kinect_plugin.cpp

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#include "kinect_plugin.h"
 
#include <rgbd/image.h>
 
#include <ros/node_handle.h>
 
#include <ed/entity.h>
#include <ed/error_context.h>
#include <ed/update_request.h>
#include <ed/uuid.h>
#include <ed/world_model.h>
 
#include <tue/config/reader.h>
 
#include <rgbd/view.h>
 
#include "ed/kinect/association.h"
 
// GetImage
#include <rgbd/serialization.h>
#include <tue/serialization/conversions.h>
#include <ed/io/json_writer.h>
#include <ed/serialization/serialization.h>
 
#include <geolib/ros/msg_conversions.h>
 
//#include <opencv2/highgui/highgui.hpp>
 
#include "ray_tracer.h"
 
// ----------------------------------------------------------------------------------------------------
 
KinectPlugin::KinectPlugin()
{
    ed::ErrorContext errc("RGBDPlugin", "constructor");
}
 
// ----------------------------------------------------------------------------------------------------
 
KinectPlugin::~KinectPlugin()
{
    ed::ErrorContext errc("RGBDPlugin", "destructor");
}
 
// ----------------------------------------------------------------------------------------------------
 
void KinectPlugin::initialize(ed::InitData& init)
{
    ed::ErrorContext errc("RGBDPlugin", "initialize");
    tue::Configuration& config = init.config;
 
    std::string topic;
    if (config.value("topic", topic))
    {
        ROS_INFO_STREAM("[ED KINECT PLUGIN] Initializing kinect client with topic '" << topic << "'.");
        image_buffer_.initialize(topic, "map");
    }
 
    if (config.readGroup("updater", tue::config::REQUIRED))
    {
        updater_ = std::make_unique<Updater>(config.limitScope());
        config.endGroup();
    }
 
    // - - - - - - - - - - - - - - - - - -
    // Services
 
    ros::NodeHandle nh("~");
    nh.setCallbackQueue(&cb_queue_);
 
    srv_get_image_ = nh.advertiseService("kinect/get_image", &KinectPlugin::srvGetImage, this);
    srv_update_ = nh.advertiseService("kinect/update", &KinectPlugin::srvUpdate, this);
    srv_ray_trace_ = nh.advertiseService("ray_trace", &KinectPlugin::srvRayTrace, this);
 
    ray_trace_visualization_publisher_ = nh.advertise<visualization_msgs::Marker>("ray_trace_visualization", 10);
}
 
// ----------------------------------------------------------------------------------------------------
 
void KinectPlugin::process(const ed::PluginInput& data, ed::UpdateRequest& req)
{
    ed::ErrorContext errc("RGBDPlugin", "process");
    // - - - - - - - - - - - - - - - - - -
    // Fetch kinect image and pose
 
//    last_image_.reset();
//    if (!image_buffer_.nextImage("map", last_image_, last_sensor_pose_))
//        return;
 
    // - - - - - - - - - - - - - - - - - -
    // Check ROS callback queue
 
    world_ = &data.world;
    update_req_ = &req;
 
    cb_queue_.callAvailable();
 
    // - - - - - - - - - - - - - - - - - -
 
//    cv::imshow("kinect", last_image_->getRGBImage());
//    cv::waitKey(3);
}
 
// ----------------------------------------------------------------------------------------------------
 
bool KinectPlugin::srvGetImage(ed_sensor_integration_msgs::GetImage::Request& req, ed_sensor_integration_msgs::GetImage::Response& res)
{
    ed::ErrorContext errc("RGBDPlugin", "srvGetImage");
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Get new image
 
    rgbd::ImageConstPtr image;
    geo::Pose3D sensor_pose;
 
    if (!image_buffer_.waitForRecentImage(image, sensor_pose, 2.0))
    {
        res.error_msg = "Could not get image";
        return true;
    }
 
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Serialize RGBD image
 
    std::stringstream stream;
    tue::serialization::OutputArchive a(stream);
    rgbd::serialize(*image, a, rgbd::RGB_STORAGE_JPG, rgbd::DEPTH_STORAGE_PNG);
    tue::serialization::convert(stream, res.rgbd_data);
 
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Write meta data
 
    std::stringstream meta_data;
    ed::io::JSONWriter w(meta_data);
 
    // Write sensor pose
    w.writeGroup("sensor_pose");
    ed::serialize(sensor_pose, w);
    w.endGroup();
 
    // Write rgbd filename
    w.writeValue("rgbd_filename", req.filename + ".rgbd");
 
    // Write timestamp
    w.writeGroup("timestamp");
    ed::serializeTimestamp(image->getTimestamp(), w);
    w.endGroup();
 
    w.finish();
 
    res.json_meta_data = meta_data.str();
 
    ROS_INFO_STREAM("[ED KINECT] Requested image. Image size: " << res.rgbd_data.size()
                    << " bytes. Meta-data size: " << res.json_meta_data.size() << " bytes.");
 
    return true;
}
 
// ----------------------------------------------------------------------------------------------------
 
bool KinectPlugin::srvUpdate(ed_sensor_integration_msgs::Update::Request& req, ed_sensor_integration_msgs::Update::Response& res)
{
    ed::ErrorContext errc("RGBDPlugin", "srvUpdate");
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Get new image
 
    rgbd::ImageConstPtr image;
    geo::Pose3D sensor_pose;
 
    if (!image_buffer_.waitForRecentImage(image, sensor_pose, 2.0))
    {
        res.error_msg = "Could not get image";
        return true;
    }
 
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Perform update
 
    UpdateRequest kinect_update_req;
    kinect_update_req.area_description = req.area_description;
    kinect_update_req.background_padding = req.background_padding;
    kinect_update_req.fit_supporting_entity = req.fit_supporting_entity;
 
    // We expect the orientation of the supporting entity to be approximately correct.
    // Therefore, only allow rotation updates up to 45 degrees (both clock-wise and anti-clock-wise)
    kinect_update_req.max_yaw_change = 0.25 * M_PI;
 
    UpdateResult kinect_update_res(*update_req_);
    if (!updater_->update(*world_, image, sensor_pose, kinect_update_req, kinect_update_res))
    {
        res.error_msg = kinect_update_res.error.str();
        return true;
    }
 
    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    // Set result
 
    for(unsigned int i = 0; i < kinect_update_res.entity_updates.size(); ++i)
    {
        EntityUpdate& e_update = kinect_update_res.entity_updates[i];
        if (e_update.is_new)
            res.new_ids.push_back(e_update.id.str());
        else
            res.updated_ids.push_back(e_update.id.str());
 
        // Lock it, such that is won't be cleared by the clearer plugin
        update_req_->setFlag(e_update.id, "locked");
    }
 
    for(unsigned int i = 0; i < kinect_update_res.removed_entity_ids.size(); ++i)
        res.deleted_ids.push_back(kinect_update_res.removed_entity_ids[i].str());
 
    return true;
}
 
// ----------------------------------------------------------------------------------------------------
 
bool KinectPlugin::srvRayTrace(ed_sensor_integration_msgs::RayTrace::Request& req, ed_sensor_integration_msgs::RayTrace::Response& res)
{
    ed::ErrorContext errc("RGBDPlugin", "srvRayTrace");
    if (req.raytrace_pose.header.frame_id != "/map" && req.raytrace_pose.header.frame_id != "map")
    {
        ROS_ERROR("KinectPlugin::srvRayTrace only works with poses expressed in map frame");
        return false;
    }
 
    geo::Pose3D ray_trace_pose;
    geo::convert(req.raytrace_pose.pose, ray_trace_pose);
 
    ed_ray_tracer::RayTraceResult ray_trace_result = ed_ray_tracer::ray_trace(*world_, ray_trace_pose);
 
    if (!ray_trace_result.success_)
    {
        ROS_ERROR("ed_ray_tracer::RayTrace failed!");
        return false;
    }
 
    res.entity_id = ray_trace_result.entity_id_;
    geo::convert(ray_trace_result.intersection_point_, res.intersection_point.point);
    res.intersection_point.header.stamp = ros::Time::now();
    res.intersection_point.header.frame_id = "map";
 
    visualization_msgs::Marker marker_msg;
    marker_msg.header.frame_id = "map";
    marker_msg.header.stamp = ros::Time::now();
    marker_msg.action = visualization_msgs::Marker::ADD;
    marker_msg.color.a = 0.5;
    marker_msg.lifetime = ros::Duration(10.0);
    marker_msg.scale.x = 0.05;
 
    static int iter = 0;
    if (++iter % 2 == 0)
    {
        marker_msg.color.b = marker_msg.color.r = 1;
    }
    else
    {
        marker_msg.color.b = marker_msg.color.g = 1;
    }
 
    marker_msg.type = visualization_msgs::Marker::LINE_STRIP;
 
    marker_msg.points.push_back(req.raytrace_pose.pose.position);
    marker_msg.points.push_back(res.intersection_point.point);
    ray_trace_visualization_publisher_.publish(marker_msg);
    marker_msg.color.a = marker_msg.color.r = marker_msg.color.g = marker_msg.color.b = 1;
    marker_msg.scale.x = 0.02;
    marker_msg.id = 1;
    ray_trace_visualization_publisher_.publish(marker_msg);
 
    //
    for(ed::WorldModel::const_iterator it = world_->begin(); it != world_->end(); ++it)
    {
        const ed::EntityConstPtr& e = *it;
        if (e->hasFlag("highlighted"))
            update_req_->removeFlag(e->id(), "highlighted");
    }
 
    //
    ed::EntityConstPtr highlighted_e = world_->getEntity(res.entity_id);
    if (highlighted_e)
    {
        ROS_INFO("Hit on %s", res.entity_id.c_str());
        update_req_->setFlag(res.entity_id, "highlighted");
        ROS_INFO("Setting %s to highlighted", res.entity_id.c_str());
    }
 
    return true;
}
 
// ----------------------------------------------------------------------------------------------------
 
ED_REGISTER_PLUGIN(KinectPlugin)