def callback(self, msg):
detect_msg = BoolStamped()
detect_msg.data = True
self.pub_detected.publish(detect_msg)
tag_infos = []
# Load tag detections message
for detection in msg.detections:
# ------ start tag info processing
new_info = TagInfo()
new_info.id = int(detection.id)
id_info = self.tags_dict[new_info.id]
if new_info.id == 1:
self.turnright = True
self.turnleft = False
self.turnaround = False
#print "---------Tag 1---------Turn Right-----------"
elif new_info.id == 2:
self.turnright = False
self.turnleft = True
self.turnaround = False
#print "---------Tag 2---------Turn LEFT-----------"
elif new_info.id == 3:
self.turnright = False
self.turnleft = False
self.turnaround = True
print "---------Tag 3---------Turn around-----------"
# Check yaml file to fill in ID-specific information
new_info.tag_type = self.sign_types[id_info['tag_type']]
if new_info.tag_type == self.info.S_NAME:
new_info.street_name = id_info['street_name']
elif new_info.tag_type == self.info.SIGN:
new_info.traffic_sign_type = self.traffic_sign_types[
id_info['traffic_sign_type']]
elif new_info.tag_type == self.info.VEHICLE:
new_info.vehicle_name = id_info['vehicle_name']
# TODO: Implement location more than just a float like it is now.
# location is now 0.0 if no location is set which is probably not that smart
if self.loc == 226:
l = (id_info['location_226'])
if l is not None:
new_info.location = l
elif self.loc == 316:
l = (id_info['location_316'])
if l is not None:
new_info.location = l
tag_infos.append(new_info)
# --- end tag info processing
# Define the transforms
veh_t_camxout = tr.translation_matrix(
(self.camera_x, self.camera_y, self.camera_z))
veh_R_camxout = tr.euler_matrix(0, self.camera_theta * np.pi / 180,
0, 'rxyz')
veh_T_camxout = tr.concatenate_matrices(
veh_t_camxout,
veh_R_camxout) # 4x4 Homogeneous Transform Matrix
camxout_T_camzout = tr.euler_matrix(-np.pi / 2, 0, -np.pi / 2,
'rzyx')
veh_T_camzout = tr.concatenate_matrices(veh_T_camxout,
camxout_T_camzout)
tagzout_T_tagxout = tr.euler_matrix(-np.pi / 2, 0, np.pi / 2,
'rxyz')
#Load translation
trans = detection.pose.pose.position
rot = detection.pose.pose.orientation
camzout_t_tagzout = tr.translation_matrix(
(trans.x * self.scale_x, trans.y * self.scale_y,
trans.z * self.scale_z))
camzout_R_tagzout = tr.quaternion_matrix(
(rot.x, rot.y, rot.z, rot.w))
camzout_T_tagzout = tr.concatenate_matrices(
camzout_t_tagzout, camzout_R_tagzout)
veh_T_tagxout = tr.concatenate_matrices(veh_T_camzout,
camzout_T_tagzout,
tagzout_T_tagxout)
# Overwrite transformed value
(trans.x, trans.y,
trans.z) = tr.translation_from_matrix(veh_T_tagxout)
(rot.x, rot.y, rot.z,
rot.w) = tr.quaternion_from_matrix(veh_T_tagxout)
detection.pose.pose.position = trans
detection.pose.pose.orientation = rot
new_tag_data = AprilTagsWithInfos()
new_tag_data.detections = msg.detections
new_tag_data.infos = tag_infos
# Publish Message
self.pub_postPros.publish(new_tag_data)
def callback(self, msg):
tag_infos = []
# Load tag detections message
for detection in msg.detections:
# ------ start tag info processing
new_info = TagInfo()
new_info.id = int(detection.id)
id_info = self.tags_dict[new_info.id]
# Check yaml file to fill in ID-specific information
new_info.tag_type = self.sign_types[id_info['tag_type']]
if new_info.tag_type == self.info.S_NAME:
new_info.street_name = id_info['street_name']
elif new_info.tag_type == self.info.SIGN:
new_info.traffic_sign_type = self.traffic_sign_types[id_info['traffic_sign_type']]
elif new_info.tag_type == self.info.VEHICLE:
new_info.vehicle_name = id_info['vehicle_name']
# TODO: Implement location more than just a float like it is now.
# location is now 0.0 if no location is set which is probably not that smart
if self.loc == 226:
l = (id_info['location_226'])
if l is not None:
new_info.location = l
elif self.loc == 316:
l = (id_info['location_316'])
if l is not None:
new_info.location = l
tag_infos.append(new_info)
# --- end tag info processing
# Define the transforms
veh_t_camxout = tr.translation_matrix((self.camera_x, self.camera_y, self.camera_z))
veh_R_camxout = tr.euler_matrix(0, self.camera_theta*np.pi/180, 0, 'rxyz')
veh_T_camxout = tr.concatenate_matrices(veh_t_camxout, veh_R_camxout) # 4x4 Homogeneous Transform Matrix
camxout_T_camzout = tr.euler_matrix(-np.pi/2,0,-np.pi/2,'rzyx')
veh_T_camzout = tr.concatenate_matrices(veh_T_camxout, camxout_T_camzout)
tagzout_T_tagxout = tr.euler_matrix(-np.pi/2, 0, np.pi/2, 'rxyz')
#Load translation
trans = detection.pose.pose.position
rot = detection.pose.pose.orientation
camzout_t_tagzout = tr.translation_matrix((trans.x*self.scale_x, trans.y*self.scale_y, trans.z*self.scale_z))
camzout_R_tagzout = tr.quaternion_matrix((rot.x, rot.y, rot.z, rot.w))
camzout_T_tagzout = tr.concatenate_matrices(camzout_t_tagzout, camzout_R_tagzout)
veh_T_tagxout = tr.concatenate_matrices(veh_T_camzout, camzout_T_tagzout, tagzout_T_tagxout)
# Overwrite transformed value
(trans.x, trans.y, trans.z) = tr.translation_from_matrix(veh_T_tagxout)
(rot.x, rot.y, rot.z, rot.w) = tr.quaternion_from_matrix(veh_T_tagxout)
detection.pose.pose.position = trans
detection.pose.pose.orientation = rot
new_tag_data = AprilTagsWithInfos()
new_tag_data.detections = msg.detections
new_tag_data.infos = tag_infos
# Publish Message
self.pub_postPros.publish(new_tag_data)
def callback(self, msg):
tag_infos = []
new_tag_data = AprilTagsWithInfos()
# Load tag detections message
for detection in msg.detections:
# ------ start tag info processing
new_info = TagInfo()
#Can use id 1 as long as no bundles are used
new_info.id = int(detection.id[0])
id_info = self.tags_dict[new_info.id]
# Check yaml file to fill in ID-specific information
new_info.tag_type = self.sign_types[id_info['tag_type']]
if new_info.tag_type == self.info.S_NAME:
new_info.street_name = id_info['street_name']
elif new_info.tag_type == self.info.SIGN:
new_info.traffic_sign_type = self.traffic_sign_types[
id_info['traffic_sign_type']]
# publish for FSM
# parking apriltag event
msg_parking = BoolStamped()
msg_parking.header.stamp = rospy.Time(0)
if new_info.traffic_sign_type == TagInfo.PARKING:
msg_parking.data = True
else:
msg_parking.data = False
self.pub_postPros_parking.publish(msg_parking)
# intersection apriltag event
msg_intersection = BoolStamped()
msg_intersection.header.stamp = rospy.Time(0)
if (new_info.traffic_sign_type == TagInfo.FOUR_WAY) or (
new_info.traffic_sign_type == TagInfo.RIGHT_T_INTERSECT
) or (new_info.traffic_sign_type == TagInfo.LEFT_T_INTERSECT
) or (new_info.traffic_sign_type
== TagInfo.T_INTERSECTION):
msg_intersection.data = True
else:
msg_intersection.data = False
self.pub_postPros_intersection.publish(msg_intersection)
elif new_info.tag_type == self.info.VEHICLE:
new_info.vehicle_name = id_info['vehicle_name']
# TODO: Implement location more than just a float like it is now.
# location is now 0.0 if no location is set which is probably not that smart
if self.loc == 226:
l = (id_info['location_226'])
if l is not None:
new_info.location = l
elif self.loc == 316:
l = (id_info['location_316'])
if l is not None:
new_info.location = l
tag_infos.append(new_info)
# --- end tag info processing
# Define the transforms
veh_t_camxout = tr.translation_matrix(
(self.camera_x, self.camera_y, self.camera_z))
veh_R_camxout = tr.euler_matrix(0, self.camera_theta * np.pi / 180,
0, 'rxyz')
veh_T_camxout = tr.concatenate_matrices(
veh_t_camxout,
veh_R_camxout) # 4x4 Homogeneous Transform Matrix
camxout_T_camzout = tr.euler_matrix(-np.pi / 2, 0, -np.pi / 2,
'rzyx')
veh_T_camzout = tr.concatenate_matrices(veh_T_camxout,
camxout_T_camzout)
tagzout_T_tagxout = tr.euler_matrix(-np.pi / 2, 0, np.pi / 2,
'rxyz')
#Load translation
trans = detection.pose.pose.pose.position
rot = detection.pose.pose.pose.orientation
header = detection.pose.header
camzout_t_tagzout = tr.translation_matrix(
(trans.x * self.scale_x, trans.y * self.scale_y,
trans.z * self.scale_z))
camzout_R_tagzout = tr.quaternion_matrix(
(rot.x, rot.y, rot.z, rot.w))
camzout_T_tagzout = tr.concatenate_matrices(
camzout_t_tagzout, camzout_R_tagzout)
veh_T_tagxout = tr.concatenate_matrices(veh_T_camzout,
camzout_T_tagzout,
tagzout_T_tagxout)
# Overwrite transformed value
(trans.x, trans.y,
trans.z) = tr.translation_from_matrix(veh_T_tagxout)
(rot.x, rot.y, rot.z,
rot.w) = tr.quaternion_from_matrix(veh_T_tagxout)
new_tag_data.detections.append(
AprilTagDetection(int(detection.id[0]),
float(detection.size[0]),
PoseStamped(header, Pose(trans, rot))))
new_tag_data.infos = tag_infos
# Publish Message
self.pub_postPros.publish(new_tag_data)
def callback(self, msg):
""" """
# Load tag detections message
tag_infos = []
for detection in msg.detections:
new_info = TagInfo()
#new_location_info = Vector2D()
new_info.id = int(detection.id)
id_info = self.tags_dict[new_info.id]
# Check yaml file to fill in ID-specific information
new_info.tag_type = self.sign_types[id_info['tag_type']]
if new_info.tag_type == self.info.S_NAME:
new_info.street_name = id_info['street_name']
elif new_info.tag_type == self.info.SIGN:
new_info.traffic_sign_type = self.traffic_sign_types[
id_info['traffic_sign_type']]
elif new_info.tag_type == self.info.VEHICLE:
new_info.vehicle_name = id_info['vehicle_name']
# TODO: Implement location more than just a float like it is now.
# location is now 0.0 if no location is set which is probably not that smart
if self.loc == 226:
l = (id_info['location_226'])
if l is not None:
new_info.location = l
elif self.loc == 316:
l = (id_info['location_316'])
if l is not None:
new_info.location = l
#######################
# Localization stuff
#######################
"""
camera_x = 0.05 # x distance from wheel center
camera_y = 0.0 #
camera_z = 0.1 # height of camera from ground
camera_theta = 15 # degree of rotation arround y axis
"""
camera_x = rospy.get_param("~camera_x")
camera_y = rospy.get_param("~camera_y")
camera_z = rospy.get_param("~camera_z")
camera_theta = rospy.get_param("~camera_theta")
#Load translation
x = detection.transform.translation.x
y = detection.transform.translation.y
z = detection.transform.translation.z
t_tc_Fc = k.Vector(
x, y, z
) # translation tags(t) w/ camera(c) expressed in camera frame (Fc)
#Load rotation
x = detection.transform.rotation.x
y = detection.transform.rotation.y
z = detection.transform.rotation.z
w = detection.transform.rotation.w
e = k.Vector(x, y, z)
Q_Ftag_Fold = k.Quaternion(e, w)
# New tag orientation reference (zero when facing camera) w/ to old tag ref used by the lib
C_Ft_Ftag = k.RotationMatrix(
np.matrix([[0, 0, -1], [-1, 0, 0], [0, 1, 0]]))
Q_Ft_Ftag = C_Ft_Ftag.toQuaternion()
# Rotation of old ref frame used by the lib w/ to camera frame
C_Fold_Fc = k.RotationMatrix(
np.matrix([[0, -1, 0], [0, 0, -1], [1, 0, 0]]))
Q_Fold_Fc = C_Fold_Fc.toQuaternion()
# Camera localization
t_cv_Fv = k.Vector(
camera_x, camera_y, camera_z
) # translation of camera w/ vehicle origin in vehicle frame
C_Fc_Fv = k.euler2RotationMatrix(
0, camera_theta,
0) # Rotation of camera frame w/ vehicle frame
Q_Fc_Fv = C_Fc_Fv.toQuaternion()
# Compute tag orientation in vehicle frame
Q_Ft_Fv = Q_Fc_Fv * Q_Fold_Fc * Q_Ftag_Fold * Q_Ft_Ftag
# Compute position of tag in vehicle frame expressed in vehicle frame
C_Fv_Fc = -C_Fc_Fv # inverse transform
t_tc_Fv = C_Fv_Fc * t_tc_Fc
t_tv_Fv = t_tc_Fv + t_cv_Fv
# Overwrite transformed value
detection.transform.translation.x = t_tv_Fv.x
detection.transform.translation.y = t_tv_Fv.y
detection.transform.translation.z = t_tv_Fv.z
detection.transform.rotation.x = Q_Ft_Fv.e.x
detection.transform.rotation.y = Q_Ft_Fv.e.y
detection.transform.rotation.z = Q_Ft_Fv.e.z
detection.transform.rotation.w = Q_Ft_Fv.n
# Debug Print
#A_read = Q_Ftag_Fold.toAngleAxis()
#A_Ft_Fv = Q_Ft_Fv.toAngleAxis()
#print 'Rotation Read'
#A_read()
#print 'Rotation in Vehicle Frame'
#A_Ft_Fv()
tag_infos.append(new_info)
new_tag_data = AprilTags()
new_tag_data.detections = msg.detections
new_tag_data.infos = tag_infos
# Publish Message
self.pub_postPros.publish(new_tag_data)