orientation_calibration.cpp

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 Software License Agreement (BSD License)                                                           *
 
 Copyright (c) 2011-2014, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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#include <iostream>
#include <pthread.h>

#include <math.h>   
#include <string>
#include <sstream>
#include <fstream>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <iostream>

#include <boost/asio.hpp>
#include <boost/array.hpp>
#include <boost/thread.hpp>
#include <boost/asio/ip/tcp.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/locks.hpp>
#include <boost/thread/thread.hpp>

#include <arpa/inet.h>
#include <stdbool.h>
#include <stdio.h>
#include <sys/socket.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <gtk/gtk.h>
#include <stdlib.h>
#include <sys/shm.h>
#include <errno.h>
#include <math.h>
#include <ctype.h>
#include <time.h>
#include <sys/time.h>
#include <fcntl.h>
#include "cv.h"
#include "highgui.h"
#include <cairo.h>

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <sensor_msgs/Range.h>
#include <ros/package.h>
#include <geometry_msgs/Vector3.h>

#include <Eigen/Dense>
#include <Eigen/Geometry>



using namespace std;



extern "C"
{

GtkBuilder *builderG;       
double read_values[17];     
double last_values[16];     
void delete_handler(GtkWidget * widget, GdkEvent * event, gpointer user_data)
{
    g_print("You should not use the OS to force leave!\n");
    read_values[17]=0;
    gtk_main_quit();
}

void bt_sair_on(GtkWidget * widget, GdkEventMotion * event, gpointer user_data)
{
    read_values[17]=0;
    gtk_main_quit();
}

void bt_ler_on(GtkWidget * widget, GdkEventMotion * event, gpointer user_data)
{   
    char estadosensor[512];
    
    char estadoxx0[512];
    char estadoxx1[512];
    char estadoxx2[512];
    char estadoxx3[512];
    char estadoxx4[512];
    char estadoxx5[512];
    char estadoxx6[512];
    char estadoxx7[512];
    
    char estadoyy0[512];
    char estadoyy1[512];
    char estadoyy2[512];
    char estadoyy3[512];
    char estadoyy4[512];
    char estadoyy5[512];
    char estadoyy6[512];
    char estadoyy7[512];
    
    GtkWidget *senso= GTK_WIDGET(gtk_builder_get_object (builderG, "sensores"));
    
    GtkWidget *x_0= GTK_WIDGET(gtk_builder_get_object (builderG, "x0"));
    GtkWidget *y_0= GTK_WIDGET(gtk_builder_get_object (builderG, "y0"));
    
    GtkWidget *x_1= GTK_WIDGET(gtk_builder_get_object (builderG, "x1"));
    GtkWidget *y_1= GTK_WIDGET(gtk_builder_get_object (builderG, "y1"));
    
    GtkWidget *x_2= GTK_WIDGET(gtk_builder_get_object (builderG, "x2"));
    GtkWidget *y_2= GTK_WIDGET(gtk_builder_get_object (builderG, "y2"));
    
    GtkWidget *x_3= GTK_WIDGET(gtk_builder_get_object (builderG, "x3"));
    GtkWidget *y_3= GTK_WIDGET(gtk_builder_get_object (builderG, "y3"));
    
    GtkWidget *x_4= GTK_WIDGET(gtk_builder_get_object (builderG, "x4"));
    GtkWidget *y_4= GTK_WIDGET(gtk_builder_get_object (builderG, "y4"));
    
    GtkWidget *x_5= GTK_WIDGET(gtk_builder_get_object (builderG, "x5"));
    GtkWidget *y_5= GTK_WIDGET(gtk_builder_get_object (builderG, "y5"));
    
    GtkWidget *x_6= GTK_WIDGET(gtk_builder_get_object (builderG, "x6"));
    GtkWidget *y_6= GTK_WIDGET(gtk_builder_get_object (builderG, "y6"));
    
    GtkWidget *x_7= GTK_WIDGET(gtk_builder_get_object (builderG, "x7"));
    GtkWidget *y_7= GTK_WIDGET(gtk_builder_get_object (builderG, "y7"));
    
    sprintf(estadosensor,"%f",last_values[0]);
    
    sprintf(estadoxx0,"%f",last_values[1]);
    sprintf(estadoyy0,"%f",last_values[2]);
    
    sprintf(estadoxx1,"%f",last_values[3]);
    sprintf(estadoyy1,"%f",last_values[4]);
    
    sprintf(estadoxx2,"%f",last_values[5]);
    sprintf(estadoyy2,"%f",last_values[6]);
    
    sprintf(estadoxx3,"%f",last_values[7]);
    sprintf(estadoyy3,"%f",last_values[8]);
    
    sprintf(estadoxx4,"%f",last_values[9]);
    sprintf(estadoyy4,"%f",last_values[10]);
    
    sprintf(estadoxx5,"%f",last_values[11]);
    sprintf(estadoyy5,"%f",last_values[12]);
    
    sprintf(estadoxx6,"%f",last_values[13]);
    sprintf(estadoyy6,"%f",last_values[14]);
    
    sprintf(estadoxx7,"%f",last_values[15]);
    sprintf(estadoyy7,"%f",last_values[16]);
    
    gtk_entry_set_text((GtkEntry *)senso,estadosensor);
    
    gtk_entry_set_text((GtkEntry *)x_0,estadoxx0);
    gtk_entry_set_text((GtkEntry *)y_0,estadoyy0);
    
    gtk_entry_set_text((GtkEntry *)x_1,estadoxx1);
    gtk_entry_set_text((GtkEntry *)y_1,estadoyy1);
    
    gtk_entry_set_text((GtkEntry *)x_2,estadoxx2);
    gtk_entry_set_text((GtkEntry *)y_2,estadoyy2);
   
    gtk_entry_set_text((GtkEntry *)x_3,estadoxx3);
    gtk_entry_set_text((GtkEntry *)y_3,estadoyy3);
    
    gtk_entry_set_text((GtkEntry *)x_4,estadoxx4);
    gtk_entry_set_text((GtkEntry *)y_4,estadoyy4);
    
    gtk_entry_set_text((GtkEntry *)x_5,estadoxx5);
    gtk_entry_set_text((GtkEntry *)y_5,estadoyy5);
    
    gtk_entry_set_text((GtkEntry *)x_6,estadoxx6);
    gtk_entry_set_text((GtkEntry *)y_6,estadoyy6);
    
    gtk_entry_set_text((GtkEntry *)x_7,estadoxx7);
    gtk_entry_set_text((GtkEntry *)y_7,estadoyy7);
    
    
}

void bt_calibrar_on(GtkWidget * widget, GdkEventMotion * event, gpointer user_data)
{
    double x0,x1,x2,x3,x4,x5,x6,x7,y0,y1,y2,y3,y4,y5,y6,y7,sensors;
    
    const gchar* sensor;
    
    const gchar* xx0;
    const gchar* xx1;
    const gchar* xx2;
    const gchar* xx3;
    const gchar* xx4;
    const gchar* xx5;
    const gchar* xx6;
    const gchar* xx7;
    
    const gchar* yy0;
    const gchar* yy1;
    const gchar* yy2;
    const gchar* yy3;
    const gchar* yy4;
    const gchar* yy5;
    const gchar* yy6;
    const gchar* yy7;
    
    GtkWidget *senso= GTK_WIDGET(gtk_builder_get_object (builderG, "sensores"));
    
    GtkWidget *x_0= GTK_WIDGET(gtk_builder_get_object (builderG, "x0"));
    GtkWidget *y_0= GTK_WIDGET(gtk_builder_get_object (builderG, "y0"));
    
    GtkWidget *x_1= GTK_WIDGET(gtk_builder_get_object (builderG, "x1"));
    GtkWidget *y_1= GTK_WIDGET(gtk_builder_get_object (builderG, "y1"));
    
    GtkWidget *x_2= GTK_WIDGET(gtk_builder_get_object (builderG, "x2"));
    GtkWidget *y_2= GTK_WIDGET(gtk_builder_get_object (builderG, "y2"));
    
    GtkWidget *x_3= GTK_WIDGET(gtk_builder_get_object (builderG, "x3"));
    GtkWidget *y_3= GTK_WIDGET(gtk_builder_get_object (builderG, "y3"));
    
    GtkWidget *x_4= GTK_WIDGET(gtk_builder_get_object (builderG, "x4"));
    GtkWidget *y_4= GTK_WIDGET(gtk_builder_get_object (builderG, "y4"));
    
    GtkWidget *x_5= GTK_WIDGET(gtk_builder_get_object (builderG, "x5"));
    GtkWidget *y_5= GTK_WIDGET(gtk_builder_get_object (builderG, "y5"));
    
    GtkWidget *x_6= GTK_WIDGET(gtk_builder_get_object (builderG, "x6"));
    GtkWidget *y_6= GTK_WIDGET(gtk_builder_get_object (builderG, "y6"));
    
    GtkWidget *x_7= GTK_WIDGET(gtk_builder_get_object (builderG, "x7"));
    GtkWidget *y_7= GTK_WIDGET(gtk_builder_get_object (builderG, "y7"));
    
    sensor=gtk_entry_get_text((GtkEntry *)senso);
    
    xx0=gtk_entry_get_text((GtkEntry *)x_0);
    yy0=gtk_entry_get_text((GtkEntry *)y_0);
    
    xx1=gtk_entry_get_text((GtkEntry *)x_1);
    yy1=gtk_entry_get_text((GtkEntry *)y_1);
    
    xx2=gtk_entry_get_text((GtkEntry *)x_2);
    yy2=gtk_entry_get_text((GtkEntry *)y_2);
    
    xx3=gtk_entry_get_text((GtkEntry *)x_3);
    yy3=gtk_entry_get_text((GtkEntry *)y_3);
    
    xx4=gtk_entry_get_text((GtkEntry *)x_4);
    yy4=gtk_entry_get_text((GtkEntry *)y_4);
    
    xx5=gtk_entry_get_text((GtkEntry *)x_5);
    yy5=gtk_entry_get_text((GtkEntry *)y_5);
    
    xx6=gtk_entry_get_text((GtkEntry *)x_6);
    yy6=gtk_entry_get_text((GtkEntry *)y_6);
    
    xx7=gtk_entry_get_text((GtkEntry *)x_7);
    yy7=gtk_entry_get_text((GtkEntry *)y_7);
    
    sensors=atof(sensor);
    
    x0=atof(xx0);
    y0=atof(yy0);
    
    x1=atof(xx1);
    y1=atof(yy1);
    
    x2=atof(xx2);
    y2=atof(yy2);
    
    x3=atof(xx3);
    y3=atof(yy3);
    
    x4=atof(xx4);
    y4=atof(yy4);
    
    x5=atof(xx5);
    y5=atof(yy5);
    
    x6=atof(xx6);
    y6=atof(yy6);
    
    x7=atof(xx7);
    y7=atof(yy7);
    

    read_values[0]=(sensors);
    
    read_values[1]=(x0);
    read_values[2]=(y0);
    
    read_values[3]=(x1);
    read_values[4]=(y1);
    
    read_values[5]=(x2);
    read_values[6]=(y2);
    
    read_values[7]=(x3);
    read_values[8]=(y3);
    
    read_values[9]=(x4);
    read_values[10]=(y4);
    
    read_values[11]=(x5);
    read_values[12]=(y5);
    
    read_values[13]=(x6);
    read_values[14]=(y6);
    
    read_values[15]=(x7);
    read_values[16]=(y7);
    
    read_values[17]=1;
    gtk_main_quit();
}
    
}

class Interface
{
public:
    void start()
    {
        int startup;
        
        gtk_init(0,0);
        builderG = gtk_builder_new ();
        /* load the interface from a file return positive number if no error or 0 if got an error*/
        startup=gtk_builder_add_from_file(builderG,"home/sergio/workincopies/lar4/src/sensors/optoelectric/src/Interface/calibrar.glade", NULL);
        if( ! startup ) // se for zero entra na função que dá erro.
        {
            g_print("%s File was not found. Aborting!\n", "/home/sergio/workingcopies/lar4/src/sensors/optoelectric/src/Interface/calibrar.glade");
        }
        //     cout << "conecting signals" << endl;
        /* connect the signals in the interface */
        gtk_builder_connect_signals (builderG, NULL);
        //     cout << "conecting signals out" << endl;
        /* get main window ID and connect special signals */
        /* This is necessary because names must be read from the user GUI file*/
        GtkWidget *m = GTK_WIDGET(gtk_builder_get_object (builderG, "Main"));
        /*Connect the desireg interface signals*/
        
        //     cout <<"GTK WIDGET: " << m << endl;
        
        if(m)
        {
            g_signal_connect(G_OBJECT(m), "delete-event", G_CALLBACK(delete_handler), NULL);
        }
        
        //     cout << "Ciclo on!" << endl;
        gtk_main();
    }
    
};
class Plane
{
public:
    Plane()
    {
        a=0;b=0;c=0;d=0;
    }
    
    double a,b,c,d;
};
class SharpMath
{
public:
    SharpMath()
    {
        
    }
    void readParameters(string parameters_file)
    {
        cv::FileStorage parameters(parameters_file.c_str(),cv::FileStorage::READ);
        
        number_sensors = (int)parameters["number_sensors"];
           
        for(uint s = 0;s<8;s++)
        {
            Eigen::Vector2d pos;
            
            pos(0) = parameters["x"+to_string(s)];
            pos(1) = parameters["y"+to_string(s)];
            
            sensors_positions.push_back(pos);
            
            Eigen::VectorXd curve(4);
            
            curve(0) = parameters["p1_"+to_string(s)];
            curve(1) = parameters["p2_"+to_string(s)];
            curve(2) = parameters["p3_"+to_string(s)];
            curve(3) = parameters["p4_"+to_string(s)];
            
            sensors_curve_parameters.push_back(curve);
        }
        
        
        last_values[0]=number_sensors;
        
        for(uint nn = 0;nn<number_sensors;nn++)
        {
            last_values[2*nn+1]=sensors_positions[nn](0);
            last_values[2*nn+2]=sensors_positions[nn](1);
        }
        
    }
    Plane getPlane(vector<double> values)
    {
        Eigen::VectorXd g(number_sensors);
        g = Eigen::VectorXd::Ones(number_sensors);
        
        //cout<<"g: "<<g<<endl;
        
        Eigen::MatrixXd F(number_sensors,3);
        
//         cout << "size: " <<values.size()<< endl;
        
        for(uint i=0;i<number_sensors;i++)
        {
            F(i,0) = read_values[2*i+1];
            F(i,1) = read_values[2*i+2];
            F(i,2) = values[i];
        }
        
//         cout << "F: " << F << endl;
        
        Eigen::VectorXd r(3);
        
       
        
        r = ((F.transpose()*F).inverse() * F.transpose())*g;
        
//         cout << "r: " << r << endl;
        
        double zp = ((-r(0)/r(2))*sensors_positions[0](0)) - ((r(1)/r(2))*sensors_positions[0](1));
        
        double d = values[0] - zp;
        double a = r(0)*d;
        double b = r(1)*d;
        double c = r(2)*d;
        
        Plane temp;
        
        temp.a=a;
        temp.b=b;
        temp.c=c;
        temp.d=d;
        
        return temp;
    }
    double getPitch( Plane p)
    {
        double a, b, c, d;
        a=p.a;
        b=p.b;
        c=p.c;
        d=p.d;
        return ((180./M_PI)*(atan2(d,(d*c/a))));        
    }
    double getRoll( Plane p)
    {
        double a, b, c, d;
        a=p.a;
        b=p.b;
        c=p.c;
        d=p.d;
        return ((180./M_PI)*(atan2(d,(d*c/b))));    
    }
    
    void writeParameters(string parameters_file)
    {
        double pitch_h=0;
        double roll_h=0;
        
        for (uint m=0; m<pitch_bias.size(); m++)
        {
            pitch_h = pitch_h + pitch_bias[m];
        }
        
        for (uint m=0; m<roll_bias.size(); m++)
        {
            roll_h = roll_h + roll_bias[m];
        }
        
        pitch_h = pitch_h / pitch_bias.size();
        roll_h = roll_h / roll_bias.size();
        
//         cout << "pitch: " << pitch_h << " roll: " << roll_h << endl;
        
        // Open yaml file
        
        cv::FileStorage parameters(parameters_file.c_str(),cv::FileStorage::WRITE);
        
        parameters << "number_sensors" << read_values[0] << "pitch_bias" << pitch_h << "roll_bias" << roll_h << "x0" << read_values[1] << "y0" << read_values[2] << "x1" << read_values[3] << "y1" << read_values[4] << "x2" << read_values[5] << "y2" << read_values[6] << "x3" << read_values[7] << "y3" << read_values[8] << "x4" << read_values[9] << "y4" << read_values[10] << "x5" << read_values[11] << "y5" << read_values[12] << "x6" << read_values[13] << "y6" << read_values[14] << "x7" << read_values[15] << "y7" << read_values[16] << "p1_0" << sensors_curve_parameters[0](0)<< "p2_0" << sensors_curve_parameters[0](1)<< "p3_0" << sensors_curve_parameters[0](2) << "p4_0" << sensors_curve_parameters[0](3)<< "p1_1" << sensors_curve_parameters[1](0)<< "p2_1" << sensors_curve_parameters[1](1) << "p3_1" << sensors_curve_parameters[1](2)<< "p4_1" << sensors_curve_parameters[1](3)<< "p1_2" << sensors_curve_parameters[2](0) << "p2_2" << sensors_curve_parameters[2](1)<< "p3_2" << sensors_curve_parameters[2](2)<< "p4_2" << 
sensors_curve_parameters[2](3) << "p1_3" << sensors_curve_parameters[3](0)<< "p2_3" << sensors_curve_parameters[3](1)<< "p3_3" << sensors_curve_parameters[3](2) << "p4_3" << sensors_curve_parameters[3](3)<< "p1_4" << sensors_curve_parameters[4](0)<< "p2_4" << sensors_curve_parameters[4](1) << "p3_4" << sensors_curve_parameters[4](2)<< "p4_4" << sensors_curve_parameters[4](3)<< "p1_5" << sensors_curve_parameters[5](0) << "p2_5" << sensors_curve_parameters[5](1)<< "p3_5" << sensors_curve_parameters[5](2)<< "p4_5" << sensors_curve_parameters[5](3) << "p1_6" << sensors_curve_parameters[6](0)<< "p2_6" << sensors_curve_parameters[0](1)<< "p3_6" << sensors_curve_parameters[6](2) << "p4_6" << sensors_curve_parameters[6](3)<< "p1_7" << sensors_curve_parameters[7](0)<< "p2_7" << sensors_curve_parameters[7](1) << "p3_7" << sensors_curve_parameters[7](2)<< "p4_7" << sensors_curve_parameters[7](3);
        
        parameters.release();
        
    }
    
    vector<double> pitch_bias;
    vector<double> roll_bias;
    
    
private:
    
    uint number_sensors;
    vector<Eigen::Vector2d> sensors_positions;
    vector<Eigen::VectorXd> sensors_curve_parameters;
    
};
class OptoelectricVehiclePose
{
public:
public:
    OptoelectricVehiclePose(const ros::NodeHandle& nh):
    nh_(nh)
    {
        // iniciar mensagens
        setupMessaging();
        
        nh_.param("parameters",parameters_url,std::string("no parameters file"));
        
        string package_tag = "package://";
        int pos = parameters_url.find(package_tag);
        if(pos != string::npos)
        {
            //String contains package, replace by package path
            int fpos = parameters_url.find("/",pos+package_tag.length());
            string package = parameters_url.substr(pos+package_tag.length(),fpos-(pos+package_tag.length()));
            
            string package_path = ros::package::getPath(package);
            parameters_url.replace(pos,fpos-pos,package_path);
        }
        
         // iniciar leitura dos dados yaml
         s.readParameters(parameters_url);
    }
    // Inicia os publicadores e os subscrevedores
    void setupMessaging()
    {
        
        new_data.resize(8,false);
        
        for(uint i=0;i<8;i++)
        {
            ros::Subscriber sub = nh_.subscribe<sensor_msgs::Range>("/optoelectic_vehicle_base/sharp_"+to_string(i), 1, boost::bind(&OptoelectricVehiclePose::sharpCallback,this,_1,i));

            sharp_subscriber.push_back(sub);
        }
        
        
       
        
    }
    void sharpCallback(const sensor_msgs::Range::ConstPtr msg,int i)
    {
        //cout<<"Received sensor: "<<i<< " value: "<<msg->range<<endl;
        sharp_values[i]=msg->range;
        new_data[i] = true;
    }
    void loop()
    {
        ros::Rate r(100);
        
        int count=0;
        
        while(ros::ok() && (count<51))
        {
            r.sleep();
            ros::spinOnce();
            
            bool process = true;
            
            for(bool v: new_data)
            {
                if(v==false)
                {
                    process = false;
                    break;
                }
            }
            
            if(process==false)
                continue;
            
            vector<double> values;
            for(uint i=0;i<8;i++)
            {
                double val = sharp_values[i];
                values.push_back(val);
            }
            
            Plane plane = s.getPlane(values);
             
            double pitch = s.getPitch(plane);
            double roll = s.getRoll(plane);
            
            s.pitch_bias.push_back(pitch);
            s.roll_bias.push_back(roll);
            
            new_data.clear();
            new_data.resize(8,false);
            
            count ++;
            
        }
        
        s.writeParameters(parameters_url);
    }
    
private:
    
    ros::NodeHandle nh_;
        
    SharpMath s;
    
    vector<ros::Subscriber> sharp_subscriber;
    
    int sharp_values[8];
    vector<bool> new_data;
    
    string parameters_url;
};
int main(int argc, char* argv[])
{
    Interface inter;
    
    // Iniciar o ros
    ros::init(argc, argv, "calibration_orientation");
    // Handle
    ros::NodeHandle nh("~");
    
    // inciar
    OptoelectricVehiclePose opto(nh);
    
    inter.start();

    if (read_values[17]==1)
    {
        opto.loop();
    }
    
    return 0;
}