137 lines
3.8 KiB
C++
137 lines
3.8 KiB
C++
#include <ros/ros.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/features/normal_3d_omp.h>
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#include <hand_control/Plan.h>
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#include <time.h>
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#include <math.h>
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#include <dynamic_reconfigure/server.h>
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#include <hand_control/EstimatorConfig.h>
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#include <pcl/common/pca.h>
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typedef pcl::PointXYZRGB Point;
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typedef pcl::PointCloud<Point> PointCloud;
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typedef Eigen::Matrix3f& Matrix;
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class Callback {
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public:
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void callback(const PointCloud::ConstPtr& msg)
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{
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ROS_INFO("PointCloud received");
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if (msg->width > 3){
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analyser.setInputCloud(msg);
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Matrix eg = analyser.getEigenVectors();
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float x, y, z, th, h, c;
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x = y = z = th = h = c = 0.;
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// we consider the whole PointCloud
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std::vector<int> indices;
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for (int i = 0; i < msg->points.size(); ++i)
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indices.push_back(i);
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// v = eg_1 ^ eg_2 is the plan normal
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Eigen::Vector3f v = eg.col(0).cross(eg.col(1));
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// norm(v) == 1
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v.normalize();
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if (!reverse)
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{
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x = v(0); y=v(1);
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} else {
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x = v(1); y = v(0);
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}
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z=v(2);
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// h is the altitude
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h = (analyser.getMean())(2);
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// this formula is good only if :
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// -pi/2 <= th <= pi/2
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// ie cos(th) == m_x >= 0
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float m_x, m_y;
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if (reverse_angle)
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{
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m_x = eg(0,0);
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m_y = eg(1,0);
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} else {
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m_x = eg(1,0);
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m_y = eg(0,0);
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}
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if (m_x < 0.)
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m_y *= -1;
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th = - asin(m_y / sqrt(pow(m_y,2)+ pow(m_x,2)));
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// 0 <= th <= pi
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th *= _RAD2DEG;
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// -90 <= th <= 90
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// publication
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ROS_INFO("Plan published");
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publisher.publish(to_Plan(x, y, z, h, th, c, msg->header.seq, msg->header.stamp, msg->width));
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}
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}
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Callback(ros::Publisher& pub):publisher(pub), _RAD2DEG(45.f/atan(1.)), reverse(false), reverse_angle(false) {};
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void reconfigure(const hand_control::EstimatorConfig& c, const uint32_t& level) {
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reverse = c.reverse ;
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reverse_angle = c.reverse_angle;
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}
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private:
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ros::Publisher publisher;
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pcl::PCA<Point> analyser;
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const float _RAD2DEG;
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bool reverse, reverse_angle;
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inline const hand_control::Plan::ConstPtr
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to_Plan(const float& x, const float& y,
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const float& z, const float& h,
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const float& th,
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const float& c, const uint32_t& seq,
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const uint64_t& msec64, const uint64_t& number)
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{
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hand_control::Plan::Ptr ros_msg(new hand_control::Plan());
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ros_msg->normal.x = x;
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ros_msg->normal.y = y;
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ros_msg->normal.z = z;
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ros_msg->altitude = h;
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ros_msg->angle = th;
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ros_msg->curvature = c;
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ros_msg->number = number;
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// uint64_t msec64 is in ms (10-6)
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uint64_t sec64 = msec64 / 1000000;
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uint64_t nsec64 = (msec64 % 1000000) * 1000;
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ros_msg->header.stamp.sec = (uint32_t) sec64;
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ros_msg->header.stamp.nsec = (uint32_t) nsec64;
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ros_msg->header.seq = seq;
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ros_msg->header.frame_id = "0";
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return ros_msg;
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}
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};
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "estimator");
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ros::NodeHandle node("estimator");
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ros::Publisher publisher = node.advertise<hand_control::Plan>("output", 1);
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Callback callback(publisher);
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ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, &Callback::callback, &callback);
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dynamic_reconfigure::Server<hand_control::EstimatorConfig> server;
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dynamic_reconfigure::Server<hand_control::EstimatorConfig>::CallbackType f;
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f = boost::bind(&Callback::reconfigure, &callback, _1, _2);
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server.setCallback(f);
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ROS_INFO("node started");
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ros::spin();
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ROS_INFO("exit");
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return 0;
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}
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