orientation_preception_base.cpp

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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 <ros/ros.h>

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

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

#include <serialcom/SerialCom.h>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

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

using namespace std;
using namespace boost;

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"];
        
//         cout << "sensores: " << number_sensors << endl;
        
        for(uint s = 0;s<number_sensors;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);
        }
        
        pitch_bias = parameters["pitch_bias"];
        roll_bias =  parameters["roll_bias"];
        
//         cout << "pitch: " << pitch_bias << " roll: " << roll_bias << endl;
//         cout << "sensor n: " << number_sensors << " x0 " << sensors_positions[0](0) << " y0 " << sensors_positions[0](1) << " x1 " << sensors_positions[1](0) << " y1 " << sensors_positions[1](1) << " x2 " << sensors_positions[2](0) << " y2 " << sensors_positions[2](1) << " x3 " << sensors_positions[3](0) << " y3 " << sensors_positions[3](1) << " x4 " << sensors_positions[4](0) << " y4 " << sensors_positions[4](1) << " x5 " << sensors_positions[5](0) << " y5 " << sensors_positions[5](1) << " x6 " << sensors_positions[6](0) << " y6 " << sensors_positions[6](1) << " x7 " << sensors_positions[7](0) << " y7 " << sensors_positions[7](1) << endl;
    }
    Plane getPlane(vector<double> values)
    {
//         for(uint n=0;n<number_sensors;n++)
//             cout << "Valores: " << values[n] << endl;
        
        Eigen::VectorXd g(number_sensors);
        g = Eigen::VectorXd::Ones(number_sensors);
        
//         cout<<"g: "<<g<<endl;
        
        Eigen::MatrixXd F(number_sensors,3);
        
        for(uint i=0;i<number_sensors;i++)
        {
            F(i,0) = sensors_positions[i](0);
            F(i,1) = sensors_positions[i](1);
            F(i,2) = values[i];
        }
        
        Eigen::VectorXd r(3);
        
        r = ((F.transpose()*F).inverse() * F.transpose())*g;
        
        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;
        
//         cout << "F: " << F << endl;
//         cout << "r: " << r << endl;
        
        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)))) - pitch_bias;        
    }
    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)))) - roll_bias;    
    }
    
    
private:
    
    uint number_sensors;
    vector<Eigen::Vector2d> sensors_positions;
    vector<Eigen::VectorXd> sensors_curve_parameters;
    
    double pitch_bias;
    double roll_bias;
    
};

class OptoelectricVehiclePose
{
public:
    OptoelectricVehiclePose(const ros::NodeHandle& nh):
    nh_(nh)
    {
        // iniciar mensagens
        setupMessaging();
         
        string parameters_url;
        
        nh_.param("parameters",parameters_url,std::string("no parameters file"));
           
        cout << "url: " << parameters_url << endl;
        
        s.readParameters(parameters_url);
        // iniciar leitura dos dados yaml
    }
    // 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);
        }
        
        
        
        pose_publisher = nh_.advertise<geometry_msgs::Vector3>("pose_orientation", 1000);
        car_mark_pub = nh_.advertise<visualization_msgs::Marker>("atlascar_ori",1000);
    }
    void sharpCallback(const sensor_msgs::Range::ConstPtr msg,int i)
    {
        //cout<<"Received sensor: "<<i<< " value: "<<msg->range<<endl;
        if(msg->range<1023)
        {
            sharp_values[i]=msg->range;
            new_data[i] = true;
        }
    }
    void carMarker(geometry_msgs::Vector3 pose)
    {
        pose.x=pose.x*3.14/180;
        pose.y=pose.y*3.14/180;
        pose.z=pose.z*3.14/180;
        
        car_marker.header.frame_id = "base_link";
        
        car_marker.id = 8484;
        car_marker.ns = "atlas";
        
        car_marker.type = visualization_msgs::Marker::MESH_RESOURCE;
        car_marker.action = visualization_msgs::Marker::ADD;
        
        
        car_marker.pose.position.x = 0;
        car_marker.pose.position.y = 0;
        car_marker.pose.position.z = 0.4; 
        // Escala do marcador
        car_marker.scale.x = 1;
        car_marker.scale.y = 1;
        car_marker.scale.z = 1;
        
        car_marker.pose.orientation.x = sin(pose.x/2)*cos(pose.y/2)*cos(pose.z/2) - cos(pose.x/2)*sin(pose.y/2)*sin(pose.z/2);
        car_marker.pose.orientation.y = cos(pose.x/2)*sin(pose.y/2)*cos(pose.z/2) + sin(pose.x/2)*cos(pose.y/2)*sin(pose.z/2);
        car_marker.pose.orientation.z = cos(pose.x/2)*cos(pose.y/2)*sin(pose.z/2) - sin(pose.x/2)*sin(pose.y/2)*cos(pose.z/2);
        car_marker.pose.orientation.w = cos(pose.x/2)*cos(pose.y/2)*cos(pose.z/2) + sin(pose.x/2)*sin(pose.y/2)*sin(pose.z/2);
        
        
        // Cor do marcador (255,99,71)
        car_marker.color.r = 0.0f;
        car_marker.color.g = 0.0f;
        car_marker.color.b = 0.0f;
        car_marker.color.a = 0.0f;
        
        car_marker.mesh_use_embedded_materials=1;
        
        car_marker.mesh_resource = "package://optoelectric/ship/FordEscort_ori.DAE";

        car_marker.lifetime = ros::Duration();
    } 
    
    void loop()
    {
        ros::Rate r(100);
                
        while(ros::ok())
        {
            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);
//                 cout << "i: " << i << " sensor " << val << endl;
            }

            Plane plane = s.getPlane(values);
            
            pitch = s.getPitch(plane);
            roll = s.getRoll(plane);
            
            if (roll > 90)
                roll=roll-180;
            if (roll < -90)
                roll=roll+180;
            if (pitch > 90)
                pitch=pitch-180;
            if (pitch < -90)
                pitch=pitch+180;
            
            cout << "pitch: " << pitch << " roll: " << roll << endl;
            
            geometry_msgs::Vector3 posee;
            
            if(pitch < 45 && roll < 45)
            {
                posee.x=roll;
                posee.y=pitch;
                posee.z=0;
                
                
                
                pose_publisher.publish(posee);
                
                carMarker(posee);
                car_marker.header.stamp = ros::Time::now();
                car_mark_pub.publish(car_marker);
            }
        
                                    
            new_data.clear();
            new_data.resize(8,false);
            
        }
    }
    
private:
    
    visualization_msgs::Marker car_marker;
    ros::Publisher car_mark_pub;
    
    ros::NodeHandle nh_;
    
    double pitch;
    double roll;
    
    SharpMath s;
    
    ros::Publisher pose_publisher;
 
    vector<ros::Subscriber> sharp_subscriber;
    
    int sharp_values[8];
    vector<bool> new_data;

};

int main(int argc, char* argv[])
{
    // Iniciar o ros
    ros::init(argc, argv, "preception_orientation_base");
    // Handle
    ros::NodeHandle nh("~");
    
    // inciar
    OptoelectricVehiclePose opto(nh);

    opto.loop();
    
    return 0;
}