[roseus_tutorials] add tf bbox sample

roseus_tutorials/CMakeLists.txt

@@ -12,7 +12,7 @@ catkin_package(
 #    LIBRARIES # TODO
 )
 
-install(DIRECTORY launch src img config
+install(DIRECTORY launch src sample img config
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
         USE_SOURCE_PERMISSIONS)
 

roseus_tutorials/sample/euslisp/pr2-setting.l

@@ -0,0 +1,8 @@
+#!/usr/bin/env roseus
+(require :pr2-interface "package://pr2eus/pr2-interface.l")
+(setq *input-bbox-array* (ros::get-param "~/input_bbox_array" "/HSI_color_filter/boxes"))
+(setq *base-frame-id* (ros::get-param "~base_frame_id" "/base_footprint"))
+(setq *camera-frame-id* (ros::get-param "~camera_frame_id" ":head_mount_kinect_rgb_optical_frame_lk"))
+(pr2-init)
+(setq *robot* *pr2*)
+(load "package://roseus_tutorials/src/display-tf-bounding-box-array.l")

roseus_tutorials/sample/rviz/hsi_color_filter.rviz

@@ -0,0 +1,160 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 728
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /kinect_head/depth_registered/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: jsk_rviz_plugin/BoundingBoxArray
+      Enabled: true
+      Name: BoundingBoxArray
+      Topic: /HSI_color_filter/boxes
+      Unreliable: false
+      Value: true
+      alpha: 0.800000011920929
+      color: 25; 255; 0
+      coloring: Auto
+      line width: 0.004999999888241291
+      only edge: false
+      show coords: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.8979061841964722
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.4162523150444031
+        Y: 0.027002409100532532
+        Z: 0.7402926087379456
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4403988718986511
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.178584575653076
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 27

roseus_tutorials/sample/sample_hsi_color_filter.launch

@@ -0,0 +1,36 @@
+<launch>
+  <arg name="gui" default="true"/>
+  <arg name="play_rosbag" default="true"/>
+  <arg name="input" default="/kinect_head/depth_registered/points"/>
+  <arg name="base_frame_id" default="base_footprint"/>
+  <arg name="input_bbox_array" default="/HSI_color_filter/boxes"/>
+  <arg name="camera_frame_id" default=":head_mount_kinect_rgb_optical_frame_lk"/>
+
+  <include if="$(arg play_rosbag)" 
+      file="$(find jsk_pcl_ros)/sample/include/play_rosbag_pr2_sink.xml"/>
+
+  <!-- filter red color -->
+  <include file="$(find roseus_tutorials)/launch/hsi_color_filter.launch">
+      <arg name="INPUT" value="$(arg input)"/>
+      <arg name="h_max" value="50" />
+      <arg name="h_min" value="-20" />
+      <arg name="s_max" value="255" />
+      <arg name="s_min" value="120" />
+      <arg name="i_max" value="255" />
+      <arg name="i_min" value="70" />
+  </include>
+
+  <node name="pr2_display_tf_bbox_array" pkg="roseus_tutorials" type="pr2-setting.l" output="screen">
+    <rosparam subst_value="true">
+      base_frame_id: $(arg base_frame_id)
+      input_bbox_array: $(arg input_bbox_array)
+      camera_frame_id: $(arg camera_frame_id)
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find roseus_tutorials)/sample/rviz/hsi_color_filter.rviz"/>
+  </group>
+</launch>

roseus_tutorials/src/display-tf-bounding-box-array.l

@@ -0,0 +1,48 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "jsk_recognition_msgs")
+
+(setq *input-bbox-array* (ros::get-param "~/input_bbox_array" "/HSI_color_filter/boxes"))
+(setq *base-frame-id* (ros::get-param "~base_frame_id" "/base_footprint"))
+(setq *camera-frame-id* (ros::get-param "~camera_frame_id" ":head_mount_kinect_rgb_optical_frame_lk"))
+;;(setq *robot* (ros::get-param "~robot" *pr2*))
+
+(defun bounding-box-array-cb (msg)
+  (unless (send msg :boxes)
+    (return-from bounding-box-array-cb))
+  (let ((bounding-box-list (send msg :boxes)))
+    (when bounding-box-list
+      (send *robot* :angle-vector (send *ri* :potentio-vector))
+      (send *tfl* :wait-for-transform *base-frame-id* (send msg :header :frame_id) (ros::time 0) 10)
+      (mapcar
+       #'(lambda (b)
+           (let* ((dims (ros::tf-point->pos (send b :dimensions)))
+                  (bx (make-cube (elt dims 0) (elt dims 1) (elt dims 2)))
+                  ;; Convert geoometry_msgs::Pose of BoundingBox to euslisp coordinates [mm]
+                  (cam->obj-coords (ros::tf-pose->coords (send b :pose)))
+                  ;; Get camera coordinates [mm]
+                  (base->cam-coords (send *tfl* :lookup-transform
+                            *base-frame-id* (send b :header :frame_id)
+                            (ros::time 0))))
+                  ;;(base->cam-coords (send (send *robot* *camera-frame-id*) :copy-worldcoords)))
+              ;; Get BoundingBox world coordinates [mm]
+              (send bx :transform 
+                    (send (send base->cam-coords :copy-worldcoords)
+                          :transform cam->obj-coords))
+              (objects (list bx base->cam-coords *robot*))
+             bx))
+       bounding-box-list)
+      )))
+
+(ros::roseus "display-tf-bounding-box")
+(setq *tfl* (instance ros::transform-listener :init))
+(unless (boundp '*irtviewer*) (make-irtviewer))
+
+(ros::subscribe *input-bbox-array* jsk_recognition_msgs::BoundingBoxArray
+                #'bounding-box-array-cb 1)
+(do-until-key
+ (x::window-main-one)
+ (ros::spin-once)
+ (ros::sleep)
+ )
+