_->klt_points_positions[i].j;
      int id = klt_->klt_points_positions[i].id;
      vpColor color = vpColor::red;

      vpDisplay::displayCross(image_, vpImagePoint(ii, jj), 15, color, 1);

      pos.set_i( vpMath::round( ii + 7 ) );
      pos.set_j( vpMath::round( jj + 7 ) );
      char ide[10];
      sprintf(ide, "%d", id);
      vpDisplay::displayCharString(image_, pos, ide, vpColor::red);
    }
  }

  void
  TrackerViewer::timerCallback()
  {
    const unsigned threshold = 3 * countAll_;

    if (countImages_ < threshold
        || countCameraInfo_ < threshold
        || countTrackingResult_ < threshold
  || countMovingEdgeSites_ < threshold
  || countKltPoints_ < threshold)
      {
        boost::format fmt
          ("[visp_tracker] Low number of synchronized tuples received.\n"
           "Images: %d\n"
           "Camera info: %d\n"
           "Tracking result: %d\n"
           "Moving edge sites: %d\n"
           "Synchronized tuples: %d\n"
           "Possible issues:\n"
           "\t* The network is too slow.");
        fmt % countImages_ % countCameraInfo_
          % countTrackingResult_ % countMovingEdgeSites_ % countAll_;
        ROS_WARN_STREAM_THROTTLE(10, fmt.str());
      }
  }
} // end of namespace visp_tracker.