print_objects_detected_node.cpp

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#include <ros/ros.h>
#include <find_object_2d/ObjectsStamped.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
#include <QTransform>
#include <QColor>

image_transport::Publisher imagePub;

void objectsDetectedCallback(
                const std_msgs::Float32MultiArrayConstPtr & msg)
{
        printf("---\n");
        const std::vector<float> & data = msg->data;
        if(data.size())
        {
                for(unsigned int i=0; i<data.size(); i+=12)
                {
                        // get data
                        int id = (int)data[i];
                        float objectWidth = data[i+1];
                        float objectHeight = data[i+2];

                        // Find corners Qt
                        QTransform qtHomography(data[i+3], data[i+4], data[i+5],
                                                                        data[i+6], data[i+7], data[i+8],
                                                                        data[i+9], data[i+10], data[i+11]);

                        QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
                        QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
                        QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
                        QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));

                        printf("Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
                                        id,
                                        qtTopLeft.x(), qtTopLeft.y(),
                                        qtTopRight.x(), qtTopRight.y(),
                                        qtBottomLeft.x(), qtBottomLeft.y(),
                                        qtBottomRight.x(), qtBottomRight.y());
                }
        }
        else
        {
                printf("No objects detected.\n");
        }
}
void imageObjectsDetectedCallback(
                const sensor_msgs::ImageConstPtr & imageMsg,
                const find_object_2d::ObjectsStampedConstPtr & objectsMsg)
{
        if(imagePub.getNumSubscribers() > 0)
        {
                const std::vector<float> & data = objectsMsg->objects.data;
                if(data.size())
                {
                        for(unsigned int i=0; i<data.size(); i+=12)
                        {
                                // get data
                                int id = (int)data[i];
                                float objectWidth = data[i+1];
                                float objectHeight = data[i+2];

                                // Find corners OpenCV
                                cv::Mat cvHomography(3, 3, CV_32F);
                                cvHomography.at<float>(0,0) = data[i+3];
                                cvHomography.at<float>(1,0) = data[i+4];
                                cvHomography.at<float>(2,0) = data[i+5];
                                cvHomography.at<float>(0,1) = data[i+6];
                                cvHomography.at<float>(1,1) = data[i+7];
                                cvHomography.at<float>(2,1) = data[i+8];
                                cvHomography.at<float>(0,2) = data[i+9];
                                cvHomography.at<float>(1,2) = data[i+10];
                                cvHomography.at<float>(2,2) = data[i+11];
                                std::vector<cv::Point2f> inPts, outPts;
                                inPts.push_back(cv::Point2f(0,0));
                                inPts.push_back(cv::Point2f(objectWidth,0));
                                inPts.push_back(cv::Point2f(objectWidth,objectHeight));
                                inPts.push_back(cv::Point2f(0,objectHeight));
                                inPts.push_back(cv::Point2f(objectWidth/2,objectHeight/2));
                                cv::perspectiveTransform(inPts, outPts, cvHomography);

                                cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageMsg);

                                cv_bridge::CvImage img;
                                img = *imageDepthPtr;
                                std::vector<cv::Point2i> outPtsInt;
                                outPtsInt.push_back(outPts[0]);
                                outPtsInt.push_back(outPts[1]);
                                outPtsInt.push_back(outPts[2]);
                                outPtsInt.push_back(outPts[3]);
                                QColor color(QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7))));
                                cv::Scalar cvColor(color.red(), color.green(), color.blue());
                                cv::polylines(img.image, outPtsInt, true, cvColor, 3);
                                cv::Point2i center = outPts[4];
                                cv::putText(img.image, QString("(%1, %2)").arg(center.x).arg(center.y).toStdString(), center, cv::FONT_HERSHEY_SIMPLEX, 0.6, cvColor, 2);
                                cv::circle(img.image, center, 1, cvColor, 3);
                                imagePub.publish(img.toImageMsg());
                        }
                }
        }
}

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, find_object_2d::ObjectsStamped> MyExactSyncPolicy;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "objects_detected");

    ros::NodeHandle nh;
    image_transport::ImageTransport it(nh);

    // Simple subscriber
    ros::Subscriber sub;
    sub = nh.subscribe("objects", 1, objectsDetectedCallback);

    // Synchronized image + objects example
    image_transport::SubscriberFilter imageSub;
        imageSub.subscribe(it, nh.resolveName("image"), 1);
        message_filters::Subscriber<find_object_2d::ObjectsStamped> objectsSub;
        objectsSub.subscribe(nh, "objectsStamped", 1);
    message_filters::Synchronizer<MyExactSyncPolicy> exactSync(MyExactSyncPolicy(10), imageSub, objectsSub);
    exactSync.registerCallback(boost::bind(&imageObjectsDetectedCallback, _1, _2));

    imagePub = it.advertise("image_with_objects", 1);

    ros::spin();

    return 0;
}