calibrator.cpp

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/****************************************************************************
 *
 * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Contact visp@irisa.fr if any conditions of this licensing are
 * not clear to you.
 *
 * Description:
 * Calibrator node
 *
 * Authors:
 * Filip Novotny
 *
 *
 *****************************************************************************/
 
#include "calibrator.h"
#include <visp_bridge/3dpose.h>
#include "names.h"
#if VISP_VERSION_INT >= (3<<16 | 2<<8 | 0)
#  include <visp3/vision/vpHandEyeCalibration.h>
#else
#  include <visp3/vision/vpCalibration.h>
#endif
#include <visp3/core/vpHomogeneousMatrix.h>
 
 
namespace visp_hand2eye_calibration
{
  void Calibrator::cameraObjectCallback(const geometry_msgs::Transform::ConstPtr& trans)
  {
    ROS_DEBUG("new cMo: [%f,%f,%f -- %f,%f,%f,%f]", trans->translation.x,trans->translation.y,trans->translation.z,trans->rotation.x,trans->rotation.y,trans->rotation.z,trans->rotation.w);
    vpHomogeneousMatrix cMo;
    cMo = visp_bridge::toVispHomogeneousMatrix(*trans);
    cMo_vec_.push_back(cMo);
  }
 
  void Calibrator::worldEffectorCallback(const geometry_msgs::Transform::ConstPtr& trans)
  {
    ROS_DEBUG("new wMe: [%f,%f,%f -- %f,%f,%f,%f]", trans->translation.x,trans->translation.y,trans->translation.z,trans->rotation.x,trans->rotation.y,trans->rotation.z,trans->rotation.w);
    vpHomogeneousMatrix wMe;
    wMe = visp_bridge::toVispHomogeneousMatrix(*trans);
    wMe_vec_.push_back(wMe);
  }
 
  bool Calibrator::computeEffectorCameraCallback(
                                                    visp_hand2eye_calibration::compute_effector_camera::Request &req,
                                                    visp_hand2eye_calibration::compute_effector_camera::Response &res)
  {
    if (cMo_vec_.size() != wMe_vec_.size() || wMe_vec_.size() < 2)
    {
      ROS_ERROR("transformation vectors have different sizes or contain too few elements");
      return false;
    }
 
    ROS_INFO("computing %d values...",(int)wMe_vec_.size());
    vpHomogeneousMatrix eMc;
 
#if VISP_VERSION_INT >= (3<<16 | 2<<8 | 0)
    vpHandEyeCalibration::calibrate(cMo_vec_, wMe_vec_, eMc);
#elif VISP_VERSION_INT > (2<<16 | 6<<8 | 1)
    vpCalibration::calibrationTsai(cMo_vec_, wMe_vec_, eMc);
#else
    vpCalibration::calibrationTsai(cMo_vec_.size(), &(cMo_vec_[0]), &(wMe_vec_[0]), eMc);
#endif
    geometry_msgs::Transform trans;
    trans = visp_bridge::toGeometryMsgsTransform(eMc);
 
    res.effector_camera = trans;
    return true;
  }
 
  bool Calibrator::computeEffectorCameraQuickCallback(
                                                          visp_hand2eye_calibration::compute_effector_camera_quick::Request &req,
                                                          visp_hand2eye_calibration::compute_effector_camera_quick::Response &res)
  {
    visp_hand2eye_calibration::TransformArray camera_object = req.camera_object;
    visp_hand2eye_calibration::TransformArray world_effector = req.world_effector;
    std::vector<vpHomogeneousMatrix> cMo_vec;
    std::vector<vpHomogeneousMatrix> wMe_vec;
    for(unsigned int i=0;i<camera_object.transforms.size();i++){
      cMo_vec.push_back(visp_bridge::toVispHomogeneousMatrix(camera_object.transforms[i]));
      wMe_vec.push_back(visp_bridge::toVispHomogeneousMatrix(world_effector.transforms[i]));
    }
    if (camera_object.transforms.size() != world_effector.transforms.size() || world_effector.transforms.size() < 2)
    {
      ROS_ERROR("transformation vectors have different sizes or contain too few elements");
      return false;
    }
 
    ROS_INFO("computing...");
    vpHomogeneousMatrix eMc;
#if VISP_VERSION_INT >= (3<<16 | 2<<8 | 0)
    vpHandEyeCalibration::calibrate(cMo_vec, wMe_vec, eMc);
#elif VISP_VERSION_INT > (2<<16 | 6<<8 | 1)
    vpCalibration::calibrationTsai(cMo_vec, wMe_vec, eMc);
#else
    vpCalibration::calibrationTsai(cMo_vec.size(), &(cMo_vec[0]), &(wMe_vec[0]),eMc);
#endif
    geometry_msgs::Transform trans;
    trans = visp_bridge::toGeometryMsgsTransform(eMc);
    res.effector_camera = trans;
    return true;
  }
 
  bool Calibrator::resetCallback(visp_hand2eye_calibration::reset::Request &req,
                                  visp_hand2eye_calibration::reset::Response &res)
  {
    ROS_INFO("reseting...");
    cMo_vec_.clear();
    wMe_vec_.clear();
    return true;
  }
 
  Calibrator::Calibrator() :
    check_inputs_(ros::NodeHandle(), ros::this_node::getName()),
    queue_size_(1000)
  {
 
    //prepare function objects
    camera_object_subscriber_callback_t camera_object_callback = boost::bind(&Calibrator::cameraObjectCallback, this, _1);
    world_effector_subscriber_t world_effector_callback = boost::bind(&Calibrator::worldEffectorCallback, this, _1);
 
    compute_effector_camera_service_callback_t compute_effector_camera_callback =
        boost::bind(&Calibrator::computeEffectorCameraCallback, this, _1, _2);
    compute_effector_camera_quick_service_callback_t compute_effector_camera_quick_callback =
        boost::bind(&Calibrator::computeEffectorCameraQuickCallback, this, _1, _2);
    reset_service_callback_t reset_callback = boost::bind(&Calibrator::resetCallback, this, _1, _2);
 
    //define services
    compute_effector_camera_service_
        = n_.advertiseService(visp_hand2eye_calibration::compute_effector_camera_service,
                              compute_effector_camera_callback);
    compute_effector_camera_quick_service_
        = n_.advertiseService(visp_hand2eye_calibration::compute_effector_camera_quick_service,
                              compute_effector_camera_quick_callback);
    reset_service_ = n_.advertiseService(visp_hand2eye_calibration::reset_service, reset_callback);
 
    ros::V_string topics;
    topics.push_back(visp_hand2eye_calibration::camera_object_topic);
    topics.push_back(visp_hand2eye_calibration::world_effector_topic);
 
 
    check_inputs_.start(topics, 60.0);
    if (!ros::ok())
      return;
    //define subscribers
    camera_object_subscriber_ = n_.subscribe(visp_hand2eye_calibration::camera_object_topic, queue_size_,
                                             camera_object_callback);
    world_effector_subscriber_ = n_.subscribe(visp_hand2eye_calibration::world_effector_topic, queue_size_,
                                              world_effector_callback);
 
 
  }
 
  void Calibrator::spin()
  {
    ros::spin();
  }
  Calibrator::~Calibrator()
  {
 
  }
}