FindMarkerBundlesNoKinect.cpp

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/*
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  Copyright (c) 2012, Scott Niekum
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  author: Scott Niekum
*/


#include "CvTestbed.h"
#include "MarkerDetector.h"
#include "MultiMarkerBundle.h"
#include "MultiMarkerInitializer.h"
#include "Shared.h"
#include <cv_bridge/CvBridge.h>
#include <ar_track_alvar/AlvarMarker.h>
#include <ar_track_alvar/AlvarMarkers.h>
#include <tf/transform_listener.h>

using namespace alvar;
using namespace std;

#define MAIN_MARKER 1
#define VISIBLE_MARKER 2
#define GHOST_MARKER 3

Camera *cam;
IplImage *capture_;
sensor_msgs::CvBridge bridge_;
image_transport::Subscriber cam_sub_;
ros::Publisher arMarkerPub_;
ros::Publisher rvizMarkerPub_;
ar_track_alvar::AlvarMarkers arPoseMarkers_;
tf::TransformListener *tf_listener;
tf::TransformBroadcaster *tf_broadcaster;
MarkerDetector<MarkerData> marker_detector;
MultiMarkerBundle **multi_marker_bundles=NULL;
Pose *bundlePoses;
int *master_id;
bool *bundles_seen;
std::vector<int> *bundle_indices;       
bool init = true;  

double marker_size;
double max_new_marker_error;
double max_track_error;
std::string cam_image_topic; 
std::string cam_info_topic; 
std::string output_frame;
int n_bundles = 0;   

void GetMultiMarkerPoses(IplImage *image);
void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg);
void makeMarkerMsgs(int type, int id, Pose &p, sensor_msgs::ImageConstPtr image_msg, tf::StampedTransform &CamToOutput, visualization_msgs::Marker *rvizMarker, ar_track_alvar::AlvarMarker *ar_pose_marker);


// Updates the bundlePoses of the multi_marker_bundles by detecting markers and using all markers in a bundle to infer the master tag's position
void GetMultiMarkerPoses(IplImage *image) {

  if (marker_detector.Detect(image, cam, true, false, max_new_marker_error, max_track_error, CVSEQ, true)){
    for(int i=0; i<n_bundles; i++)
      multi_marker_bundles[i]->Update(marker_detector.markers, cam, bundlePoses[i]);
    
    if(marker_detector.DetectAdditional(image, cam, false) > 0){
      for(int i=0; i<n_bundles; i++){
        if ((multi_marker_bundles[i]->SetTrackMarkers(marker_detector, cam, bundlePoses[i], image) > 0))
          multi_marker_bundles[i]->Update(marker_detector.markers, cam, bundlePoses[i]);
      }
    }
  }
}


// Given the pose of a marker, builds the appropriate ROS messages for later publishing 
void makeMarkerMsgs(int type, int id, Pose &p, sensor_msgs::ImageConstPtr image_msg, tf::StampedTransform &CamToOutput, visualization_msgs::Marker *rvizMarker, ar_track_alvar::AlvarMarker *ar_pose_marker){
  double px,py,pz,qx,qy,qz,qw;
        
  px = p.translation[0]/100.0;
  py = p.translation[1]/100.0;
  pz = p.translation[2]/100.0;
  qx = p.quaternion[1];
  qy = p.quaternion[2];
  qz = p.quaternion[3];
  qw = p.quaternion[0];

  //Get the marker pose in the camera frame
  btQuaternion rotation (qx,qy,qz,qw);
  btVector3 origin (px,py,pz);
  btTransform t (rotation, origin);  //transform from cam to marker

  btVector3 markerOrigin (0, 0, 0);
  btTransform m (btQuaternion::getIdentity (), markerOrigin);
  btTransform markerPose = t * m;

  //Publish the cam to marker transform for main marker in each bundle
  if(type==MAIN_MARKER){
    std::string markerFrame = "ar_marker_";
    std::stringstream out;
    out << id;
    std::string id_string = out.str();
    markerFrame += id_string;
    tf::StampedTransform camToMarker (t, image_msg->header.stamp, image_msg->header.frame_id, markerFrame.c_str());
    tf_broadcaster->sendTransform(camToMarker);
  }

  //Create the rviz visualization message
  tf::poseTFToMsg (markerPose, rvizMarker->pose);
  rvizMarker->header.frame_id = image_msg->header.frame_id;
  rvizMarker->header.stamp = image_msg->header.stamp;
  rvizMarker->id = id;

  rvizMarker->scale.x = 1.0 * marker_size/100.0;
  rvizMarker->scale.y = 1.0 * marker_size/100.0;
  rvizMarker->scale.z = 0.2 * marker_size/100.0;

  if(type==MAIN_MARKER)
    rvizMarker->ns = "main_shapes";
  else
    rvizMarker->ns = "basic_shapes";


  rvizMarker->type = visualization_msgs::Marker::CUBE;
  rvizMarker->action = visualization_msgs::Marker::ADD;

  //Determine a color and opacity, based on marker type
  if(type==MAIN_MARKER){
    rvizMarker->color.r = 1.0f;
    rvizMarker->color.g = 0.0f;
    rvizMarker->color.b = 0.0f;
    rvizMarker->color.a = 1.0;
  }
  else if(type==VISIBLE_MARKER){
    rvizMarker->color.r = 0.0f;
    rvizMarker->color.g = 1.0f;
    rvizMarker->color.b = 0.0f;
    rvizMarker->color.a = 0.7;
  }
  else if(type==GHOST_MARKER){
    rvizMarker->color.r = 0.0f;
    rvizMarker->color.g = 0.0f;
    rvizMarker->color.b = 1.0f;
    rvizMarker->color.a = 0.5;
  }

  rvizMarker->lifetime = ros::Duration (1.0);

  // Only publish the pose of the master tag in each bundle, since that's all we really care about aside from visualization 
  if(type==MAIN_MARKER){
    //Take the pose of the tag in the camera frame and convert to the output frame (usually torso_lift_link for the PR2)
    tf::Transform tagPoseOutput = CamToOutput * markerPose;

    //Create the pose marker message
    tf::poseTFToMsg (tagPoseOutput, ar_pose_marker->pose.pose);
    ar_pose_marker->header.frame_id = output_frame;
    ar_pose_marker->header.stamp = image_msg->header.stamp;
    ar_pose_marker->id = id;
  }
  else
    ar_pose_marker = NULL;
}


//Callback to handle getting video frames and processing them
void getCapCallback (const sensor_msgs::ImageConstPtr & image_msg)
{
  if(init){
    CvSize sz_ = cvSize (cam->x_res, cam->y_res);
    capture_ = cvCreateImage (sz_, IPL_DEPTH_8U, 4);
    init = false;       
  }

  //If we've already gotten the cam info, then go ahead
  if(cam->getCamInfo_){
    try{
      //Get the transformation from the Camera to the output frame for this image capture
      tf::StampedTransform CamToOutput;
      try{
        tf_listener->waitForTransform(output_frame, image_msg->header.frame_id, image_msg->header.stamp, ros::Duration(1.0));
        tf_listener->lookupTransform(output_frame, image_msg->header.frame_id, image_msg->header.stamp, CamToOutput);
      }
      catch (tf::TransformException ex){
        ROS_ERROR("%s",ex.what());
      }

      visualization_msgs::Marker rvizMarker;
      ar_track_alvar::AlvarMarker ar_pose_marker;
      arPoseMarkers_.markers.clear ();

      //Convert the image
      capture_ = bridge_.imgMsgToCv (image_msg, "rgb8");

      //Get the estimated pose of the main markers by using all the markers in each bundle
      GetMultiMarkerPoses(capture_);
                
      //Draw the observed markers that are visible and note which bundles have at least 1 marker seen
      for(int i=0; i<n_bundles; i++)
        bundles_seen[i] = false;

      for (size_t i=0; i<marker_detector.markers->size(); i++)
        {
          int id = (*(marker_detector.markers))[i].GetId();

          // Draw if id is valid
          if(id >= 0){

            //Mark the bundle that marker belongs to as "seen"
            for(int j=0; j<n_bundles; j++){
              for(int k=0; k<bundle_indices[j].size(); k++){
                if(bundle_indices[j][k] == id){
                  bundles_seen[j] = true;
                  break;
                }
              }
            }

            // Don't draw if it is a master tag...we do this later, a bit differently
            bool should_draw = true;
            for(int i=0; i<n_bundles; i++){
              if(id == master_id[i]) should_draw = false;
            }
            if(should_draw){
              Pose p = (*(marker_detector.markers))[i].pose;
              makeMarkerMsgs(VISIBLE_MARKER, id, p, image_msg, CamToOutput, &rvizMarker, &ar_pose_marker);
              rvizMarkerPub_.publish (rvizMarker);
            }
          }
        }
                        
      //Draw the main markers, whether they are visible or not -- but only if at least 1 marker from their bundle is currently seen
      for(int i=0; i<n_bundles; i++)
        {
          if(bundles_seen[i] == true){
            makeMarkerMsgs(MAIN_MARKER, master_id[i], bundlePoses[i], image_msg, CamToOutput, &rvizMarker, &ar_pose_marker);
            rvizMarkerPub_.publish (rvizMarker);
            arPoseMarkers_.markers.push_back (ar_pose_marker);
          }
        }

      //Publish the marker messages
      arMarkerPub_.publish (arPoseMarkers_);
    }
    catch (sensor_msgs::CvBridgeException & e){
      ROS_ERROR ("Could not convert from '%s' to 'rgb8'.", image_msg->encoding.c_str ());
    }
  }
}



int main(int argc, char *argv[])
{
  ros::init (argc, argv, "marker_detect");
  ros::NodeHandle n;

  if(argc < 8){
    std::cout << std::endl;
    cout << "Not enough arguments provided." << endl;
    cout << "Usage: ./findMarkerBundles <marker size in cm> <max new marker error> <max track error> <cam image topic> <cam info topic> <output frame> <list of bundle XML files...>" << endl;
    std::cout << std::endl;
    return 0;
  }

  // Get params from command line
  marker_size = atof(argv[1]);
  max_new_marker_error = atof(argv[2]);
  max_track_error = atof(argv[3]);
  cam_image_topic = argv[4];
  cam_info_topic = argv[5];
  output_frame = argv[6];
  int n_args_before_list = 7;
  n_bundles = argc - n_args_before_list;

  marker_detector.SetMarkerSize(marker_size);
  multi_marker_bundles = new MultiMarkerBundle*[n_bundles];     
  bundlePoses = new Pose[n_bundles];
  master_id = new int[n_bundles]; 
  bundle_indices = new std::vector<int>[n_bundles]; 
  bundles_seen = new bool[n_bundles];   

  // Load the marker bundle XML files
  for(int i=0; i<n_bundles; i++){       
    bundlePoses[i].Reset();             
    MultiMarker loadHelper;
    if(loadHelper.Load(argv[i + n_args_before_list], FILE_FORMAT_XML)){
      vector<int> id_vector = loadHelper.getIndices();
      multi_marker_bundles[i] = new MultiMarkerBundle(id_vector);       
      multi_marker_bundles[i]->Load(argv[i + n_args_before_list], FILE_FORMAT_XML);
      master_id[i] = multi_marker_bundles[i]->getMasterId();
      bundle_indices[i] = multi_marker_bundles[i]->getIndices();
    }
    else{
      cout<<"Cannot load file "<< argv[i + n_args_before_list] << endl; 
      return 0;
    }           
  }  

  // Set up camera, listeners, and broadcasters
  cam = new Camera(n, cam_info_topic);
  tf_listener = new tf::TransformListener(n);
  tf_broadcaster = new tf::TransformBroadcaster();
  arMarkerPub_ = n.advertise < ar_track_alvar::AlvarMarkers > ("ar_pose_marker", 0);
  rvizMarkerPub_ = n.advertise < visualization_msgs::Marker > ("visualization_marker", 0);
        
  //Give tf a chance to catch up before the camera callback starts asking for transforms
  ros::Duration(1.0).sleep();
  ros::spinOnce();                      
         
  //Subscribe to topics and set up callbacks
  ROS_INFO ("Subscribing to image topic");
  image_transport::ImageTransport it_(n);
  cam_sub_ = it_.subscribe (cam_image_topic, 1, &getCapCallback);

  ros::spin();

  return 0;
}