people_tracking_node.cpp

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/* Author: Wim Meeussen */

#include "cob_people_tracking_filter/people_tracking_node.h"
#include "cob_people_tracking_filter/tracker_particle.h"
#include "cob_people_tracking_filter/tracker_kalman.h"
#include "cob_people_tracking_filter/state_pos_vel.h"
#include "cob_people_tracking_filter/rgb.h"
#include <cob_perception_msgs/PositionMeasurement.h>


using namespace std;
using namespace tf;
using namespace BFL;
using namespace message_filters;

static const double       sequencer_delay            = 0.8; //TODO: this is probably too big, it was 0.8
static const unsigned int sequencer_internal_buffer  = 100;
static const unsigned int sequencer_subscribe_buffer = 10;
static const unsigned int num_particles_tracker      = 1000;
static const double       tracker_init_dist          = 4.0;

namespace estimation
{
  // constructor
  PeopleTrackingNode::PeopleTrackingNode(ros::NodeHandle nh)
    : nh_(nh),
      robot_state_(),
      tracker_counter_(0)
  {
    // initialize
    meas_cloud_.points = vector<geometry_msgs::Point32>(1);
    meas_cloud_.points[0].x = 0;
    meas_cloud_.points[0].y = 0;
    meas_cloud_.points[0].z = 0;

    // get parameters
    ros::NodeHandle local_nh("~");
    local_nh.param("fixed_frame", fixed_frame_, string("default"));
    local_nh.param("freq", freq_, 1.0);
    local_nh.param("start_distance_min", start_distance_min_, 0.0);
    local_nh.param("reliability_threshold", reliability_threshold_, 1.0);
    local_nh.param("sys_sigma_pos_x", sys_sigma_.pos_[0], 0.0);
    local_nh.param("sys_sigma_pos_y", sys_sigma_.pos_[1], 0.0);
    local_nh.param("sys_sigma_pos_z", sys_sigma_.pos_[2], 0.0);
    local_nh.param("sys_sigma_vel_x", sys_sigma_.vel_[0], 0.0);
    local_nh.param("sys_sigma_vel_y", sys_sigma_.vel_[1], 0.0);
    local_nh.param("sys_sigma_vel_z", sys_sigma_.vel_[2], 0.0);
    local_nh.param("follow_one_person", follow_one_person_, false);

    // advertise filter output
    people_filter_pub_ = nh_.advertise<cob_perception_msgs::PositionMeasurement>("people_tracker_filter",10);
    // advertise visualization
    people_filter_vis_pub_ = nh_.advertise<sensor_msgs::PointCloud>("people_tracker_filter_visualization",10);
    people_tracker_vis_pub_ = nh_.advertise<sensor_msgs::PointCloud>("people_tracker_measurements_visualization",10);

    // register message sequencer
    people_meas_sub_ = nh_.subscribe("people_tracker_measurements", 1, &PeopleTrackingNode::callbackRcv, this);
 
  }


  // destructor
  PeopleTrackingNode::~PeopleTrackingNode()
  {
    // delete sequencer
    delete message_sequencer_;

    // delete all trackers
    for (list<Tracker*>::iterator it= trackers_.begin(); it!=trackers_.end(); it++)
      delete *it;
  };




  // callback for messages
  void PeopleTrackingNode::callbackRcv(const cob_perception_msgs::PositionMeasurement::ConstPtr& message)
  {
    ROS_DEBUG("Tracking node got a people position measurement (%f,%f,%f)",
              message->pos.x, message->pos.y, message->pos.z);
    // get measurement in fixed frame
    Stamped<tf::Vector3> meas_rel, meas;
    meas_rel.setData(
                     tf::Vector3(message->pos.x, message->pos.y, message->pos.z));
    meas_rel.stamp_ = message->header.stamp;
    meas_rel.frame_id_ = message->header.frame_id;
    robot_state_.transformPoint(fixed_frame_, meas_rel, meas);
    
    // get measurement covariance
    SymmetricMatrix cov(3);
    for (unsigned int i = 0; i < 3; i++)
      for (unsigned int j = 0; j < 3; j++)
        cov(i + 1, j + 1) = message->covariance[3 * i + j];
    
    // ----- LOCKED ------
    boost::mutex::scoped_lock lock(filter_mutex_);

    // update tracker if matching tracker found
    for (list<Tracker*>::iterator it = trackers_.begin(); it != trackers_.end(); it++)
      if ((*it)->getName() == message->object_id) {
        (*it)->updatePrediction(message->header.stamp.toSec());
        (*it)->updateCorrection(meas, cov);
      }
    // check if reliable message with no name should be a new tracker
    if (message->object_id == "" && message->reliability > reliability_threshold_) {
      double closest_tracker_dist = start_distance_min_;
      StatePosVel est;
      for (list<Tracker*>::iterator it = trackers_.begin(); it != trackers_.end(); it++) {
        (*it)->getEstimate(est);
        double dst = sqrt(pow(est.pos_[0] - meas[0], 2) + pow(est.pos_[1] - meas[1], 2));
        if (dst < closest_tracker_dist)
          closest_tracker_dist = dst;
      }
      // initialize a new tracker
      if (follow_one_person_)
        cout << "Following one person" << endl;
      if (message->initialization == 1 && ((!follow_one_person_ && (closest_tracker_dist >= start_distance_min_)) || (follow_one_person_ && trackers_.empty()))) {
        //if (closest_tracker_dist >= start_distance_min_ || message->initialization == 1){
        //if (message->initialization == 1 && trackers_.empty()){
        ROS_INFO("Passed crazy conditional.");
        tf::Point pt;
        tf::pointMsgToTF(message->pos, pt);
        tf::Stamped<tf::Point> loc(pt, message->header.stamp, message->header.frame_id);
        robot_state_.transformPoint("base_link", loc, loc);
        float cur_dist;
        if ((cur_dist = pow(loc[0], 2.0) + pow(loc[1], 2.0)) < tracker_init_dist) {
          
          cout << "starting new tracker" << endl;
          stringstream tracker_name;
          StatePosVel prior_sigma(tf::Vector3(sqrt(cov(1, 1)), sqrt(cov(
                                                                        2, 2)), sqrt(cov(3, 3))), tf::Vector3(0.0000001, 0.0000001, 0.0000001));
          tracker_name << "person " << tracker_counter_++;
          Tracker* new_tracker = new TrackerKalman(tracker_name.str(),
                                                   sys_sigma_);
          //Tracker* new_tracker = new TrackerParticle(tracker_name.str(), num_particles_tracker, sys_sigma_);
          new_tracker->initialize(meas, prior_sigma,
                                  message->header.stamp.toSec());
          trackers_.push_back(new_tracker);
          ROS_INFO("Initialized new tracker %s", tracker_name.str().c_str());
        }
        else
          ROS_INFO("Found a person, but he/she is not close enough to start following.  Person is %f away, and must be less than %f away.", cur_dist , tracker_init_dist);
      }
      else
        ROS_INFO("Failed crazy conditional.");
    }
    lock.unlock();
    // ------ LOCKED ------
    

    // visualize measurement
    meas_cloud_.points[0].x = meas[0];
    meas_cloud_.points[0].y = meas[1];
    meas_cloud_.points[0].z = meas[2];
    meas_cloud_.header.frame_id = meas.frame_id_;
    people_tracker_vis_pub_.publish(meas_cloud_);
  }



  // callback for dropped messages
  void PeopleTrackingNode::callbackDrop(const cob_perception_msgs::PositionMeasurement::ConstPtr& message)
  {
    ROS_INFO("DROPPED PACKAGE for %s from %s with delay %f !!!!!!!!!!!", 
             message->object_id.c_str(), message->name.c_str(), (ros::Time::now() - message->header.stamp).toSec());

  }




  // filter loop
  void PeopleTrackingNode::spin()
  {
    ROS_INFO("People tracking manager started.");

    while (ros::ok()){
      // ------ LOCKED ------
      boost::mutex::scoped_lock lock(filter_mutex_);

      // visualization variables
      vector<geometry_msgs::Point32> filter_visualize(trackers_.size());
      vector<float> weights(trackers_.size());
      sensor_msgs::ChannelFloat32 channel;

      // loop over trackers
      unsigned int i=0;
      list<Tracker*>::iterator it= trackers_.begin();
      while (it!=trackers_.end()){
        // update prediction up to delayed time
        (*it)->updatePrediction(ros::Time::now().toSec() - sequencer_delay);

        // publish filter result
        cob_perception_msgs::PositionMeasurement est_pos;
        (*it)->getEstimate(est_pos);
        est_pos.header.frame_id = fixed_frame_;

        ROS_DEBUG("Publishing people tracker filter.");
        people_filter_pub_.publish(est_pos);

        // visualize filter result
        filter_visualize[i].x = est_pos.pos.x;
        filter_visualize[i].y = est_pos.pos.y;
        filter_visualize[i].z = est_pos.pos.z;
        weights[i] = *(float*)&(rgb[min(998, 999-max(1, (int)trunc( (*it)->getQuality()*999.0 )))]);

        // remove trackers that have zero quality
        ROS_INFO("Quality of tracker %s = %f",(*it)->getName().c_str(), (*it)->getQuality());
        if ((*it)->getQuality() <= 0){
          ROS_INFO("Removing tracker %s",(*it)->getName().c_str());  
          delete *it;
          trackers_.erase(it++);
        }
        else it++;
        i++;
      }
      lock.unlock();
      // ------ LOCKED ------


      // visualize all trackers
      channel.name = "rgb";
      channel.values = weights;
      sensor_msgs::PointCloud  people_cloud; 
      people_cloud.channels.push_back(channel);
      people_cloud.header.frame_id = fixed_frame_;
      people_cloud.points  = filter_visualize;
      people_filter_vis_pub_.publish(people_cloud);

      // sleep
      usleep(1e6/freq_);
      
      ros::spinOnce();
    }
  };


}; // namespace






// ----------
// -- MAIN --
// ----------
using namespace estimation;
int main(int argc, char **argv)
{
  // Initialize ROS
  ros::init(argc, argv,"cob_people_tracker");
  ros::NodeHandle(nh);

  // create tracker node
    PeopleTrackingNode my_tracking_node(nh);

  // wait for filter to finish
  my_tracking_node.spin();

  // Clean up
  
  return 0;
}