config_cam.cpp

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#include <iostream> 
#include <stdio.h> 
#include <ros/ros.h>    
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_transport/image_transport.h>
#include <signal.h>
#include <fstream>
#include <tf/transform_listener.h>
#include <tf/tf.h>
#include <ros/package.h>
#include <math.h>
using namespace std;

void sighandler(int sig)
{
        ROS_ERROR("Signal %d caught...",sig);
        cout<<"Shuting down road_recognition"<<endl;
        exit(0);
}

void Callback(const sensor_msgs::CameraInfoPtr& cam_info)
{
        tf::TransformListener lt;
        tf::StampedTransform trans_cam;
        
        string target_ref = "/atc/vehicle/center_bumper";
        string ref = cam_info->header.frame_id;
        
        /* Obter as transformações dos referenciais */
        try
        {
                lt.lookupTransform( ref.c_str() , target_ref.c_str() , ros::Time(0), trans_cam);
                ROS_INFO("Found");
        }
        catch (tf::TransformException ex)
        {
                ROS_INFO("Transformation not found:  entered catch for 1.5 seconds!");
                if(lt.waitForTransform( ref.c_str() , target_ref.c_str(),ros::Time(0), ros::Duration(1.5)))
                {
                        try
                        {
                                lt.lookupTransform( ref.c_str() , target_ref.c_str() , ros::Time(0), trans_cam);
                                ROS_INFO("Found");
                        }
                        catch (tf::TransformException ex)
                        {
                                ROS_ERROR("Transformation not found: tansforrmation not found after waiting 1.5 seconds\n.%s",ex.what());
                        }
                }
                else
                {
                        ROS_ERROR("Transformation not found: Could not find valid transform after waiting 1.5 seconds\n.%s",ex.what());
                        exit(0);
                }
                
        };
        
        double R,P,Y;
        tf::Quaternion q;
        q = trans_cam.getRotation(); 
        double height = trans_cam.getOrigin().z() * 1000;
        /* convert from quaternion to RPY */
        tf::Matrix3x3(q).getRPY(R, P, Y);
        
        /* Show camera configurations*/
        cout<<"---> Camera configurations"<<endl;
        cout<<"imge size "<<endl<<"\t"<<cam_info->height<<" x "<<cam_info->width<<endl;
        cout<<"distortion_model:"<<endl<<"\t"<<cam_info->distortion_model<<endl;
        cout<<"focal lengthstrans_cam"<<endl<<"\t fx ="<<cam_info->K[0]<<"  fy = "<<cam_info->K[4]<<endl;
        cout<<"principal point"<<endl<<"\t cx ="<<cam_info->K[2]<<"  cy = "<<cam_info->K[5]<<endl;      
        cout<<"cameraHeight = "<<endl;
        cout<<"pitch ="<<P<<endl;
        cout<<"yaw = "<<Y<<endl;
        
        /* Converter de radianos para graus */
        P = (P + (M_PI/2)) * ( 180/M_PI );
        Y = (Y + (M_PI/2)) * ( 180/M_PI );
        
        /* Save camera configuration do file */
        /* Abrir o ficheiro */
        std::string file_path=ros::package::getPath("caltech_lanes")+"/config/CameraInfo.conf";
        cout<<"file_path:"<<file_path<<endl;
        ofstream myfile(file_path.c_str(),ios::trunc);
        if (myfile.is_open())
        {
                /* Escrever as definições da camera dectro do ficheiro */
                myfile<<"\n# focal length\n";
                myfile<<"focalLengthX "<<cam_info->K[0]<<"\n";
                myfile<<"focalLengthY "<<cam_info->K[4]<<"\n";
                myfile<<"\n# optical center \n";
                myfile<<"opticalCenterX "<<cam_info->K[2]<<"\n";
                myfile<<"opticalCenterY "<<cam_info->K[5]<<"\n";
                myfile<<"\n# height of the camera in mm\n";
                myfile<<"cameraHeight "<<height<<"\n";
                myfile<<"\n# pitch of the camera\n";
                myfile<<"pitch "<<P<<"\n";
                myfile<<"\n# yaw of the camera\n";
                myfile<<"yaw "<<Y<<"\n";
                myfile<<"\n# imag width and height\n";
                myfile<<"imageWidth "<<cam_info->width<<"\n";
                myfile<<"imageHeight "<<cam_info->height<<"\n";
                /* fechar o ficheiro */
                myfile.close();
                /* Configurações gravadas com sucesso */
                cout<<"---> Camera configurations Updated"<<endl;
                exit(0); /* terminar o programa */
        }
        else 
        {
                cout << "Unable to open file"<<endl;
                exit(0);
        }       
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "camera_configurations");
        
        string messages;
        ros::NodeHandle nh("~");
        /* obter os parametros de entrada do launch file */
        nh.param("cam_info",messages,string("/snr/scam/wide/left/camera_info"));
//      nh.param("ref",ref,string("/atc/camera/xb3/left") );
        /* parametros subscritos do launch file */
        cout<<"cam_info: "<<messages<<endl;
//      cout<<"ref: "<<ref<<endl;
        /* Obter as definições das cameras do Atlas e guardar para ficheiro */
        signal(SIGINT, &sighandler);
        ROS_INFO("messages = %s",messages.c_str());
        ros::Subscriber sub = nh.subscribe(messages.c_str(), 1, Callback);
        ros::spin();
        return 0;
}