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image_view2.cpp
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// -*- tab-width: 8; indent-tabs-mode: nil; -*-
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* 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 Willow Garage 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include "image_view2.h"
#include <exception>
namespace image_view2 {
ImageView2::ImageView2()
: marker_topic_("image_marker"),
filename_format_(""),
count_(0),
mode_(MODE_RECTANGLE),
times_(100),
window_initialized_(false),
space_(10) {}
ImageView2::ImageView2(ros::NodeHandle& nh)
: marker_topic_("image_marker"),
filename_format_(""),
count_(0),
mode_(MODE_RECTANGLE),
times_(100),
selecting_fg_(true),
left_button_clicked_(false),
continuous_ready_(false),
window_initialized_(false),
line_select_start_point_(true),
line_selected_(false),
poly_selecting_done_(true) {
std::string camera = nh.resolveName("image");
std::string camera_info = nh.resolveName("camera_info");
ros::NodeHandle local_nh("~");
std::string format_string;
std::string transport;
image_transport::ImageTransport it(nh);
image_transport::ImageTransport local_it(camera);
point_pub_ =
nh.advertise< geometry_msgs::PointStamped >(camera + "/screenpoint", 100);
point_array_pub_ = nh.advertise< sensor_msgs::PointCloud2 >(
camera + "/screenpoint_array", 100);
rectangle_pub_ = nh.advertise< geometry_msgs::PolygonStamped >(
camera + "/screenrectangle", 100);
rectangle_img_pub_ = nh.advertise< sensor_msgs::Image >(
camera + "/screenrectangle_image", 100);
move_point_pub_ =
nh.advertise< geometry_msgs::PointStamped >(camera + "/movepoint", 100);
foreground_mask_pub_ =
nh.advertise< sensor_msgs::Image >(camera + "/foreground", 100);
background_mask_pub_ =
nh.advertise< sensor_msgs::Image >(camera + "/background", 100);
foreground_rect_pub_ = nh.advertise< geometry_msgs::PolygonStamped >(
camera + "/foreground_rect", 100);
background_rect_pub_ = nh.advertise< geometry_msgs::PolygonStamped >(
camera + "/background_rect", 100);
line_pub_ =
nh.advertise< geometry_msgs::PolygonStamped >(camera + "/line", 100);
poly_pub_ =
nh.advertise< geometry_msgs::PolygonStamped >(camera + "/poly", 100);
local_nh.param("window_name", window_name_,
std::string("image_view2 [") + camera + std::string("]"));
local_nh.param("skip_draw_rate", skip_draw_rate_, 0);
local_nh.param("autosize", autosize_, false);
local_nh.param("image_transport", transport, std::string("raw"));
local_nh.param("draw_grid", draw_grid_, false);
local_nh.param("blurry", blurry_mode_, false);
local_nh.param("region_continuous_publish", region_continuous_publish_,
false);
local_nh.param("filename_format", format_string,
std::string("frame%04i.jpg"));
local_nh.param("use_window", use_window, true);
local_nh.param("show_info", show_info_, false);
local_nh.param("enable_depth_filter", depth_filter_, false);
local_nh.param("flip_image", flip_, false);
double xx, yy;
local_nh.param("resize_scale_x", xx, 1.0);
local_nh.param("resize_scale_y", yy, 1.0);
local_nh.param("tf_timeout", tf_timeout_, 1.0);
std::string interaction_mode;
local_nh.param("interaction_mode", interaction_mode,
std::string("rectangle"));
setMode(stringToMode(interaction_mode));
resize_x_ = 1.0 / xx;
resize_y_ = 1.0 / yy;
filename_format_.parse(format_string);
font_ = cv::FONT_HERSHEY_DUPLEX;
window_selection_.x = window_selection_.y = window_selection_.height =
window_selection_.width = 0;
image_pub_ = it.advertise("image_marked", 1);
local_image_pub_ = local_it.advertise("marked", 1);
image_sub_ = it.subscribe(camera, 1, &ImageView2::imageCb, this, transport);
info_sub_ = nh.subscribe(camera_info, 1, &ImageView2::infoCb, this);
marker_sub_ = nh.subscribe(marker_topic_, 10, &ImageView2::markerCb, this);
event_sub_ =
local_nh.subscribe(camera + "/event", 100, &ImageView2::eventCb, this);
change_mode_srv_ = local_nh.advertiseService(
"change_mode", &ImageView2::changeModeServiceCallback, this);
rectangle_mode_srv_ = local_nh.advertiseService(
"rectangle_mode", &ImageView2::rectangleModeServiceCallback, this);
grabcut_mode_srv_ = local_nh.advertiseService(
"grabcut_mode", &ImageView2::grabcutModeServiceCallback, this);
grabcut_rect_mode_srv_ = local_nh.advertiseService(
"grabcut_rect_mode", &ImageView2::grabcutRectModeServiceCallback, this);
line_mode_srv_ = local_nh.advertiseService(
"line_mode", &ImageView2::lineModeServiceCallback, this);
poly_mode_srv_ = local_nh.advertiseService(
"poly_mode", &ImageView2::polyModeServiceCallback, this);
none_mode_srv_ = local_nh.advertiseService(
"none_mode", &ImageView2::noneModeServiceCallback, this);
srv_ = boost::make_shared< dynamic_reconfigure::Server< Config > >(local_nh);
dynamic_reconfigure::Server< Config >::CallbackType f =
boost::bind(&ImageView2::config_callback, this, _1, _2);
srv_->setCallback(f);
cv::Mat kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(5, 5));
mpClosingFilter =
cv::cuda::createMorphologyFilter(cv::MORPH_CLOSE, CV_32F, kernel);
mpOpeningFilter =
cv::cuda::createMorphologyFilter(cv::MORPH_OPEN, CV_32F, kernel);
}
ImageView2::~ImageView2() {
if (use_window) {
cv::destroyWindow(window_name_.c_str());
}
}
void ImageView2::config_callback(Config& config, uint32_t level) {
draw_grid_ = config.grid;
fisheye_mode_ = config.fisheye_mode;
div_u_ = config.div_u;
div_v_ = config.div_v;
grid_red_ = config.grid_red;
grid_blue_ = config.grid_blue;
grid_green_ = config.grid_green;
grid_thickness_ = config.grid_thickness;
space_ = config.grid_space;
}
void ImageView2::markerCb(const image_view2::ImageMarker2ConstPtr& marker) {
ROS_DEBUG("markerCb");
// convert lifetime to duration from Time(0)
if (marker->lifetime != ros::Duration(0))
boost::const_pointer_cast< image_view2::ImageMarker2 >(marker)->lifetime =
(ros::Time::now() - ros::Time(0)) + marker->lifetime;
{
boost::mutex::scoped_lock lock(queue_mutex_);
marker_queue_.push_back(marker);
}
redraw();
}
void ImageView2::infoCb(const sensor_msgs::CameraInfoConstPtr& msg) {
ROS_DEBUG("infoCb");
boost::mutex::scoped_lock lock(info_mutex_);
info_msg_ = msg;
}
bool ImageView2::lookupTransformation(std::string frame_id,
ros::Time& acquisition_time,
std::map< std::string, int >& tf_fail,
tf::StampedTransform& transform) {
ros::Duration timeout(tf_timeout_); // wait 0.5 sec
try {
ros::Time tm;
tf_listener_.getLatestCommonTime(cam_model_.tfFrame(), frame_id, tm, NULL);
tf_listener_.waitForTransform(cam_model_.tfFrame(), frame_id,
acquisition_time, timeout);
tf_listener_.lookupTransform(cam_model_.tfFrame(), frame_id,
acquisition_time, transform);
tf_fail[frame_id] = 0;
return true;
} catch (tf::TransformException& ex) {
tf_fail[frame_id]++;
if (tf_fail[frame_id] < 5) {
ROS_ERROR("[image_view2] TF exception:\n%s", ex.what());
} else {
ROS_DEBUG("[image_view2] TF exception:\n%s", ex.what());
}
return false;
}
}
void ImageView2::drawCircle(const image_view2::ImageMarker2::ConstPtr& marker) {
cv::Point2d uv = cv::Point2d(marker->position.x, marker->position.y);
if (blurry_mode_) {
int s0 = (marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width);
CvScalar co = MsgToRGB(marker->outline_color);
for (int s1 = s0 * 10; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / (s0 * 9)), 2);
cv::circle(draw_, uv,
(marker->scale == 0 ? DEFAULT_CIRCLE_SCALE : marker->scale),
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), s1);
}
} else {
cv::circle(draw_, uv,
(marker->scale == 0 ? DEFAULT_CIRCLE_SCALE : marker->scale),
MsgToRGB(marker->outline_color),
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
if (marker->filled) {
cv::circle(
draw_, uv,
(marker->scale == 0 ? DEFAULT_CIRCLE_SCALE : marker->scale) -
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width) / 2.0,
MsgToRGB(marker->fill_color), -1);
}
}
}
void ImageView2::drawLineStrip(
const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
cv::Point2d p0, p1;
if (blurry_mode_) {
int s0 = (marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width);
std::vector< CvScalar >::iterator col_it = colors.begin();
CvScalar co = (*col_it);
for (int s1 = s0 * 10; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / (s0 * 9)), 2);
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1,
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), s1);
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
} else {
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
}
void ImageView2::drawLineList(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
cv::Point2d p0, p1;
if (blurry_mode_) {
int s0 = (marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width);
std::vector< CvScalar >::iterator col_it = colors.begin();
CvScalar co = (*col_it);
for (int s1 = s0 * 10; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / (s0 * 9)), 2);
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
for (; it != end;) {
p0 = cv::Point2d(it->x, it->y);
it++;
if (it != end) p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1,
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), s1);
it++;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
} else {
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
for (; it != end;) {
p0 = cv::Point2d(it->x, it->y);
it++;
if (it != end) p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
it++;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
}
void ImageView2::drawPolygon(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
cv::Point2d p0, p1;
if (blurry_mode_) {
int s0 = (marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width);
std::vector< CvScalar >::iterator col_it = colors.begin();
CvScalar co = (*col_it);
for (int s1 = s0 * 10; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / (s0 * 9)), 2);
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1,
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), s1);
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
it = marker->points.begin();
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1,
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), s1);
}
} else {
std::vector< geometry_msgs::Point >::const_iterator it =
marker->points.begin();
std::vector< geometry_msgs::Point >::const_iterator end =
marker->points.end();
std::vector< cv::Point > points;
if (marker->filled) {
points.push_back(cv::Point(it->x, it->y));
}
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
if (marker->filled) {
points.push_back(cv::Point(it->x, it->y));
}
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
it = marker->points.begin();
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
if (marker->filled) {
cv::fillConvexPoly(draw_, points.data(), points.size(),
MsgToRGB(marker->fill_color));
}
}
}
void ImageView2::drawPoints(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
BOOST_FOREACH (geometry_msgs::Point p, marker->points) {
cv::Point2d uv = cv::Point2d(p.x, p.y);
if (blurry_mode_) {
int s0 = (marker->scale == 0 ? 3 : marker->scale);
CvScalar co = (*col_it);
for (int s1 = s0 * 2; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / s0), 2);
cv::circle(draw_, uv, s1,
CV_RGB(co.val[2] * m, co.val[1] * m, co.val[0] * m), -1);
}
} else {
cv::circle(draw_, uv, (marker->scale == 0 ? 3 : marker->scale), *col_it,
-1);
}
if (++col_it == colors.end()) col_it = colors.begin();
}
}
void ImageView2::drawFrames(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
BOOST_FOREACH (std::string frame_id, marker->frames) {
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
if (!lookupTransformation(frame_id, acquisition_time, tf_fail, transform)) {
return;
}
// center point
tf::Point pt = transform.getOrigin();
cv::Point3d pt_cv(pt.x(), pt.y(), pt.z());
cv::Point2d uv;
uv = cam_model_.project3dToPixel(pt_cv);
static const int RADIUS = 3;
cv::circle(draw_, uv, RADIUS, DEFAULT_COLOR, -1);
// x, y, z
cv::Point2d uv0, uv1, uv2;
tf::Stamped< tf::Point > pin, pout;
// x
pin = tf::Stamped< tf::Point >(tf::Point(0.05, 0, 0), acquisition_time,
frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv0 =
cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
// y
pin = tf::Stamped< tf::Point >(tf::Point(0, 0.05, 0), acquisition_time,
frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv1 =
cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
// z
pin = tf::Stamped< tf::Point >(tf::Point(0, 0, 0.05), acquisition_time,
frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv2 =
cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
// draw
if (blurry_mode_) {
int s0 = 2;
CvScalar c0 = CV_RGB(255, 0, 0);
CvScalar c1 = CV_RGB(0, 255, 0);
CvScalar c2 = CV_RGB(0, 0, 255);
for (int s1 = s0 * 10; s1 >= s0; s1--) {
double m = pow((1.0 - ((double)(s1 - s0)) / (s0 * 9)), 2);
cv::line(draw_, uv, uv0,
CV_RGB(c0.val[2] * m, c0.val[1] * m, c0.val[0] * m), s1);
cv::line(draw_, uv, uv1,
CV_RGB(c1.val[2] * m, c1.val[1] * m, c1.val[0] * m), s1);
cv::line(draw_, uv, uv2,
CV_RGB(c2.val[2] * m, c2.val[1] * m, c2.val[0] * m), s1);
}
} else {
cv::line(draw_, uv, uv0, CV_RGB(255, 0, 0), 2);
cv::line(draw_, uv, uv1, CV_RGB(0, 255, 0), 2);
cv::line(draw_, uv, uv2, CV_RGB(0, 0, 255), 2);
}
// index
cv::Size text_size;
int baseline;
text_size = cv::getTextSize(frame_id.c_str(), font_, 1.0, 1.0, &baseline);
cv::Point origin =
cv::Point(uv.x - text_size.width / 2, uv.y - RADIUS - baseline - 3);
cv::putText(draw_, frame_id.c_str(), origin, font_, 1.0, DEFAULT_COLOR,
1.5);
}
}
cv::Point ImageView2::ratioPoint(double x, double y) {
if (last_msg_) {
return cv::Point(last_msg_->width * x, last_msg_->height * y);
} else {
return cv::Point(0, 0);
}
}
void ImageView2::drawText(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
cv::Size text_size;
int baseline;
float scale = marker->scale;
if (scale == 0) scale = 1.0;
text_size =
cv::getTextSize(marker->text.c_str(), font_, scale, scale, &baseline);
// fix scale
if (marker->ratio_scale) {
cv::Size a_size = cv::getTextSize("A", font_, 1.0, 1.0, &baseline);
int height_size = a_size.height;
double desired_size = last_msg_->height * scale;
scale = desired_size / height_size;
ROS_DEBUG("text scale: %f", scale);
}
cv::Point origin;
if (marker->left_up_origin) {
if (marker->ratio_scale) {
origin = ratioPoint(marker->position.x, marker->position.y);
} else {
origin = cv::Point(marker->position.x, marker->position.y);
}
} else {
if (marker->ratio_scale) {
cv::Point p = ratioPoint(marker->position.x, marker->position.y);
origin = cv::Point(p.x - text_size.width / 2, p.y + baseline + 3);
} else {
origin = cv::Point(marker->position.x - text_size.width / 2,
marker->position.y + baseline + 3);
}
}
if (marker->filled) {
cv::putText(draw_, marker->text.c_str(), origin, font_, scale,
DEFAULT_COLOR, marker->filled);
} else {
cv::putText(draw_, marker->text.c_str(), origin, font_, scale,
DEFAULT_COLOR);
}
}
void ImageView2::drawLineStrip3D(
const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->points3D.header.frame_id;
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
// ros::Time acquisition_time = msg->points3D.header.stamp;
ros::Duration timeout(tf_timeout_); // wait 0.5 sec
try {
ros::Time tm;
tf_listener_.getLatestCommonTime(cam_model_.tfFrame(), frame_id, tm, NULL);
ros::Duration diff = ros::Time::now() - tm;
if (diff > ros::Duration(1.0)) {
return;
}
tf_listener_.waitForTransform(cam_model_.tfFrame(), frame_id,
acquisition_time, timeout);
tf_listener_.lookupTransform(cam_model_.tfFrame(), frame_id,
acquisition_time, transform);
tf_fail[frame_id] = 0;
} catch (tf::TransformException& ex) {
tf_fail[frame_id]++;
if (tf_fail[frame_id] < 5) {
ROS_ERROR("[image_view2] TF exception:\n%s", ex.what());
} else {
ROS_DEBUG("[image_view2] TF exception:\n%s", ex.what());
}
return;
}
std::vector< geometry_msgs::Point > points2D;
BOOST_FOREACH (geometry_msgs::Point p, marker->points3D.points) {
tf::Point pt = transform.getOrigin();
geometry_msgs::PointStamped pt_cam, pt_;
pt_cam.header.frame_id = cam_model_.tfFrame();
pt_cam.header.stamp = acquisition_time;
pt_cam.point.x = pt.x();
pt_cam.point.y = pt.y();
pt_cam.point.z = pt.z();
tf_listener_.transformPoint(frame_id, pt_cam, pt_);
cv::Point2d uv;
tf::Stamped< tf::Point > pin, pout;
pin = tf::Stamped< tf::Point >(
tf::Point(pt_.point.x + p.x, pt_.point.y + p.y, pt_.point.z + p.z),
acquisition_time, frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv = cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
geometry_msgs::Point point2D;
point2D.x = uv.x;
point2D.y = uv.y;
points2D.push_back(point2D);
}
cv::Point2d p0, p1;
std::vector< geometry_msgs::Point >::const_iterator it = points2D.begin();
std::vector< geometry_msgs::Point >::const_iterator end = points2D.end();
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
void ImageView2::drawLineList3D(
const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->points3D.header.frame_id;
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
if (!lookupTransformation(frame_id, acquisition_time, tf_fail, transform)) {
return;
}
std::vector< geometry_msgs::Point > points2D;
BOOST_FOREACH (geometry_msgs::Point p, marker->points3D.points) {
tf::Point pt = transform.getOrigin();
geometry_msgs::PointStamped pt_cam, pt_;
pt_cam.header.frame_id = cam_model_.tfFrame();
pt_cam.header.stamp = acquisition_time;
pt_cam.point.x = pt.x();
pt_cam.point.y = pt.y();
pt_cam.point.z = pt.z();
tf_listener_.transformPoint(frame_id, pt_cam, pt_);
cv::Point2d uv;
tf::Stamped< tf::Point > pin, pout;
pin = tf::Stamped< tf::Point >(
tf::Point(pt_.point.x + p.x, pt_.point.y + p.y, pt_.point.z + p.z),
acquisition_time, frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv = cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
geometry_msgs::Point point2D;
point2D.x = uv.x;
point2D.y = uv.y;
points2D.push_back(point2D);
}
cv::Point2d p0, p1;
std::vector< geometry_msgs::Point >::const_iterator it = points2D.begin();
std::vector< geometry_msgs::Point >::const_iterator end = points2D.end();
for (; it != end;) {
p0 = cv::Point2d(it->x, it->y);
it++;
if (it != end) p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
it++;
if (++col_it == colors.end()) col_it = colors.begin();
}
}
void ImageView2::drawPolygon3D(
const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->points3D.header.frame_id;
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
if (!lookupTransformation(frame_id, acquisition_time, tf_fail, transform)) {
return;
}
std::vector< geometry_msgs::Point > points2D;
BOOST_FOREACH (geometry_msgs::Point p, marker->points3D.points) {
tf::Point pt = transform.getOrigin();
geometry_msgs::PointStamped pt_cam, pt_;
pt_cam.header.frame_id = cam_model_.tfFrame();
pt_cam.header.stamp = acquisition_time;
pt_cam.point.x = pt.x();
pt_cam.point.y = pt.y();
pt_cam.point.z = pt.z();
tf_listener_.transformPoint(frame_id, pt_cam, pt_);
cv::Point2d uv;
tf::Stamped< tf::Point > pin, pout;
pin = tf::Stamped< tf::Point >(
tf::Point(pt_.point.x + p.x, pt_.point.y + p.y, pt_.point.z + p.z),
acquisition_time, frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv = cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
geometry_msgs::Point point2D;
point2D.x = uv.x;
point2D.y = uv.y;
points2D.push_back(point2D);
}
cv::Point2d p0, p1;
std::vector< geometry_msgs::Point >::const_iterator it = points2D.begin();
std::vector< geometry_msgs::Point >::const_iterator end = points2D.end();
std::vector< cv::Point > points;
if (marker->filled) {
points.push_back(cv::Point(it->x, it->y));
}
p0 = cv::Point2d(it->x, it->y);
it++;
for (; it != end; it++) {
p1 = cv::Point2d(it->x, it->y);
if (marker->filled) {
points.push_back(cv::Point(it->x, it->y));
}
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
p0 = p1;
if (++col_it == colors.end()) col_it = colors.begin();
}
it = points2D.begin();
p1 = cv::Point2d(it->x, it->y);
cv::line(draw_, p0, p1, *col_it,
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
if (marker->filled) {
cv::fillConvexPoly(draw_, points.data(), points.size(),
MsgToRGB(marker->fill_color));
}
}
void ImageView2::drawPoints3D(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->points3D.header.frame_id;
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
if (!lookupTransformation(frame_id, acquisition_time, tf_fail, transform)) {
return;
}
BOOST_FOREACH (geometry_msgs::Point p, marker->points3D.points) {
tf::Point pt = transform.getOrigin();
geometry_msgs::PointStamped pt_cam, pt_;
pt_cam.header.frame_id = cam_model_.tfFrame();
pt_cam.header.stamp = acquisition_time;
pt_cam.point.x = pt.x();
pt_cam.point.y = pt.y();
pt_cam.point.z = pt.z();
tf_listener_.transformPoint(frame_id, pt_cam, pt_);
cv::Point2d uv;
tf::Stamped< tf::Point > pin, pout;
pin = tf::Stamped< tf::Point >(
tf::Point(pt_.point.x + p.x, pt_.point.y + p.y, pt_.point.z + p.z),
acquisition_time, frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv = cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
cv::circle(draw_, uv, (marker->scale == 0 ? 3 : marker->scale), *col_it,
-1);
}
}
void ImageView2::drawText3D(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->position3D.header.frame_id;
tf::StampedTransform transform;
ros::Time acquisition_time = last_msg_->header.stamp;
if (!lookupTransformation(frame_id, acquisition_time, tf_fail, transform)) {
return;
}
tf::Point pt = transform.getOrigin();
geometry_msgs::PointStamped pt_cam, pt_;
pt_cam.header.frame_id = cam_model_.tfFrame();
pt_cam.header.stamp = acquisition_time;
pt_cam.point.x = pt.x();
pt_cam.point.y = pt.y();
pt_cam.point.z = pt.z();
tf_listener_.transformPoint(frame_id, pt_cam, pt_);
cv::Point2d uv;
tf::Stamped< tf::Point > pin, pout;
pin = tf::Stamped< tf::Point >(
tf::Point(pt_.point.x + marker->position3D.point.x,
pt_.point.y + marker->position3D.point.y,
pt_.point.z + marker->position3D.point.z),
acquisition_time, frame_id);
tf_listener_.transformPoint(cam_model_.tfFrame(), pin, pout);
uv = cam_model_.project3dToPixel(cv::Point3d(pout.x(), pout.y(), pout.z()));
cv::Size text_size;
int baseline;
float scale = marker->scale;
if (scale == 0) scale = 1.0;
text_size =
cv::getTextSize(marker->text.c_str(), font_, scale, scale, &baseline);
cv::Point origin = cv::Point(uv.x - text_size.width / 2, uv.y - baseline - 3);
cv::putText(draw_, marker->text.c_str(), origin, font_, scale,
CV_RGB(0, 255, 0), 3);
}
void ImageView2::drawCircle3D(const image_view2::ImageMarker2::ConstPtr& marker,
std::vector< CvScalar >& colors,
std::vector< CvScalar >::iterator& col_it) {
static std::map< std::string, int > tf_fail;
std::string frame_id = marker->pose.header.frame_id;
geometry_msgs::PoseStamped pose;
ros::Time acquisition_time = last_msg_->header.stamp;
ros::Duration timeout(tf_timeout_); // wait 0.5 sec
try {
ros::Time tm;
tf_listener_.getLatestCommonTime(cam_model_.tfFrame(), frame_id, tm, NULL);
tf_listener_.waitForTransform(cam_model_.tfFrame(), frame_id,
acquisition_time, timeout);
tf_listener_.transformPose(cam_model_.tfFrame(), acquisition_time,
marker->pose, frame_id, pose);
tf_fail[frame_id] = 0;
} catch (tf::TransformException& ex) {
tf_fail[frame_id]++;
if (tf_fail[frame_id] < 5) {
ROS_ERROR("[image_view2] TF exception:\n%s", ex.what());
} else {
ROS_DEBUG("[image_view2] TF exception:\n%s", ex.what());
}
return;
}
tf::Quaternion q;
tf::quaternionMsgToTF(pose.pose.orientation, q);
tf::Matrix3x3 rot = tf::Matrix3x3(q);
double angle = (marker->arc == 0 ? 360.0 : marker->angle);
double scale = (marker->scale == 0 ? DEFAULT_CIRCLE_SCALE : marker->scale);
int N = 100;
std::vector< std::vector< cv::Point2i > > ptss;
std::vector< cv::Point2i > pts;
for (int i = 0; i < N; ++i) {
double th = angle * i / N * TFSIMD_RADS_PER_DEG;
tf::Vector3 v = rot * tf::Vector3(scale * tfCos(th), scale * tfSin(th), 0);
cv::Point2d pt = cam_model_.project3dToPixel(cv::Point3d(
pose.pose.position.x + v.getX(), pose.pose.position.y + v.getY(),
pose.pose.position.z + v.getZ()));
pts.push_back(cv::Point2i((int)pt.x, (int)pt.y));
}
ptss.push_back(pts);
cv::polylines(draw_, ptss, (marker->arc == 0 ? true : false),
MsgToRGB(marker->outline_color),
(marker->width == 0 ? DEFAULT_LINE_WIDTH : marker->width));
if (marker->filled) {
if (marker->arc != 0) {
cv::Point2d pt = cam_model_.project3dToPixel(cv::Point3d(
pose.pose.position.x, pose.pose.position.y, pose.pose.position.z));
pts.push_back(cv::Point2i((int)pt.x, (int)pt.y));
ptss.clear();
ptss.push_back(pts);
}
cv::fillPoly(draw_, ptss, MsgToRGB(marker->fill_color));
}
}
void ImageView2::resolveLocalMarkerQueue() {
{
boost::mutex::scoped_lock lock(queue_mutex_);
while (!marker_queue_.empty()) {
// remove marker by namespace and id
V_ImageMarkerMessage::iterator new_msg = marker_queue_.begin();
V_ImageMarkerMessage::iterator message_it = local_queue_.begin();
for (; message_it < local_queue_.end(); ++message_it) {
if ((*new_msg)->ns == (*message_it)->ns &&
(*new_msg)->id == (*message_it)->id)
message_it = local_queue_.erase(message_it);
}
local_queue_.push_back(*new_msg);
marker_queue_.erase(new_msg);
// if action == REMOVE and id == -1, clear all marker_queue
if ((*new_msg)->action == image_view2::ImageMarker2::REMOVE &&
(*new_msg)->id == -1) {
local_queue_.clear();
}
}
}
// check lifetime and remove REMOVE-type marker msg
for (V_ImageMarkerMessage::iterator it = local_queue_.begin();
it < local_queue_.end(); it++) {
if ((*it)->action == image_view2::ImageMarker2::REMOVE ||
((*it)->lifetime.toSec() != 0.0 &&
(*it)->lifetime.toSec() < ros::Time::now().toSec())) {
it = local_queue_.erase(it);
}
}
}
void ImageView2::drawMarkers() {
resolveLocalMarkerQueue();
if (!local_queue_.empty()) {
V_ImageMarkerMessage::iterator message_it = local_queue_.begin();
V_ImageMarkerMessage::iterator message_end = local_queue_.end();
ROS_DEBUG("markers = %ld", local_queue_.size());
// processMessage;
for (; message_it != message_end; ++message_it) {
image_view2::ImageMarker2::ConstPtr& marker = *message_it;
ROS_DEBUG_STREAM("message type = " << marker->type << ", id "
<< marker->id);
// outline colors
std::vector< CvScalar > colors;
BOOST_FOREACH (std_msgs::ColorRGBA color, marker->outline_colors) {
colors.push_back(MsgToRGB(color));
}
if (colors.size() == 0) colors.push_back(DEFAULT_COLOR);
std::vector< CvScalar >::iterator col_it = colors.begin();
// check camera_info
if (marker->type == image_view2::ImageMarker2::FRAMES ||
marker->type == image_view2::ImageMarker2::LINE_STRIP3D ||
marker->type == image_view2::ImageMarker2::LINE_LIST3D ||
marker->type == image_view2::ImageMarker2::POLYGON3D ||
marker->type == image_view2::ImageMarker2::POINTS3D ||
marker->type == image_view2::ImageMarker2::TEXT3D ||
marker->type == image_view2::ImageMarker2::CIRCLE3D) {
{
boost::mutex::scoped_lock lock(info_mutex_);
if (!info_msg_) {
ROS_WARN("[image_view2] camera_info could not found");
continue;
}
cam_model_.fromCameraInfo(info_msg_);
}
}
// CIRCLE, LINE_STRIP, LINE_LIST, POLYGON, POINTS
switch (marker->type) {
case image_view2::ImageMarker2::CIRCLE: {
drawCircle(marker);
break;
}
case image_view2::ImageMarker2::LINE_STRIP: {
drawLineStrip(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::LINE_LIST: {
drawLineList(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::POLYGON: {
drawPolygon(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::POINTS: {
drawPoints(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::FRAMES: {
drawFrames(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::TEXT: {
drawText(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::LINE_STRIP3D: {
drawLineStrip3D(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::LINE_LIST3D: {
drawLineList3D(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::POLYGON3D: {
drawPolygon3D(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::POINTS3D: {
drawPoints3D(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::TEXT3D: {
drawText3D(marker, colors, col_it);
break;
}
case image_view2::ImageMarker2::CIRCLE3D: {
drawCircle3D(marker, colors, col_it);
break;
}
default: {
ROS_WARN("Undefined Marker type(%d)", marker->type);
break;
}
}
}
}
}
void ImageView2::drawInteraction() {
if (mode_ == MODE_RECTANGLE) {
cv::rectangle(draw_, cv::Point(window_selection_.x, window_selection_.y),
cv::Point(window_selection_.x + window_selection_.width,
window_selection_.y + window_selection_.height),
USER_ROI_COLOR, 3, 8, 0);
} else if (mode_ == MODE_SERIES) {
if (point_array_.size() > 1) {
cv::Point2d from, to;
from = point_array_[0];
for (size_t i = 1; i < point_array_.size(); i++) {