Java tutorial
/* * Copyright (C) 2016 Marvin Ferber. * * Licensed under the Apache License, Version 2.0 (the "License"); you may not * use this file except in compliance with the License. You may obtain a copy of * the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations under * the License. */ package arlocros; import com.google.common.base.Optional; import geometry_msgs.Point; import geometry_msgs.Pose; import geometry_msgs.PoseStamped; import geometry_msgs.Quaternion; import geometry_msgs.Transform; import geometry_msgs.TransformStamped; import geometry_msgs.Vector3; import jp.nyatla.nyartoolkit.core.NyARException; import org.apache.commons.lang.exception.ExceptionUtils; import org.apache.commons.logging.Log; import org.opencv.calib3d.Calib3d; import org.opencv.core.Core; import org.opencv.core.CvType; import org.opencv.core.Mat; import org.opencv.core.MatOfDouble; import org.opencv.core.Scalar; import org.opencv.core.Size; import org.ros.message.Duration; import org.ros.message.MessageListener; import org.ros.message.Time; import org.ros.namespace.GraphName; import org.ros.node.ConnectedNode; import org.ros.node.topic.Publisher; import org.ros.node.topic.Subscriber; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import sensor_msgs.CameraInfo; import tf2_msgs.TFMessage; import javax.annotation.Nullable; import java.io.FileNotFoundException; import java.util.concurrent.Executors; import java.util.concurrent.TimeUnit; import java.util.concurrent.atomic.AtomicReference; /** * Main Class of the ARLocROS Node setting up publishers and subscribers. Note the TF lookup * implementation based on Transformer by Lorenz Moesenlechner. */ public final class ArMarkerPoseEstimator implements PoseEstimator { private static final Logger logger = LoggerFactory.getLogger(ArMarkerPoseEstimator.class); private CameraParams camp; @Nullable private Parameter parameter; private MarkerConfig markerConfig; protected org.ros.rosjava_geometry.Transform last_pose; protected Time last_timestamp; protected boolean smoothing = true; private static Log log; private final Publisher<PoseStamped> posePublisher; private AtomicReference<PoseStamped> mostRecentPose; @Nullable private final HeartbeatMonitor heartbeatMonitor; private ArMarkerPoseEstimator(final ConnectedNode connectedNode, Parameter parameter, Publisher<PoseStamped> posePublisher, @Nullable HeartbeatMonitor heartbeatMonitor) { mostRecentPose = new AtomicReference<>(); this.parameter = parameter; this.posePublisher = posePublisher; this.heartbeatMonitor = heartbeatMonitor; Executors.newSingleThreadExecutor().submit(new Runnable() { @Override public void run() { start(connectedNode); } }); } public static ArMarkerPoseEstimator create(ConnectedNode connectedNode, Parameter parameter, Publisher<PoseStamped> posePublisher, @Nullable HeartbeatMonitor heartbeatMonitor) { return new ArMarkerPoseEstimator(connectedNode, parameter, posePublisher, heartbeatMonitor); } private void start(final ConnectedNode connectedNode) { // load OpenCV shared library System.loadLibrary(Core.NATIVE_LIBRARY_NAME); // read configuration variables from the ROS Runtime (configured in the // launch file) log = connectedNode.getLog(); // Read Marker Config markerConfig = MarkerConfig.createFromConfig(parameter.markerConfigFile(), parameter.patternDirectory()); camp = getCameraInfo(connectedNode, parameter); // start to listen to transform messages in /tf in order to feed the // Transformer and lookup transforms final TransformationService transformationService = TransformationService.create(connectedNode); // Subscribe to Image Subscriber<sensor_msgs.Image> subscriberToImage = connectedNode.newSubscriber(parameter.cameraImageTopic(), sensor_msgs.Image._TYPE); ComputePose computePose = null; try { final Mat cameraMatrix = CameraParams.getCameraMatrix(camp); final MatOfDouble distCoeffs = CameraParams.getDistCoeffs(camp); computePose = ComputePose.create(markerConfig, new Size(camp.width(), camp.height()), cameraMatrix, distCoeffs, this.parameter.visualization()); } catch (NyARException e) { logger.info("Cannot initialize ComputePose", e); } catch (FileNotFoundException e) { logger.info("Cannot find file when initialize ComputePose", e); } final ComputePose poseProcessor = computePose; final Publisher<tf2_msgs.TFMessage> tfPublisherCamToMarker = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); final Publisher<tf2_msgs.TFMessage> tfPublisherMapToOdom = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); logger.info("My instance id is " + parameter.instanceId()); if (heartbeatMonitor != null) { logger.info("Start waiting for arlocros id: " + (parameter.instanceId() - 1)); while (true) { final Time currentTime = connectedNode.getCurrentTime(); final Time lastHeartbeatTime = heartbeatMonitor.getLastTimeReceivedMessage(); if (lastHeartbeatTime != null) { final Duration duration = currentTime.subtract(lastHeartbeatTime); if (duration.totalNsecs() > 3.0E8) { logger.info("Not received any heartbeat for 300ms. Start running."); break; } } } } subscriberToImage.addMessageListener(new MessageListener<sensor_msgs.Image>() { @Override public void onNewMessage(sensor_msgs.Image message) { // if (!message.getEncoding().toLowerCase().equals("rgb8")) { log.error("Sorry, " + message.getEncoding() + " Image encoding is not supported! EXITING"); System.exit(-1); } if (camp != null) { try { // final Mat image = Utils.matFromImage(message); // uncomment to add more contrast to the image final Mat thresholdedImage = Utils.tresholdContrastBlackWhite(image, parameter.filterBlockSize(), parameter.subtractedConstant(), parameter.invertBlackWhiteColor()); image.release(); // Mat cannyimg = new Mat(image.height(), image.width(), // CvType.CV_8UC3); // Imgproc.Canny(image, cannyimg, 10, 100); // Imshow.show(cannyimg); // image.convertTo(image, -1, 1.5, 0); // setup camera matrix and return vectors // compute pose final Mat rvec = new Mat(3, 1, CvType.CV_64F); final MatOfDouble tvec = new MatOfDouble(1.0, 1.0, 1.0); final boolean hasPose = poseProcessor.computePose(rvec, tvec, thresholdedImage); if (!hasPose) { return; } thresholdedImage.release(); // publish pose final QuaternionHelper q = new QuaternionHelper(); // convert rotation vector result of solvepnp to rotation matrix Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // see publishers before for documentation final Mat tvec_map_cam = new MatOfDouble(1.0, 1.0, 1.0); R = R.t(); final double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); final double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); final double attitudeZ = Math.asin(R.get(1, 0)[0]); q.setFromEuler(bankX, headingY, attitudeZ); Core.multiply(R, new Scalar(-1), R); Core.gemm(R, tvec, 1, new Mat(), 0, tvec_map_cam, 0); R.release(); final org.ros.rosjava_geometry.Quaternion rotation = new org.ros.rosjava_geometry.Quaternion( q.getX(), q.getY(), q.getZ(), q.getW()); final double x = tvec_map_cam.get(0, 0)[0]; final double y = tvec_map_cam.get(1, 0)[0]; final double z = tvec_map_cam.get(2, 0)[0]; tvec_map_cam.release(); final org.ros.rosjava_geometry.Vector3 translation = new org.ros.rosjava_geometry.Vector3(x, y, z); final org.ros.rosjava_geometry.Transform transform_map_cam = new org.ros.rosjava_geometry.Transform( translation, rotation); // odom to camera_rgb_optical_frame final GraphName sourceFrame = GraphName.of(parameter.cameraFrameName()); final GraphName targetFrame = GraphName.of("base_link"); org.ros.rosjava_geometry.Transform transform_cam_base = null; if (transformationService.canTransform(targetFrame, sourceFrame)) { try { transform_cam_base = transformationService.lookupTransform(targetFrame, sourceFrame); } catch (Exception e) { log.error(ExceptionUtils.getStackTrace(e)); log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "base_link! " + "However, will continue.."); // cancel this loop..no result can be computed return; } } else { log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "base_link!" + " However, " + "will continue.."); // cancel this loop..no result can be computed return; } // multiply results org.ros.rosjava_geometry.Transform current_pose = org.ros.rosjava_geometry.Transform .identity(); current_pose = current_pose.multiply(transform_map_cam); current_pose = current_pose.multiply(transform_cam_base); if (current_pose.getTranslation().getZ() < 0.5) { return; } // check for plausibility of the pose by checking if movement // exceeds max speed (defined) of the robot if (parameter.badPoseReject()) { Time current_timestamp = connectedNode.getCurrentTime(); // TODO Unfortunately, we do not have the tf timestamp at // hand here. So we can only use the current timestamp. double maxspeed = 5; boolean goodpose = false; // if (current_pose != null && current_timestamp != null) { if ((last_pose != null && last_timestamp != null) && !Double.isNaN(last_pose.getTranslation().getX())) { // check speed of movement between last and current pose double distance = PoseCompare.distance(current_pose, last_pose); double timedelta = PoseCompare.timedelta(current_timestamp, last_timestamp); if ((distance / timedelta) < maxspeed) { if (smoothing) { double xold = last_pose.getTranslation().getX(); double yold = last_pose.getTranslation().getY(); double zold = last_pose.getTranslation().getZ(); double xnew = current_pose.getTranslation().getX(); double ynew = current_pose.getTranslation().getY(); double znew = current_pose.getTranslation().getZ(); final org.ros.rosjava_geometry.Vector3 smoothTranslation = new org.ros.rosjava_geometry.Vector3( (xold * 2 + xnew) / 3, (yold * 2 + ynew) / 3, (zold * 2 + znew) / 3); current_pose = new org.ros.rosjava_geometry.Transform(smoothTranslation, current_pose.getRotationAndScale()); last_pose = current_pose; } last_pose = current_pose; last_timestamp = current_timestamp; goodpose = true; } else { log.info("distance " + distance + " time: " + timedelta + " --> Pose rejected"); log.info("current pose: " + current_pose.getTranslation().getX() + " " + current_pose.getTranslation().getY() + " " + current_pose.getTranslation().getZ()); log.info("last pose: " + last_pose.getTranslation().getX() + " " + last_pose.getTranslation().getY() + " " + last_pose.getTranslation().getZ()); } } else { last_pose = current_pose; last_timestamp = current_timestamp; } // } // bad pose rejection if (!goodpose) { return; } } // set information to message final geometry_msgs.PoseStamped posestamped = posePublisher.newMessage(); Pose pose = posestamped.getPose(); Quaternion orientation = pose.getOrientation(); Point point = pose.getPosition(); point.setX(current_pose.getTranslation().getX()); point.setY(current_pose.getTranslation().getY()); point.setZ(current_pose.getTranslation().getZ()); orientation.setW(current_pose.getRotationAndScale().getW()); orientation.setX(current_pose.getRotationAndScale().getX()); orientation.setY(current_pose.getRotationAndScale().getY()); orientation.setZ(current_pose.getRotationAndScale().getZ()); // frame_id too posestamped.getHeader().setFrameId("map"); posestamped.getHeader().setStamp(connectedNode.getCurrentTime()); posePublisher.publish(posestamped); mostRecentPose.set(posestamped); // publishCamFrameToMarkerFrame(rvec, tvec, tfPublisherCamToMarker, connectedNode); // publishMapToOdom( // rvec, tvec, transformationService, tfPublisherMapToOdom, connectedNode); rvec.release(); tvec.release(); } catch (Exception e) { logger.info("An exception occurs.", e); } } } }); } private static CameraParams getCameraInfo(ConnectedNode connectedNode, Parameter parameter) { // Subscribe // to // camera // info Subscriber<CameraInfo> subscriberToCameraInfo = connectedNode.newSubscriber(parameter.cameraInfoTopic(), CameraInfo._TYPE); final CameraInfoService cameraInfoService = CameraInfoService.create(subscriberToCameraInfo); Optional<CameraParams> cameraParamsOptional = cameraInfoService.getCameraParams(); while (!cameraParamsOptional.isPresent()) { // we're not gonna do anything before getting the camera info try { TimeUnit.MILLISECONDS.sleep(100); } catch (InterruptedException e) { log.error(ExceptionUtils.getStackTrace(e)); } cameraParamsOptional = cameraInfoService.getCameraParams(); } return cameraParamsOptional.get(); } /** @return */ public static Log getLog() { return log; } private void publishCamFrameToMarkerFrame(Mat rvec, Mat tvec, Publisher<tf2_msgs.TFMessage> tfPublisherCamToMarker, ConnectedNode connectedNode) { QuaternionHelper q = new QuaternionHelper(); /* * http://euclideanspace.com/maths/geometry/rotations/ * conversions/matrixToEuler/index.htm * http://stackoverflow.com/questions/12933284/rodrigues-into- * eulerangles-and-vice-versa * * heading = atan2(-m20,m00) attitude = asin(m10) bank = * atan2(-m12,m11) */ // convert output rotation vector rvec to rotation matrix R Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // get rotations around X,Y,Z from rotation matrix R double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); double attitudeZ = Math.asin(R.get(1, 0)[0]); R.release(); // convert Euler angles to quarternion q.setFromEuler(bankX, headingY, attitudeZ); // set information to message TFMessage tfmessage = tfPublisherCamToMarker.newMessage(); TransformStamped posestamped = connectedNode.getTopicMessageFactory() .newFromType(geometry_msgs.TransformStamped._TYPE); Transform transform = posestamped.getTransform(); Quaternion orientation = transform.getRotation(); Vector3 point = transform.getTranslation(); point.setX(tvec.get(0, 0)[0]); point.setY(tvec.get(1, 0)[0]); point.setZ(tvec.get(2, 0)[0]); orientation.setW(q.getW()); orientation.setX(q.getX()); orientation.setY(q.getY()); orientation.setZ(q.getZ()); posestamped.getHeader().setFrameId(parameter.cameraFrameName()); posestamped.setChildFrameId(parameter.markerFrameName()); posestamped.getHeader().setStamp(connectedNode.getCurrentTime()); // frame_id too tfmessage.getTransforms().add(posestamped); tfPublisherCamToMarker.publish(tfmessage); } private void publishMapToOdom(Mat rvec, Mat tvec, TransformationService transformationService, Publisher<tf2_msgs.TFMessage> tfPublisherMapToOdom, ConnectedNode connectedNode) { // compute transform map to odom from map to // camera_rgb_optical_frame and odom to camera_rgb_optical_frame // map to camera_rgb_optical_frame Mat tvec_map_cam = new MatOfDouble(1.0, 1.0, 1.0); QuaternionHelper q = new QuaternionHelper(); // get rotation matrix R from solvepnp output rotation vector // rvec Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // transpose R, because we need the transformation from // world(map) to camera R = R.t(); // get rotation around X,Y,Z from R in radiants double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); double attitudeZ = Math.asin(R.get(1, 0)[0]); q.setFromEuler(bankX, headingY, attitudeZ); // compute translation vector from world (map) to cam // tvec_map_cam Core.multiply(R, new Scalar(-1), R); // R=-R Core.gemm(R, tvec, 1, new Mat(), 0, tvec_map_cam, 0); // tvec_map_cam=R*tvec R.release(); org.ros.rosjava_geometry.Quaternion rotation = new org.ros.rosjava_geometry.Quaternion(q.getX(), q.getY(), q.getZ(), q.getW()); double x = tvec_map_cam.get(0, 0)[0]; double y = tvec_map_cam.get(1, 0)[0]; double z = tvec_map_cam.get(2, 0)[0]; tvec_map_cam.release(); // create a Transform Object that hold the transform map to cam org.ros.rosjava_geometry.Vector3 translation = new org.ros.rosjava_geometry.Vector3(x, y, z); org.ros.rosjava_geometry.Transform transform_map_cam = new org.ros.rosjava_geometry.Transform(translation, rotation); // odom to camera_rgb_optical_frame GraphName sourceFrame = GraphName.of(parameter.cameraFrameName()); GraphName targetFrame = GraphName.of("odom"); org.ros.rosjava_geometry.Transform transform_cam_odom = null; if (transformationService.canTransform(targetFrame, sourceFrame)) { try { transform_cam_odom = transformationService.lookupTransform(targetFrame, sourceFrame); } catch (Exception e) { log.error(ExceptionUtils.getStackTrace(e)); log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "odom! " + "" + "" + "" + "" + "However, " + "will continue.."); return; } } else { log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "odom! " + "However, will " + "continue.."); // cancel this loop..no result can be computed return; } // multiply results org.ros.rosjava_geometry.Transform result = org.ros.rosjava_geometry.Transform.identity(); result = result.multiply(transform_map_cam); result = result.multiply(transform_cam_odom); // set information to ROS message TFMessage tfMessage = tfPublisherMapToOdom.newMessage(); TransformStamped transformStamped = connectedNode.getTopicMessageFactory() .newFromType(geometry_msgs.TransformStamped._TYPE); Transform transform = transformStamped.getTransform(); Quaternion orientation = transform.getRotation(); Vector3 vector = transform.getTranslation(); vector.setX(result.getTranslation().getX()); vector.setY(result.getTranslation().getY()); vector.setZ(result.getTranslation().getZ()); orientation.setW(result.getRotationAndScale().getW()); orientation.setX(result.getRotationAndScale().getX()); orientation.setY(result.getRotationAndScale().getY()); orientation.setZ(result.getRotationAndScale().getZ()); transformStamped.getHeader().setFrameId("map"); transformStamped.setChildFrameId("odom"); transformStamped.getHeader().setStamp(connectedNode.getCurrentTime()); // frame_id too tfMessage.getTransforms().add(transformStamped); tfPublisherMapToOdom.publish(tfMessage); } @Override public Optional<PoseStamped> getMostRecentPose() { final PoseStamped poseStamped = mostRecentPose.get(); if (poseStamped == null) { return Optional.absent(); } else { return Optional.of(poseStamped); } } }