From d697b02c4b5bfb3a48249fb44f963ddfece09602 Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Wed, 26 Jun 2019 03:32:48 -0400 Subject: [PATCH 1/7] broken sim --- docs/high_level_architecture.svg | 334 ------ simulation/sub8_gazebo/CMakeLists.txt | 20 +- .../include/sub8_gazebo/sub8_sonar.hh | 206 ++++ simulation/sub8_gazebo/launch/duck.launch | 2 + simulation/sub8_gazebo/src/sub8_sonar.cpp | 1053 +++++++++++++++++ simulation/sub8_gazebo/urdf/sub8.urdf.xacro | 36 +- .../sub8_simulation/launch/sim_full.launch | 4 +- 7 files changed, 1315 insertions(+), 340 deletions(-) delete mode 100644 docs/high_level_architecture.svg create mode 100644 simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh create mode 100644 simulation/sub8_gazebo/src/sub8_sonar.cpp diff --git a/docs/high_level_architecture.svg b/docs/high_level_architecture.svg deleted file mode 100644 index 6ab92442..00000000 --- a/docs/high_level_architecture.svg +++ /dev/null @@ -1,334 +0,0 @@ - - - - - - -sub8 - -Sub8 High Level Software Graph -clusterSensors - -Sensors - -clusterCameras - -Cameras - -clusterNavbox - -Navbox - -clusterCommand - -Command - -clusterPerception - -Perception - -clusterActuators - -Actuators - -clusterThrusters - -Thrusters - -clusterGNC - -GNC - - -imaging_sonar - -Blueview Imaging Sonar - - -pointcloud - -Pointcloud Processing - - -imaging_sonar->pointcloud - - -Pointclouds - - -left_camera - -Left Camera - - -computer_vision - -Computer Vision - - -left_camera->computer_vision - - -Images - - -right_camera - -Right Camera - - -right_camera->computer_vision - - -Images - - -down_camera - -Down Camera - - -down_camera->computer_vision - - -Images - - -imu - -Imu - - -state_estimation - -Extended Kalman Filter - - -imu->state_estimation - - -Orientation -Angular Velocity -Linear Acceleration - - -magnetometer - -Magnetometer - - -magnetometer->state_estimation - - -Earth Heading - - -dvl - -DVL - - -dvl->state_estimation - - -Linear Velocity - - -depth_sensor - -Depth Sensor - - -depth_sensor->state_estimation - - -Depth - - -sonar_board - -Sylphase Sonar Board - - -multilateration - -Sonar Multilateration - - -sonar_board->multilateration - - -Pinger Heading - - -missions - -Missions - - -multilateration->missions - - -Pinger Position - - -Valves - -Pneumatic Valves - - -missions->Valves - - -Open/Close - - -path_planner - -Path Planner (C3) - - -missions->path_planner - - -Pose goal (Waypoint) - - -state_estimation->path_planner - - -Odometry - - -controller - -Controller (rise_6dof) - - -state_estimation->controller - - -Odometry - - -computer_vision->missions - - -Identified Objects - - -pointcloud->missions - - -Identified Objects - - -flh - -FLH Motor - - -flv - -FLV motor - - -frh - -FRH Motor - - -frv - -FRV Motor - - -blh - -BLH Motor - - -blv - -BLV Motor - - -brh - -BLH Motor - - -brv - -BLV Motor - - -path_planner->controller - - -Trajectory - - -thrust_mapper - -Thruster Mapper - - -controller->thrust_mapper - - -Wrench - - -thrust_mapper->flh - - -Effort - - -thrust_mapper->flv - - -Effort - - -thrust_mapper->frh - - -Effort - - -thrust_mapper->frv - - -Effort - - -thrust_mapper->blh - - -Effort - - -thrust_mapper->blv - - -Effort - - -thrust_mapper->brh - - -Effort - - -thrust_mapper->brv - - -Effort - - - diff --git a/simulation/sub8_gazebo/CMakeLists.txt b/simulation/sub8_gazebo/CMakeLists.txt index 2874d85b..125e4cdd 100644 --- a/simulation/sub8_gazebo/CMakeLists.txt +++ b/simulation/sub8_gazebo/CMakeLists.txt @@ -7,12 +7,16 @@ project(sub8_gazebo) find_package(catkin REQUIRED COMPONENTS std_msgs + cv_bridge geometry_msgs rospy gazebo_ros roscpp message_generation xacro + tf + tf2_ros + tf2 ) catkin_python_setup() @@ -49,6 +53,7 @@ target_link_libraries( ${GAZEBO_LIBRARIES} ) + add_library( sub8_thrusters src/sub8_thrusters.cc @@ -102,14 +107,27 @@ target_link_libraries( ${GAZEBO_LIBRARIES} ) +add_library( + sub8_sonar + src/sub8_sonar.cpp +) +set_target_properties(sub8_sonar PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +target_link_libraries( + sub8_sonar + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ${OpenCV_LIBRARIES} +) + catkin_package( INCLUDE_DIRS include - LIBRARIES sub8_buoyancy sub8_thrusters sub8_state_set sub8_liftdrag + LIBRARIES sub8_buoyancy sub8_thrusters sub8_state_set sub8_liftdrag sub8_sonar CATKIN_DEPENDS gazebo_ros roscpp rospy std_msgs message_runtime DEPENDS ) + # Generate Sub8's URDF xacro_add_files( urdf/sub8.urdf.xacro diff --git a/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh new file mode 100644 index 00000000..30475525 --- /dev/null +++ b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh @@ -0,0 +1,206 @@ +/* + * This file was modified from the original version within Gazebo: + * + * Copyright (C) 2014 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Modifications: + * + * Copyright 2018 Nils Bore (nbore@kth.se) + * + * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#ifndef GAZEBO_ROS_DEPTH_CAMERA_HH +#define GAZEBO_ROS_DEPTH_CAMERA_HH + +// ros stuff +#include +#include +#include + +// ros messages stuff +#include +#include +#include +#include +#include +#include + +// gazebo stuff +#include +#include +#include +#include +#include +#include +#include + +// dynamic reconfigure stuff +#include +#include + +// boost stuff +#include + +// camera stuff +#include + +#include + +namespace gazebo +{ + class GazeboRosImageSonar : public SensorPlugin, GazeboRosCameraUtils + { + /// \brief Constructor + /// \param parent The parent entity, must be a Model or a Sensor + public: GazeboRosImageSonar(); + + /// \brief Destructor + public: ~GazeboRosImageSonar(); + + /// \brief Load the plugin + /// \param take in SDF root element + public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + + /// \brief Advertise point cloud and depth image + public: virtual void Advertise(); + + /// \brief Update the controller + protected: virtual void OnNewDepthFrame(const float *_image, + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + + /// \brief Update the controller + protected: virtual void OnNewRGBPointCloud(const float *_pcd, + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + + /// \brief Update the controller + protected: virtual void OnNewImageFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + + /// \brief Put camera data to the ROS topic + private: void FillPointdCloud(const float *_src); + + /// \brief push depth image data into ros topic + private: void FillDepthImage(const float *_src); + + /// \brief push depth image data into ros topic + private: void ComputeSonarImage(const float *_src); + private: cv::Mat ComputeNormalImage(cv::Mat& depth); + private: cv::Mat ConstructSonarImage(cv::Mat& depth, cv::Mat& normals); + private: cv::Mat ConstructScanImage(cv::Mat& depth, cv::Mat& SNR); + private: void ApplySpeckleNoise(cv::Mat& scan, float fov); + private: void ApplySmoothing(cv::Mat& scan, float fov); + private: void ApplyMedianFilter(cv::Mat& scan); + private: cv::Mat ConstructVisualScanImage(cv::Mat& raw_scan); + + /// \brief Keep track of number of connctions for point clouds + private: int point_cloud_connect_count_; + private: void PointCloudConnect(); + private: void PointCloudDisconnect(); + + /// \brief Keep track of number of connctions for point clouds + private: int depth_image_connect_count_; + private: void DepthImageConnect(); + private: void DepthImageDisconnect(); + private: void NormalImageConnect(); + private: void NormalImageDisconnect(); + private: void MultibeamImageConnect(); + private: void MultibeamImageDisconnect(); + private: void SonarImageConnect(); + private: void SonarImageDisconnect(); + private: void RawSonarImageConnect(); + private: void RawSonarImageDisconnect(); + private: common::Time last_depth_image_camera_info_update_time_; + + private: bool FillPointCloudHelper(sensor_msgs::PointCloud2 &point_cloud_msg, + uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg); + + private: bool FillDepthImageHelper( sensor_msgs::Image& image_msg, + uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg); + + /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. + private: ros::Publisher point_cloud_pub_; + private: ros::Publisher depth_image_pub_; + private: ros::Publisher normal_image_pub_; + private: ros::Publisher multibeam_image_pub_; + private: ros::Publisher sonar_image_pub_; + private: ros::Publisher raw_sonar_image_pub_; + + /// \brief PointCloud2 point cloud message + private: sensor_msgs::PointCloud2 point_cloud_msg_; + private: sensor_msgs::Image depth_image_msg_; + private: sensor_msgs::Image normal_image_msg_; + private: sensor_msgs::Image multibeam_image_msg_; + private: sensor_msgs::Image sonar_image_msg_; + private: sensor_msgs::Image raw_sonar_image_msg_; + + private: double point_cloud_cutoff_; + + /// \brief ROS image topic name + private: std::string point_cloud_topic_name_; + std::default_random_engine generator; + + private: void InfoConnect(); + private: void InfoDisconnect(); + + using GazeboRosCameraUtils::PublishCameraInfo; + protected: virtual void PublishCameraInfo(); + + /// \brief image where each pixel contains the depth information + private: std::string depth_image_topic_name_; + private: std::string depth_image_camera_info_topic_name_; + private: int depth_info_connect_count_; + private: void DepthInfoConnect(); + private: void DepthInfoDisconnect(); + + // overload with our own + private: common::Time depth_sensor_update_time_; + protected: ros::Publisher depth_image_camera_info_pub_; + + private: event::ConnectionPtr load_connection_; + + // from DepthCameraPlugin + protected: unsigned int width, height, depth; + protected: std::string format; + + // precomputed things for the forward-looking sonar + protected: cv::Mat dist_matrix_; + std::vector > angle_range_indices_; + std::vector angle_nbr_indices_; + + protected: sensors::DepthCameraSensorPtr parentSensor; + protected: rendering::DepthCameraPtr depthCamera; + + private: event::ConnectionPtr newDepthFrameConnection; + private: event::ConnectionPtr newRGBPointCloudConnection; + private: event::ConnectionPtr newImageFrameConnection; + }; + +} +#endif diff --git a/simulation/sub8_gazebo/launch/duck.launch b/simulation/sub8_gazebo/launch/duck.launch index ef43d687..cc1dbbe9 100644 --- a/simulation/sub8_gazebo/launch/duck.launch +++ b/simulation/sub8_gazebo/launch/duck.launch @@ -7,6 +7,8 @@ + + args="$(find sub8_gazebo)/worlds/a_whole_new.world --verbose" /> +#include +#include +#include +//#include + +//#include +//#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include + +namespace gazebo +{ +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosImageSonar) + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +GazeboRosImageSonar::GazeboRosImageSonar() : SensorPlugin(), width(0), height(0), depth(0) +{ + this->point_cloud_connect_count_ = 0; + this->depth_info_connect_count_ = 0; + this->last_depth_image_camera_info_update_time_ = common::Time(0); +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosImageSonar::~GazeboRosImageSonar() +{ + this->newDepthFrameConnection.reset(); + this->newRGBPointCloudConnection.reset(); + this->newImageFrameConnection.reset(); + + this->parentSensor.reset(); + this->depthCamera.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) +{ + this->parentSensor = + std::dynamic_pointer_cast(_parent); + this->depthCamera = this->parentSensor->DepthCamera(); + + if (!this->parentSensor) + { + gzerr << "DepthCameraPlugin not attached to a depthCamera sensor\n"; + return; + } + + this->width = this->depthCamera->ImageWidth(); + this->height = this->depthCamera->ImageHeight(); + this->depth = this->depthCamera->ImageDepth(); + this->format = this->depthCamera->ImageFormat(); + + this->newDepthFrameConnection = this->depthCamera->ConnectNewDepthFrame( + std::bind(&GazeboRosImageSonar::OnNewDepthFrame, + this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->newRGBPointCloudConnection = this->depthCamera->ConnectNewRGBPointCloud( + std::bind(&GazeboRosImageSonar::OnNewRGBPointCloud, + this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->newImageFrameConnection = this->depthCamera->ConnectNewImageFrame( + std::bind(&GazeboRosImageSonar::OnNewImageFrame, + this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->parentSensor->SetActive(true); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM_NAMED("depth_camera", "A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + // copying from DepthCameraPlugin into GazeboRosCameraUtils + this->parentSensor_ = this->parentSensor; + this->width_ = this->width; + this->height_ = this->height; + this->depth_ = this->depth; + this->format_ = this->format; + this->camera_ = this->depthCamera; + + // using a different default + if (!_sdf->HasElement("imageTopicName")) + this->image_topic_name_ = "ir/image_raw"; + if (!_sdf->HasElement("cameraInfoTopicName")) + this->camera_info_topic_name_ = "ir/camera_info"; + + // point cloud stuff + if (!_sdf->HasElement("pointCloudTopicName")) + this->point_cloud_topic_name_ = "points"; + else + this->point_cloud_topic_name_ = _sdf->GetElement("pointCloudTopicName")->Get(); + + // depth image stuff + if (!_sdf->HasElement("depthImageTopicName")) + this->depth_image_topic_name_ = "depth/image_raw"; + else + this->depth_image_topic_name_ = _sdf->GetElement("depthImageTopicName")->Get(); + + if (!_sdf->HasElement("depthImageCameraInfoTopicName")) + this->depth_image_camera_info_topic_name_ = "depth/camera_info"; + else + this->depth_image_camera_info_topic_name_ = _sdf->GetElement("depthImageCameraInfoTopicName")->Get(); + + if (!_sdf->HasElement("pointCloudCutoff")) + this->point_cloud_cutoff_ = 0.4; + else + this->point_cloud_cutoff_ = _sdf->GetElement("pointCloudCutoff")->Get(); + + if (!_sdf->HasElement("clip")) { + gzerr << "We do not have clip" << std::endl; + } + else { + gzerr << "We do have clip" << std::endl; + gzerr << _sdf->GetElement("clip")->GetElement("far")->Get() << std::endl; + } + + load_connection_ = GazeboRosCameraUtils::OnLoad(boost::bind(&GazeboRosImageSonar::Advertise, this)); + GazeboRosCameraUtils::Load(_parent, _sdf); +} + +void GazeboRosImageSonar::Advertise() +{ + ros::AdvertiseOptions point_cloud_ao = + ros::AdvertiseOptions::create( + this->point_cloud_topic_name_,1, + boost::bind( &GazeboRosImageSonar::PointCloudConnect,this), + boost::bind( &GazeboRosImageSonar::PointCloudDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->point_cloud_pub_ = this->rosnode_->advertise(point_cloud_ao); + + ros::AdvertiseOptions depth_image_ao = + ros::AdvertiseOptions::create< sensor_msgs::Image >( + this->depth_image_topic_name_,1, + boost::bind( &GazeboRosImageSonar::DepthImageConnect,this), + boost::bind( &GazeboRosImageSonar::DepthImageDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->depth_image_pub_ = this->rosnode_->advertise(depth_image_ao); + + ros::AdvertiseOptions normal_image_ao = + ros::AdvertiseOptions::create< sensor_msgs::Image >( + this->depth_image_topic_name_+"_normals",1, + boost::bind( &GazeboRosImageSonar::NormalImageConnect,this), + boost::bind( &GazeboRosImageSonar::NormalImageDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->normal_image_pub_ = this->rosnode_->advertise(normal_image_ao); + + ros::AdvertiseOptions multibeam_image_ao = + ros::AdvertiseOptions::create< sensor_msgs::Image >( + this->depth_image_topic_name_+"_multibeam",1, + boost::bind( &GazeboRosImageSonar::MultibeamImageConnect,this), + boost::bind( &GazeboRosImageSonar::MultibeamImageDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->multibeam_image_pub_ = this->rosnode_->advertise(multibeam_image_ao); + + ros::AdvertiseOptions sonar_image_ao = + ros::AdvertiseOptions::create< sensor_msgs::Image >( + this->depth_image_topic_name_+"_sonar",1, + boost::bind( &GazeboRosImageSonar::SonarImageConnect,this), + boost::bind( &GazeboRosImageSonar::SonarImageDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->sonar_image_pub_ = this->rosnode_->advertise(sonar_image_ao); + + ros::AdvertiseOptions raw_sonar_image_ao = + ros::AdvertiseOptions::create< sensor_msgs::Image >( + this->depth_image_topic_name_+"_raw_sonar",1, + boost::bind( &GazeboRosImageSonar::RawSonarImageConnect,this), + boost::bind( &GazeboRosImageSonar::RawSonarImageDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->raw_sonar_image_pub_ = this->rosnode_->advertise(raw_sonar_image_ao); + + ros::AdvertiseOptions depth_image_camera_info_ao = + ros::AdvertiseOptions::create( + this->depth_image_camera_info_topic_name_,1, + boost::bind( &GazeboRosImageSonar::DepthInfoConnect,this), + boost::bind( &GazeboRosImageSonar::DepthInfoDisconnect,this), + ros::VoidPtr(), &this->camera_queue_); + this->depth_image_camera_info_pub_ = this->rosnode_->advertise(depth_image_camera_info_ao); +} + + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::PointCloudConnect() +{ + this->point_cloud_connect_count_++; + (*this->image_connect_count_)++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::PointCloudDisconnect() +{ + this->point_cloud_connect_count_--; + (*this->image_connect_count_)--; + if (this->point_cloud_connect_count_ <= 0) + this->parentSensor->SetActive(false); +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::DepthImageConnect() +{ + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::DepthImageDisconnect() +{ + this->depth_image_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::NormalImageConnect() +{ + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::NormalImageDisconnect() +{ + this->depth_image_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::MultibeamImageConnect() +{ + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::MultibeamImageDisconnect() +{ + this->depth_image_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::SonarImageConnect() +{ + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::SonarImageDisconnect() +{ + this->depth_image_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::RawSonarImageConnect() +{ + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::RawSonarImageDisconnect() +{ + this->depth_image_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Increment count +void GazeboRosImageSonar::DepthInfoConnect() +{ + this->depth_info_connect_count_++; +} +//////////////////////////////////////////////////////////////////////////////// +// Decrement count +void GazeboRosImageSonar::DepthInfoDisconnect() +{ + this->depth_info_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosImageSonar::OnNewDepthFrame(const float *_image, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) +{ + if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + return; + + this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (this->parentSensor->IsActive()) + { + if (this->point_cloud_connect_count_ <= 0 && + this->depth_image_connect_count_ <= 0 && + (*this->image_connect_count_) <= 0) + { + this->parentSensor->SetActive(false); + } + else + { + if (this->point_cloud_connect_count_ > 0) + this->FillPointdCloud(_image); + + if (this->depth_image_connect_count_ > 0) + //this->FillDepthImage(_image); + this->ComputeSonarImage(_image); + } + } + else + { + if (this->point_cloud_connect_count_ > 0 || + this->depth_image_connect_count_ <= 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } +} + +/////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosImageSonar::OnNewRGBPointCloud(const float *_pcd, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) +{ + if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + return; + + this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (!this->parentSensor->IsActive()) + { + if (this->point_cloud_connect_count_ > 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } + else + { + if (this->point_cloud_connect_count_ > 0) + { + this->lock_.lock(); + this->point_cloud_msg_.header.frame_id = this->frame_name_; + this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + this->point_cloud_msg_.width = this->width; + this->point_cloud_msg_.height = this->height; + this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; + + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg_); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(_width*_height); + + point_cloud_msg_.is_dense = true; + + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); + + for (unsigned int i = 0; i < _width; i++) + { + for (unsigned int j = 0; j < _height; j++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) + { + unsigned int index = (j * _width) + i; + *iter_x = _pcd[4 * index]; + *iter_y = _pcd[4 * index + 1]; + *iter_z = _pcd[4 * index + 2]; + *iter_rgb = _pcd[4 * index + 3]; + if (i == _width /2 && j == _height / 2) + { + uint32_t rgb = *reinterpret_cast(&(*iter_rgb)); + uint8_t r = (rgb >> 16) & 0x0000ff; + uint8_t g = (rgb >> 8) & 0x0000ff; + uint8_t b = (rgb) & 0x0000ff; + std::cerr << (int)r << " " << (int)g << " " << (int)b << "\n"; + } + } + } + + this->point_cloud_pub_.publish(this->point_cloud_msg_); + this->lock_.unlock(); + } + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosImageSonar::OnNewImageFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) +{ + if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + return; + + //ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); + this->sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (!this->parentSensor->IsActive()) + { + if ((*this->image_connect_count_) > 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } + else + { + if ((*this->image_connect_count_) > 0) + { + this->PutCameraData(_image); + // TODO(lucasw) publish camera info with depth image + // this->PublishCameraInfo(sensor_update_time); + } + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Put camera data to the interface +void GazeboRosImageSonar::FillPointdCloud(const float *_src) +{ + this->lock_.lock(); + + this->point_cloud_msg_.header.frame_id = this->frame_name_; + this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + this->point_cloud_msg_.width = this->width; + this->point_cloud_msg_.height = this->height; + this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; + + ///copy from depth to point cloud message + FillPointCloudHelper(this->point_cloud_msg_, + this->height, + this->width, + this->skip_, + (void*)_src ); + + this->point_cloud_pub_.publish(this->point_cloud_msg_); + + this->lock_.unlock(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Put depth image data to the interface +void GazeboRosImageSonar::FillDepthImage(const float *_src) +{ + this->lock_.lock(); + // copy data into image + this->depth_image_msg_.header.frame_id = this->frame_name_; + this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + + ///copy from depth to depth image message + FillDepthImageHelper(this->depth_image_msg_, + this->height, + this->width, + this->skip_, + (void*)_src ); + + this->depth_image_pub_.publish(this->depth_image_msg_); + + this->lock_.unlock(); +} + + +// Fill depth information +bool GazeboRosImageSonar::FillPointCloudHelper( + sensor_msgs::PointCloud2 &point_cloud_msg, + uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg) +{ + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(rows_arg*cols_arg); + + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); + + point_cloud_msg.is_dense = true; + + float* toCopyFrom = (float*)data_arg; + int index = 0; + + double hfov = this->parentSensor->DepthCamera()->HFOV().Radian(); + double fl = ((double)this->width) / (2.0 *tan(hfov/2.0)); + + // convert depth to point cloud + for (uint32_t j=0; j1) pAngle = atan2( (double)j - 0.5*(double)(rows_arg-1), fl); + else pAngle = 0.0; + + for (uint32_t i=0; i1) yAngle = atan2( (double)i - 0.5*(double)(cols_arg-1), fl); + else yAngle = 0.0; + + double depth = toCopyFrom[index++]; + + // in optical frame + // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in + // to urdf, where the *_optical_frame should have above relative + // rotation from the physical camera *_frame + *iter_x = depth * tan(yAngle); + *iter_y = depth * tan(pAngle); + if(depth > this->point_cloud_cutoff_) + { + *iter_z = depth; + } + else //point in the unseeable range + { + *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN (); + point_cloud_msg.is_dense = false; + } + + // put image color data for each point + uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0])); + if (this->image_msg_.data.size() == rows_arg*cols_arg*3) + { + // color + iter_rgb[0] = image_src[i*3+j*cols_arg*3+0]; + iter_rgb[1] = image_src[i*3+j*cols_arg*3+1]; + iter_rgb[2] = image_src[i*3+j*cols_arg*3+2]; + } + else if (this->image_msg_.data.size() == rows_arg*cols_arg) + { + // mono (or bayer? @todo; fix for bayer) + iter_rgb[0] = image_src[i+j*cols_arg]; + iter_rgb[1] = image_src[i+j*cols_arg]; + iter_rgb[2] = image_src[i+j*cols_arg]; + } + else + { + // no image + iter_rgb[0] = 0; + iter_rgb[1] = 0; + iter_rgb[2] = 0; + } + } + } + + return true; +} + +// Fill depth information +bool GazeboRosImageSonar::FillDepthImageHelper( + sensor_msgs::Image& image_msg, + uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg) +{ + image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; + image_msg.height = rows_arg; + image_msg.width = cols_arg; + image_msg.step = sizeof(float) * cols_arg; + image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); + image_msg.is_bigendian = 0; + + const float bad_point = std::numeric_limits::quiet_NaN(); + + float* dest = (float*)(&(image_msg.data[0])); + float* toCopyFrom = (float*)data_arg; + int index = 0; + + // convert depth to point cloud + for (uint32_t j = 0; j < rows_arg; j++) + { + for (uint32_t i = 0; i < cols_arg; i++) + { + float depth = toCopyFrom[index++]; + + if (depth > this->point_cloud_cutoff_) + { + dest[i + j * cols_arg] = depth; + } + else //point in the unseeable range + { + dest[i + j * cols_arg] = bad_point; + } + } + } + return true; +} + +cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) +{ + + // copy data into image + this->normal_image_msg_.header.frame_id = this->frame_name_; + this->normal_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->normal_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + + // filters + cv::Mat_ f1 = (cv::Mat_(3, 3) << 1, 2, 1, + 0, 0, 0, + -1, -2, -1) / 8; + + cv::Mat_ f2 = (cv::Mat_(3, 3) << 1, 0, -1, + 2, 0, -2, + 1, 0, -1) / 8; + + cv::Mat f1m, f2m; + cv::flip(f1, f1m, 0); + cv::flip(f2, f2m, 1); + + cv::Mat n1, n2; + cv::filter2D(depth, n1, -1, f1m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); + cv::filter2D(depth, n2, -1, f2m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); + + cv::Mat no_readings; + cv::erode(depth == 0, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); + //cv::dilate(no_readings, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); + n1.setTo(0, no_readings); + n2.setTo(0, no_readings); + + std::vector images(3); + cv::Mat white = cv::Mat::ones(depth.rows, depth.cols, CV_32FC1); + + // NOTE: with different focal lengths, the expression becomes + // (-dzx*fy, -dzy*fx, fx*fy) + images.at(0) = n1; //for green channel + images.at(1) = n2; //for red channel + images.at(2) = 1./this->focal_length_*depth; //for blue channel + + cv::Mat normal_image; // = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC3); + cv::merge(images, normal_image); + + // TODO: we should do this on the split images instead + for (int i = 0; i < normal_image.rows; ++i) { + for (int j = 0; j < normal_image.cols; ++j) { + cv::Vec3f& n = normal_image.at(i, j); + n = cv::normalize(n); + } + } + + cv::split(normal_image.clone(), images); + cv::Vec3d minVec, maxVec; + for (int i = 0; i < 3; ++i) { + cv::minMaxLoc(images[i], &minVec[i], &maxVec[i]); + images[i] -= minVec[i]; + images[i] *= 1./(maxVec[i] - minVec[i]); + } + + cv::merge(images, normal_image); + cv::Mat normal_image8; + normal_image.convertTo(normal_image8, CV_8UC3, 255.0); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->normal_image_msg_.header, sensor_msgs::image_encodings::RGB8, normal_image8); + img_bridge.toImageMsg(this->normal_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->normal_image_pub_.publish(this->normal_image_msg_); + + return normal_image; +} + +cv::Mat GazeboRosImageSonar::ConstructSonarImage(cv::Mat& depth, cv::Mat& normals) +{ + std::vector images(3); + cv::split(normals, images); + + float intensity = 100.; // target strength + float SL = 200.; // source level + float NL = 30; // noise level + float DI = 0.0; // directivity index + + if (dist_matrix_.empty()) { + std::vector t_x, t_y; + for (int i = 0; i < depth.cols; i++) t_x.push_back((float(i) - this->cx_)/this->focal_length_); + for (int i = 0; i < depth.rows; i++) t_y.push_back((float(i) - this->cy_)/this->focal_length_); + cv::Mat X, Y; + cv::repeat(cv::Mat(t_x).reshape(1,1), t_y.size(), 1, X); + cv::repeat(cv::Mat(t_y).reshape(1,1).t(), 1, t_x.size(), Y); + dist_matrix_ = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC1); + cv::multiply(X, X, X); + cv::multiply(Y, Y, Y); + cv::sqrt(X + Y + 1, dist_matrix_); + } + + // TODO: make these into proper parameters + cv::Mat TS = intensity*images[2]; // target strength, probably dir should be DI + cv::Mat TL = 5*depth; // transmission loss + cv::multiply(TL, dist_matrix_, TL); + cv::Mat SNR = SL - 2.0*TL - (NL-DI) + TS; + SNR.setTo(0., SNR < 0.); + + double minVal, maxVal; + cv::minMaxLoc(SNR, &minVal, &maxVal); + SNR -= minVal; + SNR *= 1./(maxVal - minVal); + + cv::Mat sonar_image8; + SNR.convertTo(sonar_image8, CV_8UC3, 255.0); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->multibeam_image_msg_.header, sensor_msgs::image_encodings::MONO8, sonar_image8); + img_bridge.toImageMsg(this->multibeam_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->multibeam_image_pub_.publish(this->multibeam_image_msg_); + + return SNR; //sonar_image8; +} + +void GazeboRosImageSonar::ApplySpeckleNoise(cv::Mat& scan, float fov) +{ + std::normal_distribution speckle_dist(1.0, 0.1); + + for (int i = 0; i < scan.rows; ++i) { + for (int j = 0; j < scan.cols; ++j) { + float& a = scan.at(i, j); + if (a == 0.) { + continue; + } + float speckle = fabs(speckle_dist(generator)); + a *= speckle; + } + } +} + +void GazeboRosImageSonar::ApplySmoothing(cv::Mat& scan, float fov) +{ + int nrolls = 300; + int window_size = 30; + + if (angle_range_indices_.empty()) { + angle_range_indices_.resize(scan.rows/1); + angle_nbr_indices_.resize(scan.rows/2, 0); + float threshold = tan(fov); + for (int j = 0; j < scan.cols; ++j) { + for (int i = 0; i < scan.rows; ++i) { + float x = fabs(float(scan.cols)/2. - j); + float y = scan.rows - i; + int dist = int(sqrt(x*x+y*y))/2; + if (dist >= scan.rows/2 || fabs(x)/y > threshold) { + continue; + } + angle_range_indices_[dist].push_back(scan.cols*i+j); + angle_nbr_indices_[dist] += 1; + } + } + } + + std::discrete_distribution<> range_dist(angle_nbr_indices_.begin(), angle_nbr_indices_.end()); + std::uniform_real_distribution index_dist(0.0, 1.0); + + std::vector kernel(window_size); + for (int i = 0; i < window_size; ++i) { + float diff = float(i-window_size/2)/float(window_size/4.); + kernel[i] = exp(-0.5*diff); + } + + std::vector conv_results(2*window_size); + for (int i = 0; i < nrolls; ++i) { + int sampled_range = range_dist(generator); + if (angle_nbr_indices_[sampled_range] == 0) { + continue; + } + int sampled_index = int(index_dist(generator)*angle_nbr_indices_[sampled_range]); + + int window_start = std::max(0, sampled_index-window_size); + int window_end = std::min(angle_nbr_indices_[sampled_range], sampled_index+window_size); + for (int i = window_start; i < window_end; ++i) { + conv_results[i - window_start] = 0.; + float conv_mass = 0.; + for (int j = 0; j < window_size; ++j) { + int index = i + j - window_size/2; + if (index >= 0 && index < angle_nbr_indices_[sampled_range]) { + conv_results[i - window_start] += kernel[j]*scan.at(angle_range_indices_[sampled_range][index]); + conv_mass += kernel[j]; + } + } + if (conv_mass == 0.) { + conv_results[i - window_start] = scan.at(angle_range_indices_[sampled_range][i]); + } + else { + conv_results[i - window_start] *= 1./conv_mass; + } + } + + for (int i = window_start; i < window_end; ++i) { + scan.at(angle_range_indices_[sampled_range][i]) = conv_results[i - window_start]; + } + + } + +} + +void GazeboRosImageSonar::ApplyMedianFilter(cv::Mat& scan) +{ + cv::Mat is_zero = scan == 0.; + cv::Mat is_bg = scan == 0.2; + cv::bitwise_or(is_zero, is_bg, is_zero); + + cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 9)); + cv::Mat scan_dilated; + cv::dilate(scan, scan_dilated, element, cv::Point(-1, -1), 1, 1, 1); + //scan.setTo(scan_dilated, is_zero); + scan_dilated.copyTo(scan, is_zero); +} + +// Constructs the raw sonar image +cv::Mat GazeboRosImageSonar::ConstructScanImage(cv::Mat& depth, cv::Mat& SNR) +{ + int rows = 400; // TODO: add a parameter for this + float range = 8.; // TODO: get this from the sensor config instead + + float fov = depthCamera->HFOV().Degree(); + int cols = 2*int(float(rows)*sin(M_PI/180.*fov/2.))+20; //~36.4 for 130FOV + +//M gets crops image based on FOV, should at least + cv::Mat scan = cv::Mat::zeros(rows, cols, CV_32FC1); + //float fov = 180./M_PI*2.*asin(this->cx_/this->focal_length_); + cv::Point center(scan.cols/2, scan.rows); + cv::Size full_axes(scan.rows, scan.rows); + cv::ellipse(scan, center, full_axes, -90, -fov/2., fov/2., 0.2, -1); + cv::Size third_axes(scan.rows/3, scan.rows/3); + cv::ellipse(scan, center, third_axes, -90, -fov/2., fov/2., 0, -1); + + float mapped_range = float(scan.rows); + + for (int i = 0; i < depth.rows; ++i) + { + for (int j = 0; j < depth.cols; ++j) + { + float d = depth.at(i, j); + //uchar a = SNR.at(i, j); + float a = SNR.at(i, j); + if (d == 0 || a == 0) { + continue; + } + + float x = (float(j) - this->cx_)/this->focal_length_; + float y = (float(i) - this->cy_)/this->focal_length_; + float z = 1.; + + if (false) { + z = d; + } + else { + z = d*sqrt(y*y + z*z); + } + + x *= z; y *= z; + + int pi = scan.rows - 1 - int(z/range*mapped_range); + int pj = scan.cols/2 + int(x/range*mapped_range); + if (pi < scan.rows && pi > 0 && pj < scan.cols && pj > 0 && x*x + z*z < range*range) { + scan.at(pi, pj) = a; + } + } + } + this->ApplyMedianFilter(scan); + this->ApplySpeckleNoise(scan, fov); + //this->ApplySmoothing(scan, fov); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->raw_sonar_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, scan); + img_bridge.toImageMsg(this->raw_sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->raw_sonar_image_pub_.publish(this->raw_sonar_image_msg_); + + return scan; +} + +cv::Mat GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat& raw_scan) +{ + float fov = depthCamera->HFOV().Degree(); + float mapped_range = float(raw_scan.rows); + + cv::Scalar blue(15, 48, 102); + cv::Scalar black(0, 0, 0); + cv::Mat scan(raw_scan.rows, raw_scan.cols, CV_8UC3); + scan.setTo(blue); + + cv::Point center(scan.cols/2, scan.rows); + cv::Size axes(scan.rows+3, scan.rows+3); + cv::ellipse(scan, center, axes, -90, -fov/2., fov/2., black, -1); //, int lineType=LINE_8, 0); + + for (int i = 0; i < scan.rows; ++i) { + for (int j = 0; j < scan.cols; ++j) { + float a = raw_scan.at(i, j); + if (a == 0.) { + continue; + } + + if (a < 0.8) { + scan.at(i, j) = cv::Vec3b(255*1.25*a, 255*0.78*a, 255*0.50*a); + } + else if(a < 1.) { + scan.at(i, j) = cv::Vec3b(255*a, 255*(1.88*a-0.88), 255*(-1.99*a+1.99)); + } + else { + scan.at(i, j) = cv::Vec3b(255, 255*(1.88-0.88), 255*(-1.99+1.99)); + } + } + } + + cv::Scalar white(255, 255, 255); + cv::Size axes1(2./3.*scan.rows, 2./3.*scan.rows); + cv::Size axes2(1./3.*scan.rows, 1./3.*scan.rows); + cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes1, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes2, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + + for (int i = 0; i < 5; ++i) { + float angle = -fov/2.-0.5 + (fov+0.5)*i/float(5-1); + int cornerx = int(mapped_range*sin(M_PI/180.*angle)); + int cornery = int(mapped_range*cos(M_PI/180.*angle)); + //cv::Point left_corner(scan.cols/2-cornerx, scan.rows-cornery); + //cv::Point right_corner(scan.cols/2+cornerx, scan.rows-cornery); + cv::Point corner(scan.cols/2+cornerx, scan.rows-cornery); + //cv::line(scan, center, left_corner, white, 2); + //cv::line(scan, center, right_corner, white, 2); + cv::line(scan, center, corner, white, 1, CV_AA); + } + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->sonar_image_msg_.header, sensor_msgs::image_encodings::RGB8, scan); + img_bridge.toImageMsg(this->sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->sonar_image_pub_.publish(this->sonar_image_msg_); + + return scan; +} + +//////////////////////////////////////////////////////////////////////////////// +// Put depth image data to the interface +void GazeboRosImageSonar::ComputeSonarImage(const float *_src) +{ + this->lock_.lock(); + // copy data into image + this->depth_image_msg_.header.frame_id = this->frame_name_; + this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + + // copy from depth to depth image (OpenCV) + int rows_arg = this->height; + int cols_arg = this->width; + int step_arg = this->skip_; + + sensor_msgs::Image image_msg; + image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; + image_msg.height = rows_arg; + image_msg.width = cols_arg; + image_msg.step = sizeof(float) * cols_arg; + image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); + image_msg.is_bigendian = 0; + + //cv::Mat depth_image = cv::Mat(rows_arg, cols_arg, CV_32FC1, (float*)_src).clone(); + cv::Mat depth_image(rows_arg, cols_arg, CV_32FC1, (float*)_src); + + // publish normal image + cv::Mat normal_image = this->ComputeNormalImage(depth_image); + cv::Mat multibeam_image = this->ConstructSonarImage(depth_image, normal_image); + cv::Mat raw_scan = this->ConstructScanImage(depth_image, multibeam_image); + cv::Mat visual_scan = this->ConstructVisualScanImage(raw_scan); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->depth_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, depth_image); + img_bridge.toImageMsg(this->depth_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->depth_image_pub_.publish(this->depth_image_msg_); + + + this->lock_.unlock(); +} + +void GazeboRosImageSonar::PublishCameraInfo() +{ + ROS_DEBUG_NAMED("depth_camera", "publishing default camera info, then depth camera info"); + GazeboRosCameraUtils::PublishCameraInfo(); + + if (this->depth_info_connect_count_ > 0) + { + common::Time sensor_update_time = this->parentSensor_->LastMeasurementTime(); + + this->sensor_update_time_ = sensor_update_time; + if (sensor_update_time - this->last_depth_image_camera_info_update_time_ >= this->update_period_) + { + this->PublishCameraInfo(this->depth_image_camera_info_pub_); // , sensor_update_time); + this->last_depth_image_camera_info_update_time_ = sensor_update_time; + } + } +} + +//@todo: publish disparity similar to openni_camera_deprecated/src/nodelets/openni_nodelet.cpp. +/* +#include +pub_disparity_ = comm_nh.advertise ("depth/disparity", 5, subscriberChanged2, subscriberChanged2); +void GazeboRosImageSonar::PublishDisparityImage(const DepthImage& depth, ros::Time time) +{ + stereo_msgs::DisparityImagePtr disp_msg = boost::make_shared (); + disp_msg->header.stamp = time; + disp_msg->header.frame_id = device_->isDepthRegistered () ? rgb_frame_id_ : depth_frame_id_; + disp_msg->image.header = disp_msg->header; + disp_msg->image.encoding = sensor_msgs::image_encodings::TYPE_32FC1; + disp_msg->image.height = depth_height_; + disp_msg->image.width = depth_width_; + disp_msg->image.step = disp_msg->image.width * sizeof (float); + disp_msg->image.data.resize (disp_msg->image.height * disp_msg->image.step); + disp_msg->T = depth.getBaseline (); + disp_msg->f = depth.getFocalLength () * depth_width_ / depth.getWidth (); + /// @todo Compute these values from DepthGenerator::GetDeviceMaxDepth() and the like + disp_msg->min_disparity = 0.0; + disp_msg->max_disparity = disp_msg->T * disp_msg->f / 0.3; + disp_msg->delta_d = 0.125; + depth.fillDisparityImage (depth_width_, depth_height_, reinterpret_cast(&disp_msg->image.data[0]), disp_msg->image.step); + pub_disparity_.publish (disp_msg); +} +*/ + + +} \ No newline at end of file diff --git a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro index 319783ce..b93d2dfd 100644 --- a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro +++ b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro @@ -8,6 +8,7 @@ + @@ -16,7 +17,9 @@ - + + @@ -31,6 +34,7 @@ + @@ -43,9 +47,36 @@ should be xyz="0.0908 0 0.2459" rpy="0 0 0.785" --> + + + + + + + + + + + - @@ -59,6 +90,5 @@ - diff --git a/simulation/sub8_simulation/launch/sim_full.launch b/simulation/sub8_simulation/launch/sim_full.launch index e7b2eb55..327269b4 100644 --- a/simulation/sub8_simulation/launch/sim_full.launch +++ b/simulation/sub8_simulation/launch/sim_full.launch @@ -10,8 +10,8 @@ - - + + From 0fb796336675e8ecaf1c2436e6906043d003211b Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Sun, 7 Jul 2019 19:12:55 -0400 Subject: [PATCH 2/7] usless message --- command/sub8_launch/launch/tf.launch | 9 +- command/sub8_launch/launch/upload_urdf.launch | 2 + command/sub8_launch/package.xml | 1 + .../sub8_pointcloud/include/OGridGen.hpp | 5 +- perception/sub8_pointcloud/src/OGridGen.cpp | 21 +- simulation/sub8_gazebo/CMakeLists.txt | 11 + .../include/sub8_gazebo/sub8_sonar.hh | 348 ++++++---- simulation/sub8_gazebo/launch/duck.launch | 7 +- simulation/sub8_gazebo/package.xml | 4 + simulation/sub8_gazebo/src/sub8_sonar.cpp | 657 ++++++++++-------- simulation/sub8_gazebo/urdf/sub8.urdf.xacro | 9 +- simulation/sub8_gazebo/worlds/gripper.world | 1 + 12 files changed, 609 insertions(+), 466 deletions(-) diff --git a/command/sub8_launch/launch/tf.launch b/command/sub8_launch/launch/tf.launch index 414ed5ba..4f130d56 100644 --- a/command/sub8_launch/launch/tf.launch +++ b/command/sub8_launch/launch/tf.launch @@ -2,8 +2,15 @@ - + + + + + + + + diff --git a/command/sub8_launch/launch/upload_urdf.launch b/command/sub8_launch/launch/upload_urdf.launch index bf8f7e69..37b8cfa2 100644 --- a/command/sub8_launch/launch/upload_urdf.launch +++ b/command/sub8_launch/launch/upload_urdf.launch @@ -12,4 +12,6 @@ air_density: 1.225 G: 9.81 + + diff --git a/command/sub8_launch/package.xml b/command/sub8_launch/package.xml index 320400d3..691a20d5 100644 --- a/command/sub8_launch/package.xml +++ b/command/sub8_launch/package.xml @@ -8,6 +8,7 @@ roslaunch roslaunch robot_state_publisher + joint_state_publisher nodelet c3_trajectory_generator rise_6dof diff --git a/perception/sub8_pointcloud/include/OGridGen.hpp b/perception/sub8_pointcloud/include/OGridGen.hpp index 4e935a42..6625057b 100644 --- a/perception/sub8_pointcloud/include/OGridGen.hpp +++ b/perception/sub8_pointcloud/include/OGridGen.hpp @@ -30,6 +30,7 @@ #include +#include #include #include #include @@ -62,7 +63,9 @@ class OGridGen OGridGen(); void publish_big_pointcloud(const ros::TimerEvent &); - void callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg); + //void callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg); + + void callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg); void dvl_callback(const mil_msgs::RangeStampedConstPtr &dvl); bool clear_ogrid_callback(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res); diff --git a/perception/sub8_pointcloud/src/OGridGen.cpp b/perception/sub8_pointcloud/src/OGridGen.cpp index 1abe7fc2..b9bc45e8 100644 --- a/perception/sub8_pointcloud/src/OGridGen.cpp +++ b/perception/sub8_pointcloud/src/OGridGen.cpp @@ -49,8 +49,9 @@ OGridGen::OGridGen() // Run the publisher timer_ = nh_.createTimer(ros::Duration(0.3), std::bind(&OGridGen::publish_big_pointcloud, this, std::placeholders::_1)); - sub_to_imaging_sonar_ = nh_.subscribe("/blueview_driver/ranges", 1, &OGridGen::callback, this); + // sub_to_imaging_sonar_ = nh_.subscribe("/blueview_driver/ranges", 1, &OGridGen::callback, this); sub_to_dvl_ = nh_.subscribe("/dvl/range", 1, &OGridGen::dvl_callback, this); + sub_to_imaging_sonar_ = nh_.subscribe("/simRanges", 1, &OGridGen::callback, this); mat_ogrid_ = cv::Mat::zeros(int(ogrid_size_ / resolution_), int(ogrid_size_ / resolution_), CV_8U); persistant_ogrid_ = cv::Mat(int(ogrid_size_) / resolution_, int(ogrid_size_ / resolution_), CV_32FC1); @@ -116,14 +117,14 @@ void OGridGen::publish_big_pointcloud(const ros::TimerEvent &) } } -/* - Subscribes to pingmsgs from blueview sonar and saves a plane of pings into a buffer based on sub pose -*/ -void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) + + //Subscribes to pingmsgs from blueview sonar and saves a plane of pings into a buffer based on sub pose +//void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) +void OGridGen::callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg) { try // TODO: Switch to TF2 { - listener_.lookupTransform("/map", "/blueview", ros::Time(0), transform_); + listener_.lookupTransform("/map", "/blueview/sonar_link", ros::Time(0), transform_); } catch (tf::TransformException ex) { @@ -141,8 +142,11 @@ void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) pcl::PointCloud::Ptr point_cloud_plane(new pcl::PointCloud()); for (size_t i = 0; i < ping_msg->ranges.size(); ++i) { - if (ping_msg->intensities.at(i) > min_intensity_) + //ROS_INFO("Bearing: %f \n", ping_msg->bearings.at(i)); + + if (ping_msg->intensities.at(i) > 5) { // TODO: Better thresholding + //ROS_INFO("Intensity: %u, Bearing: %f , Ranges: %f \n", ping_msg->intensities.at(i), ping_msg->bearings.at(i), ping_msg->ranges.at(i)); // Get x and y of a ping. RIGHT TRIANGLES double x_d = ping_msg->ranges.at(i) * cos(ping_msg->bearings.at(i)); @@ -178,6 +182,9 @@ void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) publish_ogrid(); } } + + + void OGridGen::populate_mat_ogrid() { classification_.zonify(persistant_ogrid_, resolution_, transform_, mat_origin_); diff --git a/simulation/sub8_gazebo/CMakeLists.txt b/simulation/sub8_gazebo/CMakeLists.txt index 125e4cdd..7afc9ed4 100644 --- a/simulation/sub8_gazebo/CMakeLists.txt +++ b/simulation/sub8_gazebo/CMakeLists.txt @@ -17,6 +17,11 @@ find_package(catkin tf tf2_ros tf2 + geometry_msgs + gazebo_plugins + message_filters + pcl_conversions + pcl_ros ) catkin_python_setup() @@ -88,6 +93,12 @@ add_service_files( SetTurbulence.srv ) +add_message_files( +FILES +simulated_sonar_ping.msg + +) + generate_messages(DEPENDENCIES std_msgs) add_dependencies(sub8_thrusters diff --git a/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh index 30475525..65cf0c9d 100644 --- a/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh +++ b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hh @@ -14,20 +14,30 @@ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * * Modifications: * * Copyright 2018 Nils Bore (nbore@kth.se) * - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the + * following conditions are met: * - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following + * disclaimer. * - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the + * following disclaimer in the documentation and/or other materials provided with the distribution. * - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote + * products derived from this software without specific prior written permission. * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ @@ -35,30 +45,30 @@ #define GAZEBO_ROS_DEPTH_CAMERA_HH // ros stuff -#include -#include #include +#include +#include // ros messages stuff -#include -#include +#include #include +#include +#include #include #include -#include // gazebo stuff -#include -#include -#include -#include #include -#include +#include +#include #include +#include +#include +#include // dynamic reconfigure stuff -#include #include +#include // boost stuff #include @@ -66,141 +76,179 @@ // camera stuff #include +#include + #include +#include + namespace gazebo { - class GazeboRosImageSonar : public SensorPlugin, GazeboRosCameraUtils - { - /// \brief Constructor - /// \param parent The parent entity, must be a Model or a Sensor - public: GazeboRosImageSonar(); - - /// \brief Destructor - public: ~GazeboRosImageSonar(); - - /// \brief Load the plugin - /// \param take in SDF root element - public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); - - /// \brief Advertise point cloud and depth image - public: virtual void Advertise(); - - /// \brief Update the controller - protected: virtual void OnNewDepthFrame(const float *_image, - unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string &_format); - - /// \brief Update the controller - protected: virtual void OnNewRGBPointCloud(const float *_pcd, - unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string &_format); - - /// \brief Update the controller - protected: virtual void OnNewImageFrame(const unsigned char *_image, - unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string &_format); - - /// \brief Put camera data to the ROS topic - private: void FillPointdCloud(const float *_src); - - /// \brief push depth image data into ros topic - private: void FillDepthImage(const float *_src); - - /// \brief push depth image data into ros topic - private: void ComputeSonarImage(const float *_src); - private: cv::Mat ComputeNormalImage(cv::Mat& depth); - private: cv::Mat ConstructSonarImage(cv::Mat& depth, cv::Mat& normals); - private: cv::Mat ConstructScanImage(cv::Mat& depth, cv::Mat& SNR); - private: void ApplySpeckleNoise(cv::Mat& scan, float fov); - private: void ApplySmoothing(cv::Mat& scan, float fov); - private: void ApplyMedianFilter(cv::Mat& scan); - private: cv::Mat ConstructVisualScanImage(cv::Mat& raw_scan); - - /// \brief Keep track of number of connctions for point clouds - private: int point_cloud_connect_count_; - private: void PointCloudConnect(); - private: void PointCloudDisconnect(); - - /// \brief Keep track of number of connctions for point clouds - private: int depth_image_connect_count_; - private: void DepthImageConnect(); - private: void DepthImageDisconnect(); - private: void NormalImageConnect(); - private: void NormalImageDisconnect(); - private: void MultibeamImageConnect(); - private: void MultibeamImageDisconnect(); - private: void SonarImageConnect(); - private: void SonarImageDisconnect(); - private: void RawSonarImageConnect(); - private: void RawSonarImageDisconnect(); - private: common::Time last_depth_image_camera_info_update_time_; - - private: bool FillPointCloudHelper(sensor_msgs::PointCloud2 &point_cloud_msg, - uint32_t rows_arg, uint32_t cols_arg, - uint32_t step_arg, void* data_arg); - - private: bool FillDepthImageHelper( sensor_msgs::Image& image_msg, - uint32_t rows_arg, uint32_t cols_arg, - uint32_t step_arg, void* data_arg); - - /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. - private: ros::Publisher point_cloud_pub_; - private: ros::Publisher depth_image_pub_; - private: ros::Publisher normal_image_pub_; - private: ros::Publisher multibeam_image_pub_; - private: ros::Publisher sonar_image_pub_; - private: ros::Publisher raw_sonar_image_pub_; - - /// \brief PointCloud2 point cloud message - private: sensor_msgs::PointCloud2 point_cloud_msg_; - private: sensor_msgs::Image depth_image_msg_; - private: sensor_msgs::Image normal_image_msg_; - private: sensor_msgs::Image multibeam_image_msg_; - private: sensor_msgs::Image sonar_image_msg_; - private: sensor_msgs::Image raw_sonar_image_msg_; - - private: double point_cloud_cutoff_; - - /// \brief ROS image topic name - private: std::string point_cloud_topic_name_; - std::default_random_engine generator; - - private: void InfoConnect(); - private: void InfoDisconnect(); - - using GazeboRosCameraUtils::PublishCameraInfo; - protected: virtual void PublishCameraInfo(); - - /// \brief image where each pixel contains the depth information - private: std::string depth_image_topic_name_; - private: std::string depth_image_camera_info_topic_name_; - private: int depth_info_connect_count_; - private: void DepthInfoConnect(); - private: void DepthInfoDisconnect(); - - // overload with our own - private: common::Time depth_sensor_update_time_; - protected: ros::Publisher depth_image_camera_info_pub_; - - private: event::ConnectionPtr load_connection_; - - // from DepthCameraPlugin - protected: unsigned int width, height, depth; - protected: std::string format; - - // precomputed things for the forward-looking sonar - protected: cv::Mat dist_matrix_; - std::vector > angle_range_indices_; - std::vector angle_nbr_indices_; - - protected: sensors::DepthCameraSensorPtr parentSensor; - protected: rendering::DepthCameraPtr depthCamera; - - private: event::ConnectionPtr newDepthFrameConnection; - private: event::ConnectionPtr newRGBPointCloudConnection; - private: event::ConnectionPtr newImageFrameConnection; - }; - -} +class GazeboRosImageSonar : public SensorPlugin, GazeboRosCameraUtils +{ +public: + /// \brief Constructor + /// \param parent The parent entity, must be a Model or a Sensor + GazeboRosImageSonar(); + + /// \brief Destructor + ~GazeboRosImageSonar(); + /// \brief Load the plugin + /// \param take in SDF root element + virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + + /// \brief Advertise point cloud and depth image + virtual void Advertise(); + + /// \brief Update the controller +protected: + virtual void OnNewDepthFrame(const float* _image, unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string& _format); + /// \brief Update the controller + virtual void OnNewRGBPointCloud(const float* _pcd, unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string& _format); + /// \brief Update the controller + virtual void OnNewImageFrame(const unsigned char* _image, unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string& _format); + + /// \brief Put camera data to the ROS topic +private: + void FillPointdCloud(const float* _src); + + /// \brief push depth image data into ros topic + void FillDepthImage(const float* _src); + + /// \brief push depth image data into ros topic + void ComputeSonarImage(const float* _src); + cv::Mat ComputeNormalImage(cv::Mat& depth); + cv::Mat ConstructSonarImage(cv::Mat& depth, cv::Mat& normals); + cv::Mat ConstructScanImage(cv::Mat& depth, cv::Mat& SNR); + cv::Mat ConstructPingMsg(); + double CalculateBearing(const cv::Point& v1, const cv::Point& v2); + void ApplySpeckleNoise(cv::Mat& scan, float fov); + + void ApplySmoothing(cv::Mat& scan, float fov); + void ApplyMedianFilter(cv::Mat& scan); + cv::Mat ConstructVisualScanImage(cv::Mat& raw_scan); + + /// \brief Keep track of number of connctions for point clouds + int point_cloud_connect_count_; + void PointCloudConnect(); + void PointCloudDisconnect(); + + /// \brief Keep track of number of connctions for point clouds + int depth_image_connect_count_; + void DepthImageConnect(); + void DepthImageDisconnect(); + void NormalImageConnect(); + void NormalImageDisconnect(); + void MultibeamImageConnect(); + void MultibeamImageDisconnect(); + void SonarImageConnect(); + void SonarImageDisconnect(); + void RawSonarImageConnect(); + void RawSonarImageDisconnect(); + + common::Time last_depth_image_camera_info_update_time_; + + bool FillPointCloudHelper(sensor_msgs::PointCloud2& point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg); + bool FillDepthImageHelper(sensor_msgs::Image& image_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, + void* data_arg); + + /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. + ros::Publisher point_cloud_pub_; + ros::Publisher depth_image_pub_; + ros::Publisher normal_image_pub_; + ros::Publisher multibeam_image_pub_; + ros::Publisher sonar_image_pub_; + ros::Publisher raw_sonar_image_pub_; + ros::Publisher sonar_ping_msg_pub_; +public: + sub8_gazebo::simulated_sonar_pingPtr ping_ptr; +private: + /// \brief PointCloud2 point cloud message + sensor_msgs::PointCloud2 point_cloud_msg_; + + sensor_msgs::Image depth_image_msg_; + + sensor_msgs::Image normal_image_msg_; + + sensor_msgs::Image multibeam_image_msg_; + + sensor_msgs::Image sonar_image_msg_; + + sensor_msgs::Image raw_sonar_image_msg_; + + double point_cloud_cutoff_; + + /// \brief ROS image topic name + std::string point_cloud_topic_name_; + std::default_random_engine generator; + + void InfoConnect(); + + void InfoDisconnect(); + + using GazeboRosCameraUtils::PublishCameraInfo; + +protected: + virtual void PublishCameraInfo(); + + /// \brief image where each pixel contains the depth information +private: + std::string depth_image_topic_name_; + +private: + std::string depth_image_camera_info_topic_name_; + +private: + int depth_info_connect_count_; + +private: + void DepthInfoConnect(); + +private: + void DepthInfoDisconnect(); + + int sonar_ping_count_; + std::string sonar_ping_topic_name_; + void SonarPingConnect(); + void SonarPingDisconnect(); + + // overload with our own +private: + common::Time depth_sensor_update_time_; + +protected: + ros::Publisher depth_image_camera_info_pub_; + +private: + event::ConnectionPtr load_connection_; + + // from DepthCameraPlugin +protected: + unsigned int width, height, depth; + +protected: + std::string format; + + // precomputed things for the forward-looking sonar +protected: + cv::Mat dist_matrix_; + std::vector > angle_range_indices_; + std::vector angle_nbr_indices_; + +protected: + sensors::DepthCameraSensorPtr parentSensor; + +protected: + rendering::DepthCameraPtr depthCamera; + +private: + event::ConnectionPtr newDepthFrameConnection; + event::ConnectionPtr newRGBPointCloudConnection; + event::ConnectionPtr newImageFrameConnection; +}; //end GazeboRosImageSonar +} //end namespace gazebo #endif diff --git a/simulation/sub8_gazebo/launch/duck.launch b/simulation/sub8_gazebo/launch/duck.launch index cc1dbbe9..edc7355d 100644 --- a/simulation/sub8_gazebo/launch/duck.launch +++ b/simulation/sub8_gazebo/launch/duck.launch @@ -8,12 +8,7 @@ - args="$(find sub8_gazebo)/worlds/a_whole_new.world --verbose" /> - + diff --git a/simulation/sub8_gazebo/package.xml b/simulation/sub8_gazebo/package.xml index 6e72ca98..598f50b6 100644 --- a/simulation/sub8_gazebo/package.xml +++ b/simulation/sub8_gazebo/package.xml @@ -19,6 +19,10 @@ xacro message_runtime message_runtime + robot_state_publisher + tf + tf2_ros + tf2 MIT catkin diff --git a/simulation/sub8_gazebo/src/sub8_sonar.cpp b/simulation/sub8_gazebo/src/sub8_sonar.cpp index 6048d50c..ab66eb99 100644 --- a/simulation/sub8_gazebo/src/sub8_sonar.cpp +++ b/simulation/sub8_gazebo/src/sub8_sonar.cpp @@ -14,30 +14,28 @@ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * * Modifications: */ -#include #include -#include +#include #include +#include //#include -//#include -//#include -#include #include -#include #include +#include +#include #include #include -#include #include +#include #include namespace gazebo @@ -70,8 +68,7 @@ GazeboRosImageSonar::~GazeboRosImageSonar() // Load the controller void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) { - this->parentSensor = - std::dynamic_pointer_cast(_parent); + this->parentSensor = std::dynamic_pointer_cast(_parent); this->depthCamera = this->parentSensor->DepthCamera(); if (!this->parentSensor) @@ -86,19 +83,16 @@ void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) this->format = this->depthCamera->ImageFormat(); this->newDepthFrameConnection = this->depthCamera->ConnectNewDepthFrame( - std::bind(&GazeboRosImageSonar::OnNewDepthFrame, - this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + std::bind(&GazeboRosImageSonar::OnNewDepthFrame, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); this->newRGBPointCloudConnection = this->depthCamera->ConnectNewRGBPointCloud( - std::bind(&GazeboRosImageSonar::OnNewRGBPointCloud, - this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + std::bind(&GazeboRosImageSonar::OnNewRGBPointCloud, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); this->newImageFrameConnection = this->depthCamera->ConnectNewImageFrame( - std::bind(&GazeboRosImageSonar::OnNewImageFrame, - this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + std::bind(&GazeboRosImageSonar::OnNewImageFrame, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); this->parentSensor->SetActive(true); @@ -106,7 +100,8 @@ void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) if (!ros::isInitialized()) { ROS_FATAL_STREAM_NAMED("depth_camera", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the " + "gazebo_ros package)"); return; } @@ -145,78 +140,69 @@ void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) this->point_cloud_cutoff_ = 0.4; else this->point_cloud_cutoff_ = _sdf->GetElement("pointCloudCutoff")->Get(); - - if (!_sdf->HasElement("clip")) { + + if (!_sdf->HasElement("clip")) + { gzerr << "We do not have clip" << std::endl; } - else { + else + { gzerr << "We do have clip" << std::endl; - gzerr << _sdf->GetElement("clip")->GetElement("far")->Get() << std::endl; + gzerr << _sdf->GetElement("clip")->GetElement("far")->Get() << std::endl; } + //this->sonar_ping_topic_name = "" + load_connection_ = GazeboRosCameraUtils::OnLoad(boost::bind(&GazeboRosImageSonar::Advertise, this)); GazeboRosCameraUtils::Load(_parent, _sdf); } void GazeboRosImageSonar::Advertise() { - ros::AdvertiseOptions point_cloud_ao = - ros::AdvertiseOptions::create( - this->point_cloud_topic_name_,1, - boost::bind( &GazeboRosImageSonar::PointCloudConnect,this), - boost::bind( &GazeboRosImageSonar::PointCloudDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions point_cloud_ao = ros::AdvertiseOptions::create( + this->point_cloud_topic_name_, 1, boost::bind(&GazeboRosImageSonar::PointCloudConnect, this), + boost::bind(&GazeboRosImageSonar::PointCloudDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->point_cloud_pub_ = this->rosnode_->advertise(point_cloud_ao); - ros::AdvertiseOptions depth_image_ao = - ros::AdvertiseOptions::create< sensor_msgs::Image >( - this->depth_image_topic_name_,1, - boost::bind( &GazeboRosImageSonar::DepthImageConnect,this), - boost::bind( &GazeboRosImageSonar::DepthImageDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions depth_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthImageConnect, this), + boost::bind(&GazeboRosImageSonar::DepthImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->depth_image_pub_ = this->rosnode_->advertise(depth_image_ao); - ros::AdvertiseOptions normal_image_ao = - ros::AdvertiseOptions::create< sensor_msgs::Image >( - this->depth_image_topic_name_+"_normals",1, - boost::bind( &GazeboRosImageSonar::NormalImageConnect,this), - boost::bind( &GazeboRosImageSonar::NormalImageDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions normal_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_normals", 1, boost::bind(&GazeboRosImageSonar::NormalImageConnect, this), + boost::bind(&GazeboRosImageSonar::NormalImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->normal_image_pub_ = this->rosnode_->advertise(normal_image_ao); - ros::AdvertiseOptions multibeam_image_ao = - ros::AdvertiseOptions::create< sensor_msgs::Image >( - this->depth_image_topic_name_+"_multibeam",1, - boost::bind( &GazeboRosImageSonar::MultibeamImageConnect,this), - boost::bind( &GazeboRosImageSonar::MultibeamImageDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions multibeam_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_multibeam", 1, boost::bind(&GazeboRosImageSonar::MultibeamImageConnect, this), + boost::bind(&GazeboRosImageSonar::MultibeamImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->multibeam_image_pub_ = this->rosnode_->advertise(multibeam_image_ao); - ros::AdvertiseOptions sonar_image_ao = - ros::AdvertiseOptions::create< sensor_msgs::Image >( - this->depth_image_topic_name_+"_sonar",1, - boost::bind( &GazeboRosImageSonar::SonarImageConnect,this), - boost::bind( &GazeboRosImageSonar::SonarImageDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions sonar_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_sonar", 1, boost::bind(&GazeboRosImageSonar::SonarImageConnect, this), + boost::bind(&GazeboRosImageSonar::SonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->sonar_image_pub_ = this->rosnode_->advertise(sonar_image_ao); - ros::AdvertiseOptions raw_sonar_image_ao = - ros::AdvertiseOptions::create< sensor_msgs::Image >( - this->depth_image_topic_name_+"_raw_sonar",1, - boost::bind( &GazeboRosImageSonar::RawSonarImageConnect,this), - boost::bind( &GazeboRosImageSonar::RawSonarImageDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions raw_sonar_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_raw_sonar", 1, boost::bind(&GazeboRosImageSonar::RawSonarImageConnect, this), + boost::bind(&GazeboRosImageSonar::RawSonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->raw_sonar_image_pub_ = this->rosnode_->advertise(raw_sonar_image_ao); - ros::AdvertiseOptions depth_image_camera_info_ao = - ros::AdvertiseOptions::create( - this->depth_image_camera_info_topic_name_,1, - boost::bind( &GazeboRosImageSonar::DepthInfoConnect,this), - boost::bind( &GazeboRosImageSonar::DepthInfoDisconnect,this), - ros::VoidPtr(), &this->camera_queue_); + ros::AdvertiseOptions depth_image_camera_info_ao = ros::AdvertiseOptions::create( + this->depth_image_camera_info_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthInfoConnect, this), + boost::bind(&GazeboRosImageSonar::DepthInfoDisconnect, this), ros::VoidPtr(), &this->camera_queue_); this->depth_image_camera_info_pub_ = this->rosnode_->advertise(depth_image_camera_info_ao); -} + /*ros::AdvertiseOptions ping_msg_ao = ros::AdvertiseOptions::create( + sub8_gazebo::simulated_sonar_ping, 1, boost::bind(&GazeboRosImageSonar::SonarPingConnect, this), + boost::bind(&GazeboRosImageSonar::SonarPingDisconnect, this), ros::VoidPtr()); + this->sonar_ping_msg_pub_ = this->rosnode_->advertise(ping_msg_ao); + */ + this->sonar_ping_msg_pub_ = this->rosnode_->advertise("simRanges", 5); + this->ping_ptr.reset(new sub8_gazebo::simulated_sonar_ping); + +} //////////////////////////////////////////////////////////////////////////////// // Increment count @@ -319,21 +305,30 @@ void GazeboRosImageSonar::DepthInfoDisconnect() this->depth_info_connect_count_--; } +void GazeboRosImageSonar::SonarPingConnect() +{ + this->sonar_ping_count_++; +} + +void GazeboRosImageSonar::SonarPingDisconnect() +{ + this->sonar_ping_count_--; +} + + //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosImageSonar::OnNewDepthFrame(const float *_image, - unsigned int _width, unsigned int _height, unsigned int _depth, - const std::string &_format) +void GazeboRosImageSonar::OnNewDepthFrame(const float* _image, unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) return; this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); if (this->parentSensor->IsActive()) { - if (this->point_cloud_connect_count_ <= 0 && - this->depth_image_connect_count_ <= 0 && + if (this->point_cloud_connect_count_ <= 0 && this->depth_image_connect_count_ <= 0 && (*this->image_connect_count_) <= 0) { this->parentSensor->SetActive(false); @@ -344,14 +339,13 @@ void GazeboRosImageSonar::OnNewDepthFrame(const float *_image, this->FillPointdCloud(_image); if (this->depth_image_connect_count_ > 0) - //this->FillDepthImage(_image); + // this->FillDepthImage(_image); this->ComputeSonarImage(_image); } } else { - if (this->point_cloud_connect_count_ > 0 || - this->depth_image_connect_count_ <= 0) + if (this->point_cloud_connect_count_ > 0 || this->depth_image_connect_count_ <= 0) // do this first so there's chance for sensor to run 1 frame after activate this->parentSensor->SetActive(true); } @@ -359,11 +353,10 @@ void GazeboRosImageSonar::OnNewDepthFrame(const float *_image, /////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosImageSonar::OnNewRGBPointCloud(const float *_pcd, - unsigned int _width, unsigned int _height, unsigned int _depth, - const std::string &_format) +void GazeboRosImageSonar::OnNewRGBPointCloud(const float* _pcd, unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) return; this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); @@ -388,7 +381,7 @@ void GazeboRosImageSonar::OnNewRGBPointCloud(const float *_pcd, sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg_); pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); - pcd_modifier.resize(_width*_height); + pcd_modifier.resize(_width * _height); point_cloud_msg_.is_dense = true; @@ -406,12 +399,12 @@ void GazeboRosImageSonar::OnNewRGBPointCloud(const float *_pcd, *iter_y = _pcd[4 * index + 1]; *iter_z = _pcd[4 * index + 2]; *iter_rgb = _pcd[4 * index + 3]; - if (i == _width /2 && j == _height / 2) + if (i == _width / 2 && j == _height / 2) { uint32_t rgb = *reinterpret_cast(&(*iter_rgb)); uint8_t r = (rgb >> 16) & 0x0000ff; - uint8_t g = (rgb >> 8) & 0x0000ff; - uint8_t b = (rgb) & 0x0000ff; + uint8_t g = (rgb >> 8) & 0x0000ff; + uint8_t b = (rgb)&0x0000ff; std::cerr << (int)r << " " << (int)g << " " << (int)b << "\n"; } } @@ -425,14 +418,14 @@ void GazeboRosImageSonar::OnNewRGBPointCloud(const float *_pcd, //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosImageSonar::OnNewImageFrame(const unsigned char *_image, - unsigned int _width, unsigned int _height, unsigned int _depth, - const std::string &_format) +void GazeboRosImageSonar::OnNewImageFrame(const unsigned char* _image, unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) return; - //ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); + // ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s + // %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); this->sensor_update_time_ = this->parentSensor->LastMeasurementTime(); if (!this->parentSensor->IsActive()) @@ -454,7 +447,7 @@ void GazeboRosImageSonar::OnNewImageFrame(const unsigned char *_image, //////////////////////////////////////////////////////////////////////////////// // Put camera data to the interface -void GazeboRosImageSonar::FillPointdCloud(const float *_src) +void GazeboRosImageSonar::FillPointdCloud(const float* _src) { this->lock_.lock(); @@ -465,12 +458,8 @@ void GazeboRosImageSonar::FillPointdCloud(const float *_src) this->point_cloud_msg_.height = this->height; this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; - ///copy from depth to point cloud message - FillPointCloudHelper(this->point_cloud_msg_, - this->height, - this->width, - this->skip_, - (void*)_src ); + /// copy from depth to point cloud message + FillPointCloudHelper(this->point_cloud_msg_, this->height, this->width, this->skip_, (void*)_src); this->point_cloud_pub_.publish(this->point_cloud_msg_); @@ -479,7 +468,7 @@ void GazeboRosImageSonar::FillPointdCloud(const float *_src) //////////////////////////////////////////////////////////////////////////////// // Put depth image data to the interface -void GazeboRosImageSonar::FillDepthImage(const float *_src) +void GazeboRosImageSonar::FillDepthImage(const float* _src) { this->lock_.lock(); // copy data into image @@ -487,28 +476,21 @@ void GazeboRosImageSonar::FillDepthImage(const float *_src) this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - ///copy from depth to depth image message - FillDepthImageHelper(this->depth_image_msg_, - this->height, - this->width, - this->skip_, - (void*)_src ); + /// copy from depth to depth image message + FillDepthImageHelper(this->depth_image_msg_, this->height, this->width, this->skip_, (void*)_src); this->depth_image_pub_.publish(this->depth_image_msg_); this->lock_.unlock(); } - // Fill depth information -bool GazeboRosImageSonar::FillPointCloudHelper( - sensor_msgs::PointCloud2 &point_cloud_msg, - uint32_t rows_arg, uint32_t cols_arg, - uint32_t step_arg, void* data_arg) +bool GazeboRosImageSonar::FillPointCloudHelper(sensor_msgs::PointCloud2& point_cloud_msg, uint32_t rows_arg, + uint32_t cols_arg, uint32_t step_arg, void* data_arg) { sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); - pcd_modifier.resize(rows_arg*cols_arg); + pcd_modifier.resize(rows_arg * cols_arg); sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); @@ -521,20 +503,24 @@ bool GazeboRosImageSonar::FillPointCloudHelper( int index = 0; double hfov = this->parentSensor->DepthCamera()->HFOV().Radian(); - double fl = ((double)this->width) / (2.0 *tan(hfov/2.0)); + double fl = ((double)this->width) / (2.0 * tan(hfov / 2.0)); // convert depth to point cloud - for (uint32_t j=0; j1) pAngle = atan2( (double)j - 0.5*(double)(rows_arg-1), fl); - else pAngle = 0.0; + if (rows_arg > 1) + pAngle = atan2((double)j - 0.5 * (double)(rows_arg - 1), fl); + else + pAngle = 0.0; - for (uint32_t i=0; i1) yAngle = atan2( (double)i - 0.5*(double)(cols_arg-1), fl); - else yAngle = 0.0; + if (cols_arg > 1) + yAngle = atan2((double)i - 0.5 * (double)(cols_arg - 1), fl); + else + yAngle = 0.0; double depth = toCopyFrom[index++]; @@ -542,33 +528,33 @@ bool GazeboRosImageSonar::FillPointCloudHelper( // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in // to urdf, where the *_optical_frame should have above relative // rotation from the physical camera *_frame - *iter_x = depth * tan(yAngle); - *iter_y = depth * tan(pAngle); - if(depth > this->point_cloud_cutoff_) + *iter_x = depth * tan(yAngle); + *iter_y = depth * tan(pAngle); + if (depth > this->point_cloud_cutoff_) { - *iter_z = depth; + *iter_z = depth; } - else //point in the unseeable range + else // point in the unseeable range { - *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN (); + *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN(); point_cloud_msg.is_dense = false; } // put image color data for each point - uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0])); - if (this->image_msg_.data.size() == rows_arg*cols_arg*3) + uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0])); + if (this->image_msg_.data.size() == rows_arg * cols_arg * 3) { // color - iter_rgb[0] = image_src[i*3+j*cols_arg*3+0]; - iter_rgb[1] = image_src[i*3+j*cols_arg*3+1]; - iter_rgb[2] = image_src[i*3+j*cols_arg*3+2]; + iter_rgb[0] = image_src[i * 3 + j * cols_arg * 3 + 0]; + iter_rgb[1] = image_src[i * 3 + j * cols_arg * 3 + 1]; + iter_rgb[2] = image_src[i * 3 + j * cols_arg * 3 + 2]; } - else if (this->image_msg_.data.size() == rows_arg*cols_arg) + else if (this->image_msg_.data.size() == rows_arg * cols_arg) { // mono (or bayer? @todo; fix for bayer) - iter_rgb[0] = image_src[i+j*cols_arg]; - iter_rgb[1] = image_src[i+j*cols_arg]; - iter_rgb[2] = image_src[i+j*cols_arg]; + iter_rgb[0] = image_src[i + j * cols_arg]; + iter_rgb[1] = image_src[i + j * cols_arg]; + iter_rgb[2] = image_src[i + j * cols_arg]; } else { @@ -584,10 +570,8 @@ bool GazeboRosImageSonar::FillPointCloudHelper( } // Fill depth information -bool GazeboRosImageSonar::FillDepthImageHelper( - sensor_msgs::Image& image_msg, - uint32_t rows_arg, uint32_t cols_arg, - uint32_t step_arg, void* data_arg) +bool GazeboRosImageSonar::FillDepthImageHelper(sensor_msgs::Image& image_msg, uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg) { image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; image_msg.height = rows_arg; @@ -613,7 +597,7 @@ bool GazeboRosImageSonar::FillDepthImageHelper( { dest[i + j * cols_arg] = depth; } - else //point in the unseeable range + else // point in the unseeable range { dest[i + j * cols_arg] = bad_point; } @@ -624,20 +608,15 @@ bool GazeboRosImageSonar::FillDepthImageHelper( cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) { - // copy data into image this->normal_image_msg_.header.frame_id = this->frame_name_; this->normal_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; this->normal_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; // filters - cv::Mat_ f1 = (cv::Mat_(3, 3) << 1, 2, 1, - 0, 0, 0, - -1, -2, -1) / 8; + cv::Mat_ f1 = (cv::Mat_(3, 3) << 1, 2, 1, 0, 0, 0, -1, -2, -1) / 8; - cv::Mat_ f2 = (cv::Mat_(3, 3) << 1, 0, -1, - 2, 0, -2, - 1, 0, -1) / 8; + cv::Mat_ f2 = (cv::Mat_(3, 3) << 1, 0, -1, 2, 0, -2, 1, 0, -1) / 8; cv::Mat f1m, f2m; cv::flip(f1, f1m, 0); @@ -649,7 +628,7 @@ cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) cv::Mat no_readings; cv::erode(depth == 0, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); - //cv::dilate(no_readings, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); + // cv::dilate(no_readings, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); n1.setTo(0, no_readings); n2.setTo(0, no_readings); @@ -658,27 +637,30 @@ cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) // NOTE: with different focal lengths, the expression becomes // (-dzx*fy, -dzy*fx, fx*fy) - images.at(0) = n1; //for green channel - images.at(1) = n2; //for red channel - images.at(2) = 1./this->focal_length_*depth; //for blue channel + images.at(0) = n1; // for green channel + images.at(1) = n2; // for red channel + images.at(2) = 1. / this->focal_length_ * depth; // for blue channel - cv::Mat normal_image; // = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC3); + cv::Mat normal_image; // = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC3); cv::merge(images, normal_image); - + // TODO: we should do this on the split images instead - for (int i = 0; i < normal_image.rows; ++i) { - for (int j = 0; j < normal_image.cols; ++j) { + for (int i = 0; i < normal_image.rows; ++i) + { + for (int j = 0; j < normal_image.cols; ++j) + { cv::Vec3f& n = normal_image.at(i, j); - n = cv::normalize(n); - } + n = cv::normalize(n); + } } cv::split(normal_image.clone(), images); cv::Vec3d minVec, maxVec; - for (int i = 0; i < 3; ++i) { + for (int i = 0; i < 3; ++i) + { cv::minMaxLoc(images[i], &minVec[i], &maxVec[i]); - images[i] -= minVec[i]; - images[i] *= 1./(maxVec[i] - minVec[i]); + images[i] -= minVec[i]; + images[i] *= 1. / (maxVec[i] - minVec[i]); } cv::merge(images, normal_image); @@ -687,7 +669,7 @@ cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) cv_bridge::CvImage img_bridge; img_bridge = cv_bridge::CvImage(this->normal_image_msg_.header, sensor_msgs::image_encodings::RGB8, normal_image8); - img_bridge.toImageMsg(this->normal_image_msg_); // from cv_bridge to sensor_msgs::Image + img_bridge.toImageMsg(this->normal_image_msg_); // from cv_bridge to sensor_msgs::Image this->normal_image_pub_.publish(this->normal_image_msg_); @@ -699,18 +681,21 @@ cv::Mat GazeboRosImageSonar::ConstructSonarImage(cv::Mat& depth, cv::Mat& normal std::vector images(3); cv::split(normals, images); - float intensity = 100.; // target strength - float SL = 200.; // source level - float NL = 30; // noise level - float DI = 0.0; // directivity index + float intensity = 100.; // target strength + float SL = 200.; // source level + float NL = 30; // noise level + float DI = 0.0; // directivity index - if (dist_matrix_.empty()) { + if (dist_matrix_.empty()) + { std::vector t_x, t_y; - for (int i = 0; i < depth.cols; i++) t_x.push_back((float(i) - this->cx_)/this->focal_length_); - for (int i = 0; i < depth.rows; i++) t_y.push_back((float(i) - this->cy_)/this->focal_length_); + for (int i = 0; i < depth.cols; i++) + t_x.push_back((float(i) - this->cx_) / this->focal_length_); + for (int i = 0; i < depth.rows; i++) + t_y.push_back((float(i) - this->cy_) / this->focal_length_); cv::Mat X, Y; - cv::repeat(cv::Mat(t_x).reshape(1,1), t_y.size(), 1, X); - cv::repeat(cv::Mat(t_y).reshape(1,1).t(), 1, t_x.size(), Y); + cv::repeat(cv::Mat(t_x).reshape(1, 1), t_y.size(), 1, X); + cv::repeat(cv::Mat(t_y).reshape(1, 1).t(), 1, t_x.size(), Y); dist_matrix_ = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC1); cv::multiply(X, X, X); cv::multiply(Y, Y, Y); @@ -718,42 +703,45 @@ cv::Mat GazeboRosImageSonar::ConstructSonarImage(cv::Mat& depth, cv::Mat& normal } // TODO: make these into proper parameters - cv::Mat TS = intensity*images[2]; // target strength, probably dir should be DI - cv::Mat TL = 5*depth; // transmission loss + cv::Mat TS = intensity * images[2]; // target strength, probably dir should be DI + cv::Mat TL = 5 * depth; // transmission loss cv::multiply(TL, dist_matrix_, TL); - cv::Mat SNR = SL - 2.0*TL - (NL-DI) + TS; + cv::Mat SNR = SL - 2.0 * TL - (NL - DI) + TS; SNR.setTo(0., SNR < 0.); double minVal, maxVal; cv::minMaxLoc(SNR, &minVal, &maxVal); SNR -= minVal; - SNR *= 1./(maxVal - minVal); + SNR *= 1. / (maxVal - minVal); cv::Mat sonar_image8; SNR.convertTo(sonar_image8, CV_8UC3, 255.0); cv_bridge::CvImage img_bridge; img_bridge = cv_bridge::CvImage(this->multibeam_image_msg_.header, sensor_msgs::image_encodings::MONO8, sonar_image8); - img_bridge.toImageMsg(this->multibeam_image_msg_); // from cv_bridge to sensor_msgs::Image + img_bridge.toImageMsg(this->multibeam_image_msg_); // from cv_bridge to sensor_msgs::Image this->multibeam_image_pub_.publish(this->multibeam_image_msg_); - return SNR; //sonar_image8; + return SNR; // sonar_image8; } void GazeboRosImageSonar::ApplySpeckleNoise(cv::Mat& scan, float fov) { std::normal_distribution speckle_dist(1.0, 0.1); - for (int i = 0; i < scan.rows; ++i) { - for (int j = 0; j < scan.cols; ++j) { + for (int i = 0; i < scan.rows; ++i) + { + for (int j = 0; j < scan.cols; ++j) + { float& a = scan.at(i, j); - if (a == 0.) { - continue; + if (a == 0.) + { + continue; } - float speckle = fabs(speckle_dist(generator)); + float speckle = fabs(speckle_dist(generator)); a *= speckle; - } + } } } @@ -762,20 +750,24 @@ void GazeboRosImageSonar::ApplySmoothing(cv::Mat& scan, float fov) int nrolls = 300; int window_size = 30; - if (angle_range_indices_.empty()) { - angle_range_indices_.resize(scan.rows/1); - angle_nbr_indices_.resize(scan.rows/2, 0); + if (angle_range_indices_.empty()) + { + angle_range_indices_.resize(scan.rows / 1); + angle_nbr_indices_.resize(scan.rows / 2, 0); float threshold = tan(fov); - for (int j = 0; j < scan.cols; ++j) { - for (int i = 0; i < scan.rows; ++i) { - float x = fabs(float(scan.cols)/2. - j); - float y = scan.rows - i; - int dist = int(sqrt(x*x+y*y))/2; - if (dist >= scan.rows/2 || fabs(x)/y > threshold) { - continue; + for (int j = 0; j < scan.cols; ++j) + { + for (int i = 0; i < scan.rows; ++i) + { + float x = fabs(float(scan.cols) / 2. - j); + float y = scan.rows - i; + int dist = int(sqrt(x * x + y * y)) / 2; + if (dist >= scan.rows / 2 || fabs(x) / y > threshold) + { + continue; } - angle_range_indices_[dist].push_back(scan.cols*i+j); - angle_nbr_indices_[dist] += 1; + angle_range_indices_[dist].push_back(scan.cols * i + j); + angle_nbr_indices_[dist] += 1; } } } @@ -784,45 +776,52 @@ void GazeboRosImageSonar::ApplySmoothing(cv::Mat& scan, float fov) std::uniform_real_distribution index_dist(0.0, 1.0); std::vector kernel(window_size); - for (int i = 0; i < window_size; ++i) { - float diff = float(i-window_size/2)/float(window_size/4.); - kernel[i] = exp(-0.5*diff); + for (int i = 0; i < window_size; ++i) + { + float diff = float(i - window_size / 2) / float(window_size / 4.); + kernel[i] = exp(-0.5 * diff); } - std::vector conv_results(2*window_size); - for (int i = 0; i < nrolls; ++i) { + std::vector conv_results(2 * window_size); + for (int i = 0; i < nrolls; ++i) + { int sampled_range = range_dist(generator); - if (angle_nbr_indices_[sampled_range] == 0) { + if (angle_nbr_indices_[sampled_range] == 0) + { continue; } - int sampled_index = int(index_dist(generator)*angle_nbr_indices_[sampled_range]); - - int window_start = std::max(0, sampled_index-window_size); - int window_end = std::min(angle_nbr_indices_[sampled_range], sampled_index+window_size); - for (int i = window_start; i < window_end; ++i) { - conv_results[i - window_start] = 0.; - float conv_mass = 0.; - for (int j = 0; j < window_size; ++j) { - int index = i + j - window_size/2; - if (index >= 0 && index < angle_nbr_indices_[sampled_range]) { - conv_results[i - window_start] += kernel[j]*scan.at(angle_range_indices_[sampled_range][index]); - conv_mass += kernel[j]; - } + int sampled_index = int(index_dist(generator) * angle_nbr_indices_[sampled_range]); + + int window_start = std::max(0, sampled_index - window_size); + int window_end = std::min(angle_nbr_indices_[sampled_range], sampled_index + window_size); + for (int i = window_start; i < window_end; ++i) + { + conv_results[i - window_start] = 0.; + float conv_mass = 0.; + for (int j = 0; j < window_size; ++j) + { + int index = i + j - window_size / 2; + if (index >= 0 && index < angle_nbr_indices_[sampled_range]) + { + conv_results[i - window_start] += kernel[j] * scan.at(angle_range_indices_[sampled_range][index]); + conv_mass += kernel[j]; + } } - if (conv_mass == 0.) { - conv_results[i - window_start] = scan.at(angle_range_indices_[sampled_range][i]); + if (conv_mass == 0.) + { + conv_results[i - window_start] = scan.at(angle_range_indices_[sampled_range][i]); } - else { - conv_results[i - window_start] *= 1./conv_mass; + else + { + conv_results[i - window_start] *= 1. / conv_mass; } } - for (int i = window_start; i < window_end; ++i) { + for (int i = window_start; i < window_end; ++i) + { scan.at(angle_range_indices_[sampled_range][i]) = conv_results[i - window_start]; } - } - } void GazeboRosImageSonar::ApplyMedianFilter(cv::Mat& scan) @@ -834,138 +833,205 @@ void GazeboRosImageSonar::ApplyMedianFilter(cv::Mat& scan) cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 9)); cv::Mat scan_dilated; cv::dilate(scan, scan_dilated, element, cv::Point(-1, -1), 1, 1, 1); - //scan.setTo(scan_dilated, is_zero); + // scan.setTo(scan_dilated, is_zero); scan_dilated.copyTo(scan, is_zero); } // Constructs the raw sonar image cv::Mat GazeboRosImageSonar::ConstructScanImage(cv::Mat& depth, cv::Mat& SNR) { - int rows = 400; // TODO: add a parameter for this - float range = 8.; // TODO: get this from the sensor config instead - + int rows = 400; // TODO: add a parameter for this + float range = 8.; // TODO: get this from the sensor config instead + float fov = depthCamera->HFOV().Degree(); - int cols = 2*int(float(rows)*sin(M_PI/180.*fov/2.))+20; //~36.4 for 130FOV + int cols = 2 * int(float(rows) * sin(M_PI / 180. * fov / 2.)) + 20; //~36.4 for 130FOV -//M gets crops image based on FOV, should at least + // M gets crops image based on FOV, should at least cv::Mat scan = cv::Mat::zeros(rows, cols, CV_32FC1); - //float fov = 180./M_PI*2.*asin(this->cx_/this->focal_length_); - cv::Point center(scan.cols/2, scan.rows); + // float fov = 180./M_PI*2.*asin(this->cx_/this->focal_length_); + cv::Point center(scan.cols / 2, scan.rows); cv::Size full_axes(scan.rows, scan.rows); - cv::ellipse(scan, center, full_axes, -90, -fov/2., fov/2., 0.2, -1); - cv::Size third_axes(scan.rows/3, scan.rows/3); - cv::ellipse(scan, center, third_axes, -90, -fov/2., fov/2., 0, -1); + cv::ellipse(scan, center, full_axes, -90, -fov / 2., fov / 2., 0.2, -1); + cv::Size third_axes(scan.rows / 3, scan.rows / 3); + cv::ellipse(scan, center, third_axes, -90, -fov / 2., fov / 2., 0, -1); float mapped_range = float(scan.rows); - - for (int i = 0; i < depth.rows; ++i) + int ping_count = 0; + cv::Point scan_origin = cv::Point(double(depth.cols / 2.0), 0.0); + std::vector bearings; + std::vector ranges; + std::vector intensities; + int x_trans; + int y_trans; + + + for (int i = 0; i < depth.rows; ++i) { - for (int j = 0; j < depth.cols; ++j) + for (int j = 0; j < depth.cols; ++j) { float d = depth.at(i, j); - //uchar a = SNR.at(i, j); + // uchar a = SNR.at(i, j); float a = SNR.at(i, j); - if (d == 0 || a == 0) { - continue; + if (d == 0 || a == 0) + { + continue; } - float x = (float(j) - this->cx_)/this->focal_length_; - float y = (float(i) - this->cy_)/this->focal_length_; - float z = 1.; + float x = (float(j) - this->cx_) / this->focal_length_; + float y = (float(i) - this->cy_) / this->focal_length_; + float z = 1.; - if (false) { - z = d; + if (false) + { + z = d; } - else { - z = d*sqrt(y*y + z*z); + else + { + z = d * sqrt(y * y + z * z); } - - x *= z; y *= z; - int pi = scan.rows - 1 - int(z/range*mapped_range); - int pj = scan.cols/2 + int(x/range*mapped_range); - if (pi < scan.rows && pi > 0 && pj < scan.cols && pj > 0 && x*x + z*z < range*range) { - scan.at(pi, pj) = a; + x *= z; + y *= z; + x_trans = x - (scan.cols/2); + y_trans = scan.rows - y; + + cv::Point hit = cv::Point(double(x), double(y)); + + int pi = scan.rows - 1 - int(z / range * mapped_range); + int pj = scan.cols / 2 + int(x / range * mapped_range); + if (pi < scan.rows && pi > 0 && pj < scan.cols && pj > 0 && x * x + z * z < range * range) + { + scan.at(pi, pj) = a; + + //this->ping_ptr->header.frame_id = this->frame_name.nsec + //ROS_INFO("depth val: %f\n",d); + ranges.push_back(d); + intensities.push_back((uint16_t)a); + //bearings.push_back((float)(this->CalculateBearing(hit, scan_origin))); + bearings.push_back(atan2(y_trans - 0, x_trans - 0) * 180 / M_PI); + //this->ping_ptr->intensities[ping_count] = (uint16_t)a; + //this->ping_ptr->ranges[ping_count] = d; + //this->ping_ptr->bearings[ping_count] = float(this->CalculateBearing(hit, scan_origin)); + ping_count++; + } + //ping_count++; } } + // this->ping_ptr->header.frame_id = "ranges"; + this->ping_ptr->header.stamp.sec = this->depth_sensor_update_time_.sec; + this->ping_ptr->header.stamp.nsec = this->depth_sensor_update_time_.nsec; + ranges.resize(ping_count); + intensities.resize(ping_count); + bearings.resize(ping_count); + this->ping_ptr->ranges = ranges; + this->ping_ptr->intensities = intensities; + this->ping_ptr->bearings = bearings; + this->sonar_ping_msg_pub_.publish(this->ping_ptr); this->ApplyMedianFilter(scan); this->ApplySpeckleNoise(scan, fov); - //this->ApplySmoothing(scan, fov); + // this->ApplySmoothing(scan, fov); + + //ToDo: send over to constructPingMsg cv_bridge::CvImage img_bridge; img_bridge = cv_bridge::CvImage(this->raw_sonar_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, scan); - img_bridge.toImageMsg(this->raw_sonar_image_msg_); // from cv_bridge to sensor_msgs::Image - + img_bridge.toImageMsg(this->raw_sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + this->raw_sonar_image_pub_.publish(this->raw_sonar_image_msg_); return scan; } +double GazeboRosImageSonar::CalculateBearing(const cv::Point& v1, const cv::Point& v2) +{ + double cosAngle = v1.dot(v2) / (cv::norm(v1) * cv::norm(v2)); + if (cosAngle > 1.0) + return 0.0; + else if (cosAngle < -1.0) + return CV_PI; + return std::acos(cosAngle); +} + cv::Mat GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat& raw_scan) { float fov = depthCamera->HFOV().Degree(); float mapped_range = float(raw_scan.rows); - cv::Scalar blue(15, 48, 102); + //cv::Scalar blue(15, 48, 102); + cv::Scalar darkGrey(37, 37, 37); cv::Scalar black(0, 0, 0); cv::Mat scan(raw_scan.rows, raw_scan.cols, CV_8UC3); - scan.setTo(blue); - - cv::Point center(scan.cols/2, scan.rows); - cv::Size axes(scan.rows+3, scan.rows+3); - cv::ellipse(scan, center, axes, -90, -fov/2., fov/2., black, -1); //, int lineType=LINE_8, 0); - - for (int i = 0; i < scan.rows; ++i) { - for (int j = 0; j < scan.cols; ++j) { + //scan.setTo(blue); + scan.setTo(darkGrey); + + + cv::Point center(scan.cols / 2, scan.rows); + cv::Size axes(scan.rows + 3, scan.rows + 3); + cv::ellipse(scan, center, axes, -90, -fov / 2., fov / 2., black, -1); //, int lineType=LINE_8, 0); + + for (int i = 0; i < scan.rows; ++i) + { + for (int j = 0; j < scan.cols; ++j) + { float a = raw_scan.at(i, j); - if (a == 0.) { - continue; + if (a == 0.) + { + continue; } - if (a < 0.8) { - scan.at(i, j) = cv::Vec3b(255*1.25*a, 255*0.78*a, 255*0.50*a); + if (a < 0.8) + { + scan.at(i, j) = cv::Vec3b(255 * 1.25 * a, 255 * 0.78 * a, 255 * 0.50 * a); } - else if(a < 1.) { - scan.at(i, j) = cv::Vec3b(255*a, 255*(1.88*a-0.88), 255*(-1.99*a+1.99)); + else if (a < 1.) + { + scan.at(i, j) = cv::Vec3b(255 * a, 255 * (1.88 * a - 0.88), 255 * (-1.99 * a + 1.99)); } - else { - scan.at(i, j) = cv::Vec3b(255, 255*(1.88-0.88), 255*(-1.99+1.99)); + else + { + scan.at(i, j) = cv::Vec3b(255, 255 * (1.88 - 0.88), 255 * (-1.99 + 1.99)); } - } + } } - + cv::Scalar white(255, 255, 255); - cv::Size axes1(2./3.*scan.rows, 2./3.*scan.rows); - cv::Size axes2(1./3.*scan.rows, 1./3.*scan.rows); - cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - cv::ellipse(scan, center, axes1, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - cv::ellipse(scan, center, axes2, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - - for (int i = 0; i < 5; ++i) { - float angle = -fov/2.-0.5 + (fov+0.5)*i/float(5-1); - int cornerx = int(mapped_range*sin(M_PI/180.*angle)); - int cornery = int(mapped_range*cos(M_PI/180.*angle)); - //cv::Point left_corner(scan.cols/2-cornerx, scan.rows-cornery); - //cv::Point right_corner(scan.cols/2+cornerx, scan.rows-cornery); - cv::Point corner(scan.cols/2+cornerx, scan.rows-cornery); - //cv::line(scan, center, left_corner, white, 2); - //cv::line(scan, center, right_corner, white, 2); + cv::Size axes1(2. / 3. * scan.rows, 2. / 3. * scan.rows); + cv::Size axes2(1. / 3. * scan.rows, 1. / 3. * scan.rows); + cv::ellipse(scan, center, axes, -90, -fov / 2. - 0.5, fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes1, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes2, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + + for (int i = 0; i < 5; ++i) + { + float angle = -fov / 2. - 0.5 + (fov + 0.5) * i / float(5 - 1); + int cornerx = int(mapped_range * sin(M_PI / 180. * angle)); + int cornery = int(mapped_range * cos(M_PI / 180. * angle)); + // cv::Point left_corner(scan.cols/2-cornerx, scan.rows-cornery); + // cv::Point right_corner(scan.cols/2+cornerx, scan.rows-cornery); + cv::Point corner(scan.cols / 2 + cornerx, scan.rows - cornery); + // cv::line(scan, center, left_corner, white, 2); + // cv::line(scan, center, right_corner, white, 2); cv::line(scan, center, corner, white, 1, CV_AA); } - + cv_bridge::CvImage img_bridge; img_bridge = cv_bridge::CvImage(this->sonar_image_msg_.header, sensor_msgs::image_encodings::RGB8, scan); - img_bridge.toImageMsg(this->sonar_image_msg_); // from cv_bridge to sensor_msgs::Image - + img_bridge.toImageMsg(this->sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + this->sonar_image_pub_.publish(this->sonar_image_msg_); return scan; } +cv::Mat GazeboRosImageSonar::ConstructPingMsg() +{ + +} + //////////////////////////////////////////////////////////////////////////////// // Put depth image data to the interface -void GazeboRosImageSonar::ComputeSonarImage(const float *_src) +void GazeboRosImageSonar::ComputeSonarImage(const float* _src) { this->lock_.lock(); // copy data into image @@ -986,22 +1052,21 @@ void GazeboRosImageSonar::ComputeSonarImage(const float *_src) image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); image_msg.is_bigendian = 0; - //cv::Mat depth_image = cv::Mat(rows_arg, cols_arg, CV_32FC1, (float*)_src).clone(); + // cv::Mat depth_image = cv::Mat(rows_arg, cols_arg, CV_32FC1, (float*)_src).clone(); cv::Mat depth_image(rows_arg, cols_arg, CV_32FC1, (float*)_src); - + // publish normal image cv::Mat normal_image = this->ComputeNormalImage(depth_image); cv::Mat multibeam_image = this->ConstructSonarImage(depth_image, normal_image); cv::Mat raw_scan = this->ConstructScanImage(depth_image, multibeam_image); cv::Mat visual_scan = this->ConstructVisualScanImage(raw_scan); - + cv_bridge::CvImage img_bridge; img_bridge = cv_bridge::CvImage(this->depth_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, depth_image); - img_bridge.toImageMsg(this->depth_image_msg_); // from cv_bridge to sensor_msgs::Image + img_bridge.toImageMsg(this->depth_image_msg_); // from cv_bridge to sensor_msgs::Image this->depth_image_pub_.publish(this->depth_image_msg_); - this->lock_.unlock(); } @@ -1026,7 +1091,8 @@ void GazeboRosImageSonar::PublishCameraInfo() //@todo: publish disparity similar to openni_camera_deprecated/src/nodelets/openni_nodelet.cpp. /* #include -pub_disparity_ = comm_nh.advertise ("depth/disparity", 5, subscriberChanged2, subscriberChanged2); +pub_disparity_ = comm_nh.advertise ("depth/disparity", 5, subscriberChanged2, +subscriberChanged2); void GazeboRosImageSonar::PublishDisparityImage(const DepthImage& depth, ros::Time time) { stereo_msgs::DisparityImagePtr disp_msg = boost::make_shared (); @@ -1044,10 +1110,9 @@ void GazeboRosImageSonar::PublishDisparityImage(const DepthImage& depth, ros::Ti disp_msg->min_disparity = 0.0; disp_msg->max_disparity = disp_msg->T * disp_msg->f / 0.3; disp_msg->delta_d = 0.125; - depth.fillDisparityImage (depth_width_, depth_height_, reinterpret_cast(&disp_msg->image.data[0]), disp_msg->image.step); + depth.fillDisparityImage (depth_width_, depth_height_, reinterpret_cast(&disp_msg->image.data[0]), +disp_msg->image.step); pub_disparity_.publish (disp_msg); } */ - - } \ No newline at end of file diff --git a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro index b93d2dfd..664b9131 100644 --- a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro +++ b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro @@ -1,5 +1,6 @@ + @@ -43,9 +44,7 @@ ax="0.015707963" ay="0.015707963" az="0.015707963" lx="0.08825985" ly="0.08825985" lz="0.08825985" /> - - + pyQ{A}v z8trYv6_FpoX&gARO~lkmG2d=mIR`QsTVu@TqT+WF^0l0q0SKCvJfe+?8hvBj7*jUI zlK!)*q+?=g`xQkh<&0vDO(U9)yibQIF+`P7VL$C-q`YN&B1{1baG`9Cy%1i2Ibcre 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mode 100644 index 00000000..4df161cf --- /dev/null +++ b/perception/sub8_mapping/src/Mapping.cpp @@ -0,0 +1,245 @@ +#include "Mapping.hpp" + +//map_param params; + +Mapping::Mapping() + : nh_(ros::this_node::getName()) + , kill_listener_(nh_, "kill") + , was_killed_(true) + , pointCloud_(new pcl::PointCloud()) + { + + // Pubishers + pub_surface_ = nh_.advertise("surface", 1); + pub_floor_ = nh_.advertise("bottom", 1); + + /* // Get these working + nh_.param("map_pc" params.map_pc, false); + nh_.param("show_markers" params.show_markers, false); + nh_.param("use_sonar" params.use_sonar, false); + nh_.param("max_depth" params.max_depth, 37); + nh_.param("pcl_buffer" params.pcl_buffer, 5000); + nh_.param("map_objects" params.map_objects, false); + nh_.param("sonar_topic" params.sonar_topic, "/blueview_driver/ranges"); + */ + + //sub_imaging_sonar_ = nh_.subscribe("/blueview/sonar_link", 1, &Mapping::sonar_callback, this); + sub_dvl_ = nh_.subscribe("/dvl/range", 1, &Mapping::dvl_callback, this); + /* + try + { + sub_ogrid_objs_ = nh_.subscribe("/objects", 1, &Mapping::object_callback, this); + }catch ( const tf2::LookupException& ex ) + { + ROS_ERROR_STREAM("Mapper could not subscribe to '/objects'"); + } +*/ + //TODO make these arguments in launch file + use_image_ = true; + use_down_cam_ = false; + + floor_img_path_ = "../mil_ws/src/SubjuGator/perception/sub8_mapping/include/seaFloor.png"; + if (!use_down_cam_) + { + try + { + floor_image_ = cv::imread(floor_img_path_, cv::IMREAD_COLOR); + } + catch( cv::Exception& ex ) + { + const char* err_msg = ex.what(); + ROS_ERROR_STREAM( err_msg ); + use_image_ = false; + } + + if (floor_image_.empty() ) + { + boost::filesystem::path full_path(boost::filesystem::current_path()); + ROS_ERROR_STREAM("Empty ground image. Defaulting to some BS /n" << full_path ); + use_image_ = false; + } + } + + surface_marker_ = true; + surface_img_path_ = "../mil_ws/src/SubjuGator/perception/sub8_mapping/include/surface.png"; + if(surface_marker_) + { + try + { + surface_image_ = cv::imread(surface_img_path_, cv::IMREAD_COLOR); + } + catch( cv::Exception& ex ) + { + const char* err_msg = ex.what(); + ROS_ERROR_STREAM( err_msg ); + use_image_ = false; + } + + if (surface_image_.empty() ) + { + boost::filesystem::path full_path(boost::filesystem::current_path()); + ROS_ERROR_STREAM("Empty surface image. Defaulting to some BS /n" << full_path ); + use_image_ = false; + } + } + + dvl_depth_ = 0; + + kill_listener_.waitForConnection(ros::Duration(2)); + if (kill_listener_.getNumConnections() < 1) + throw std::runtime_error("The kill listener is not connected to alarm server!"); + kill_listener_.start(); + } + + +void Mapping::dvl_callback(const mil_msgs::RangeStampedConstPtr &dvl) +{ + try + { + listener_.lookupTransform("/map", "/dvl", ros::Time(0), transform_); + }catch (tf::TransformException ex) + { + ROS_ERROR_STREAM("Did not get TF for dvl"); + return; + } + + if (kill_listener_.isRaised()) + was_killed_ = true; + else if (was_killed_) + { + was_killed_ = false; + } + + int id = 0; + dvl_depth_ = dvl->range; + + if(use_image_) + { + + process_image("map", id++, floor_image_, transform_); + if(surface_marker_) + process_image("map", id, surface_image_, transform_); + return; + } + + visualization_msgs::Marker marker; + marker.header.stamp = ros::Time::now(); + marker.header.frame_id = "map"; + marker.id = id++; + marker.type = visualization_msgs::Marker::CUBE; + marker.pose.position.x = transform_.getOrigin().x(); + marker.pose.position.y = transform_.getOrigin().y(); + marker.pose.position.z = (0 - dvl_depth_); + marker.scale.x = .75; + marker.scale.y = .75; + marker.scale.z = .01; + marker.color.a = 1.0; + marker.color.b = 0.0; + marker.color.g = 1.0; + marker.color.r = 0.0; + pub_floor_.publish(marker); +} + +void Mapping::process_image(std::string frame_id, int id, cv::Mat& pic, tf::StampedTransform transform_) +{ + + visualization_msgs::Marker image; + image.header.frame_id = "map"; + image.header.stamp = ros::Time::now(); + //image.ns = "image"; + image.id = id; + image.action = visualization_msgs::Marker::ADD; + image.type = visualization_msgs::Marker::TRIANGLE_LIST; + image.scale.x = 1; + image.scale.y = 1; + image.scale.z = 1; + + //TODO: add an launch arg for scaling + float scale_size = 1.0; + float scale_rows = scale_size / pic.rows; + float scale_cols = scale_size / pic.cols; + float tf_x = transform_.getOrigin().x() - 0.5; + float tf_y = transform_.getOrigin().y() - 0.5; + geometry_msgs::Point p; + std_msgs::ColorRGBA crgb; + + for(int r= pic.rows-1; r > 0; --r) + { + for( int c = pic.cols; c > 0; --c) + { + cv::Vec3b intensity = pic.at(r, c); + + if(!id) + crgb.a = 1.0; + else + crgb.a = 1.0; + + crgb.r = intensity.val[2] / 255.0; + crgb.g = intensity.val[1] / 255.0; + crgb.b = intensity.val[0] / 255.0; + + // TODO: get Emily's current depth then add dvl->range to it. + if(!id) p.z = transform_.getOrigin().z() - dvl_depth_; + else p.z = 0; + + p.x = tf_x + r * scale_rows; + p.y = tf_y + c * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + p.x = tf_x + (r + 1) * scale_rows; + p.y = tf_y + c * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + p.x = tf_x + r * scale_rows; + p.y = tf_y + (c + 1) * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + p.x = tf_x + (r + 1) * scale_rows; + p.y = tf_y + c * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + p.x = tf_x + (r + 1) * scale_rows; + p.y = tf_y + (c + 1) * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + p.x = tf_x + r * scale_rows; + p.y = tf_y + (c + 1) * scale_cols; + image.points.push_back(p); + image.colors.push_back(crgb); + + } + } + if(!id) + pub_floor_.publish(image); + else + pub_surface_.publish(image); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "sub8_mapping"); + Mapping map; + ros::spin(); +} + +/* // Future expansion +void Mapping::sonar_callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg) +{ + + try + { + listener_.lookupTransform("/map", "/blueview/sonar_link", ros::Time(0), transform_); + } + catch (tf::TransformException ex) + { + ROS_DEBUG_STREAM("Did not get TF for imaging sonar"); + return; + } +} + + +void Mapping::object_callback(const mil_msgs::PerceptionObjectArray &objects) +{ + +} +*/ \ No newline at end of file From 697dc60dbb5613bc617efdc9769eac056005bb03 Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Wed, 24 Jul 2019 11:25:09 -0400 Subject: [PATCH 4/7] Improved capability, some optimization --- .../sub8_pointcloud/include/OGridGen.hpp | 4 +- perception/sub8_pointcloud/src/OGridGen.cpp | 21 +- simulation/sub8_gazebo/README.md | 14 +- .../include/sub8_gazebo/sub8_sonar.hpp | 247 +++ simulation/sub8_gazebo/src/sub8_sonar.cpp | 1714 ++++++++--------- simulation/sub8_gazebo/urdf/sub8.urdf.xacro | 22 +- 6 files changed, 1117 insertions(+), 905 deletions(-) create mode 100644 simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hpp diff --git a/perception/sub8_pointcloud/include/OGridGen.hpp b/perception/sub8_pointcloud/include/OGridGen.hpp index 6625057b..3b57a562 100644 --- a/perception/sub8_pointcloud/include/OGridGen.hpp +++ b/perception/sub8_pointcloud/include/OGridGen.hpp @@ -30,7 +30,6 @@ #include -#include #include #include #include @@ -63,9 +62,8 @@ class OGridGen OGridGen(); void publish_big_pointcloud(const ros::TimerEvent &); - //void callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg); + void callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg); - void callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg); void dvl_callback(const mil_msgs::RangeStampedConstPtr &dvl); bool clear_ogrid_callback(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res); diff --git a/perception/sub8_pointcloud/src/OGridGen.cpp b/perception/sub8_pointcloud/src/OGridGen.cpp index b9bc45e8..90673b4a 100644 --- a/perception/sub8_pointcloud/src/OGridGen.cpp +++ b/perception/sub8_pointcloud/src/OGridGen.cpp @@ -47,12 +47,11 @@ OGridGen::OGridGen() service_get_bounds_ = nh_.serviceClient("get_bounds"); // Run the publisher - timer_ = - nh_.createTimer(ros::Duration(0.3), std::bind(&OGridGen::publish_big_pointcloud, this, std::placeholders::_1)); - // sub_to_imaging_sonar_ = nh_.subscribe("/blueview_driver/ranges", 1, &OGridGen::callback, this); + timer_ = + nh_.createTimer(ros::Duration(0.3), std::bind(&OGridGen::publish_big_pointcloud, this, std::placeholders::_1)); + sub_to_imaging_sonar_ = nh_.subscribe("/blueview_driver/ranges", 1, &OGridGen::callback, this); sub_to_dvl_ = nh_.subscribe("/dvl/range", 1, &OGridGen::dvl_callback, this); - sub_to_imaging_sonar_ = nh_.subscribe("/simRanges", 1, &OGridGen::callback, this); - + mat_ogrid_ = cv::Mat::zeros(int(ogrid_size_ / resolution_), int(ogrid_size_ / resolution_), CV_8U); persistant_ogrid_ = cv::Mat(int(ogrid_size_) / resolution_, int(ogrid_size_ / resolution_), CV_32FC1); persistant_ogrid_ = 0.5; @@ -119,18 +118,18 @@ void OGridGen::publish_big_pointcloud(const ros::TimerEvent &) //Subscribes to pingmsgs from blueview sonar and saves a plane of pings into a buffer based on sub pose -//void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) -void OGridGen::callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg) +void OGridGen::callback(const mil_blueview_driver::BlueViewPingPtr &ping_msg) { try // TODO: Switch to TF2 { - listener_.lookupTransform("/map", "/blueview/sonar_link", ros::Time(0), transform_); + listener_.lookupTransform("/map", "/blueview", ros::Time(0), transform_); } catch (tf::TransformException ex) { ROS_DEBUG_STREAM("Did not get TF for imaging sonar"); return; } + if (kill_listener_.isRaised()) was_killed_ = true; else if (was_killed_) @@ -143,8 +142,8 @@ void OGridGen::callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg) for (size_t i = 0; i < ping_msg->ranges.size(); ++i) { //ROS_INFO("Bearing: %f \n", ping_msg->bearings.at(i)); - - if (ping_msg->intensities.at(i) > 5) + + if (ping_msg->intensities.at(i) > 870.0 )//min_intensity_ { // TODO: Better thresholding //ROS_INFO("Intensity: %u, Bearing: %f , Ranges: %f \n", ping_msg->intensities.at(i), ping_msg->bearings.at(i), ping_msg->ranges.at(i)); @@ -313,7 +312,7 @@ mil_msgs::PerceptionObjectArray OGridGen::cluster(pcl::PointCloud If you wish to simulate the sub from scratch, you must first invent the universe.
->    -- Carl Sagan +>    -- Carl Sagan\ + +### Having build issues with simulated_sonar_ping.h? + run: catkin_make sub8_gazebo_generate_messages + catkin_make ### To run the sim To launch with the gui: @@ -19,6 +24,12 @@ And these can be combined if you'd like. **NOTE:** You can run the sub with or without a gui. Disabling one or both of these is intended for use when testing controllers or other things that only rely on the data and not the actual visuals. Also it is intended for people who have shitty computers that would benefit from not having to run the gazebo window and the cameras (which saves a nontrival amount of CPU time). +### To use the sonar simulator + +In Rviz add an image topic: depth/......./raw_sonar. + +Tip: For best results be sure to launch oGridGen (roslaunch sub8_pointcloud ogrid.launch) and view one of the new pointcloud2 topics + ### To add custom textures to models You will need to install Blender from the website, not using sudo apt-get install, as this package manager downloads an older version of Blender that does not come with the DAE Export option which we need also known as Collada. @@ -51,6 +62,7 @@ tldr; Scale your objects evenly in blender or else the machine spirits will be d **NOTE:** I have not tested trying to apply more than one texture. To create the texture, I used Blender. This created a texture wrapped around the mesh. I exported the texture file as a png as you can see in the bin folder of models. The image you use should be in the same directory as the dae file. I have not tested putting it elsewhere. Additionally, if you see yellow and black lines on your object as opposed to your texture, it means Gazebo/dae file could not find you texture! Check to make sure the name of the image matches the name of the file being imported. If you see a standard grey object, this means you did not import or code the texture properly. Recheck the steps and compare to either the skybox or the colored_lid dae files. + ### Teleport Pose Coordinates for Challenges To use command: subc tp STRING To input a saved location, merely type the name of the location where you wish to teleport. Shorthand names located in the teleport_locs.yaml file in sub8_gazebo/configs. Ex: diff --git a/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hpp b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hpp new file mode 100644 index 00000000..47ad5efb --- /dev/null +++ b/simulation/sub8_gazebo/include/sub8_gazebo/sub8_sonar.hpp @@ -0,0 +1,247 @@ +/* + * This file was modified from the original version within Gazebo: + * + * Copyright (C) 2014 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Modifications: + * + * Copyright 2018 Nils Bore (nbore@kth.se) + * + * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the + * following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following + * disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the + * following disclaimer in the documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote + * products derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#ifndef GAZEBO_ROS_DEPTH_CAMERA_HH +#define GAZEBO_ROS_DEPTH_CAMERA_HH + +// ros stuff +#include +#include +#include + +// message stuff +#include +#include +#include +#include +#include +#include + +// gazebo stuff +#include +#include +#include +#include +#include +#include +#include + +// dynamic reconfigure stuff +#include +#include + +// boost stuff +#include + +// camera stuff +#include + +// misc stuff +#include +#include + +// mil stuff +//#include +#include + +namespace gazebo +{ +class GazeboRosImageSonar : public SensorPlugin, GazeboRosCameraUtils +{ +public: + GazeboRosImageSonar(); + + // destructor + ~GazeboRosImageSonar(); + + // load the plugin + virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + + // Advertise point cloud and depth image + virtual void Advertise(); + +protected: + virtual void OnNewDepthFrame(const float* _image, unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string& _format); + + virtual void OnNewRGBPointCloud(const float* _pcd, unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string& _format); + + virtual void OnNewImageFrame(const unsigned char* _image, unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string& _format); + +private: + void FillPointdCloud(const float* _src); + void FillDepthImage(const float* _src); + + // Takes the Gazebo depth image and publishes the simulated sonar image + void ComputeSonarImage(const float* _src); + + // calculates normals from the depth image + cv::Mat ComputeNormalImage(cv::Mat& depth); + + // Creates and pubs 'Multibeam' image using a depthmap and the computed normals, adds + // sonar params for the signal to noise ratio SNR(sonar equation) + cv::Mat ConstructSonarImage(cv::Mat& depth, cv::Mat& normals); + + // Publishes the 'raw_scan' sonar image, applies intensities and creates a ping message + cv::Mat ConstructScanImage(cv::Mat& depth, cv::Mat& SNR); + +//TODO: maybe make it it's own function + //cv::Mat ConstructPingMsg(); + + // Pubishes the pretty sonar image to be viewed in Rviz. Adds gridlines, applies colormap + cv::Mat ConstructVisualScanImage(cv::Mat& raw_scan); + + void ApplySpeckleNoise(cv::Mat& scan, float fov); + void ApplyMedianFilter(cv::Mat& scan); + + //TODO: Make better, otherwise it remains unused + void ApplySmoothing(cv::Mat& scan, float fov); + + + // Keep track of number of connctions for point clouds + int point_cloud_connect_count_; + void PointCloudConnect(); + void PointCloudDisconnect(); + + // Keep track of number of connctions for point clouds + int depth_image_connect_count_; + void DepthImageConnect(); + void DepthImageDisconnect(); + void NormalImageConnect(); + void NormalImageDisconnect(); + void MultibeamImageConnect(); + void MultibeamImageDisconnect(); + void SonarImageConnect(); + void SonarImageDisconnect(); + void RawSonarImageConnect(); + void RawSonarImageDisconnect(); + + common::Time last_depth_image_camera_info_update_time_; + + bool FillPointCloudHelper(sensor_msgs::PointCloud2& point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, + uint32_t step_arg, void* data_arg); + bool FillDepthImageHelper(sensor_msgs::Image& image_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, + void* data_arg); + + // Publishers. If not wanted most can be commented out + ros::Publisher point_cloud_pub_; + ros::Publisher depth_image_pub_; + ros::Publisher normal_image_pub_; + ros::Publisher multibeam_image_pub_; + ros::Publisher sonar_image_pub_; + ros::Publisher raw_sonar_image_pub_; + ros::Publisher sonar_ping_msg_pub_; + +//public: + //sub8_gazebo::simulated_sonar_pingPtr ping_ptr; + mil_blueview_driver::BlueViewPingPtr ping_ptr; + +//private: + // PointCloud2 point cloud message + sensor_msgs::PointCloud2 point_cloud_msg_; + sensor_msgs::Image depth_image_msg_; + sensor_msgs::Image normal_image_msg_; + sensor_msgs::Image multibeam_image_msg_; + sensor_msgs::Image sonar_image_msg_; + sensor_msgs::Image raw_sonar_image_msg_; + double point_cloud_cutoff_; + + // Ros topic names + std::string point_cloud_topic_name_; + std::string sonar_ping_topic_name_; + + void InfoConnect(); + + void InfoDisconnect(); + + using GazeboRosCameraUtils::PublishCameraInfo; + +protected: + // TODO: Determine if worthwhile or cut + virtual void PublishCameraInfo(); + +private: + std::string depth_image_topic_name_; + std::string depth_image_camera_info_topic_name_; + std::default_random_engine generator; + int depth_info_connect_count_; + + void DepthInfoConnect(); + void DepthInfoDisconnect(); + + // Ping intensity extremes for adaptive thresholding. *TBC.. + double ping_scan_max_; + double ping_scan_min_; + + int sonar_ping_count_; + void SonarPingConnect(); + void SonarPingDisconnect(); + + // overload with our own + common::Time depth_sensor_update_time_; + event::ConnectionPtr load_connection_; + event::ConnectionPtr newDepthFrameConnection; + event::ConnectionPtr newRGBPointCloudConnection; + event::ConnectionPtr newImageFrameConnection; + +protected: + ros::Publisher depth_image_camera_info_pub_; + + // from DepthCameraPlugin + unsigned int width, height, depth; + std::string format; + + // precomputed things for the forward-looking sonar + cv::Mat dist_matrix_; + + // Remove if not using smothing + std::vector > angle_range_indices_; + std::vector angle_nbr_indices_; + + sensors::DepthCameraSensorPtr parentSensor; + rendering::DepthCameraPtr depthCamera; +}; // end GazeboRosImageSonar +} // end namespace gazebo +#endif diff --git a/simulation/sub8_gazebo/src/sub8_sonar.cpp b/simulation/sub8_gazebo/src/sub8_sonar.cpp index ab66eb99..066efa5f 100644 --- a/simulation/sub8_gazebo/src/sub8_sonar.cpp +++ b/simulation/sub8_gazebo/src/sub8_sonar.cpp @@ -31,7 +31,6 @@ #include #include - #include #include @@ -47,1072 +46,1029 @@ GZ_REGISTER_SENSOR_PLUGIN(GazeboRosImageSonar) // Constructor GazeboRosImageSonar::GazeboRosImageSonar() : SensorPlugin(), width(0), height(0), depth(0) { - this->point_cloud_connect_count_ = 0; - this->depth_info_connect_count_ = 0; - this->last_depth_image_camera_info_update_time_ = common::Time(0); + this->point_cloud_connect_count_ = 0; + this->depth_info_connect_count_ = 0; + this->last_depth_image_camera_info_update_time_ = common::Time(0); } //////////////////////////////////////////////////////////////////////////////// // Destructor GazeboRosImageSonar::~GazeboRosImageSonar() { - this->newDepthFrameConnection.reset(); - this->newRGBPointCloudConnection.reset(); - this->newImageFrameConnection.reset(); + this->newDepthFrameConnection.reset(); + this->newRGBPointCloudConnection.reset(); + this->newImageFrameConnection.reset(); - this->parentSensor.reset(); - this->depthCamera.reset(); + this->parentSensor.reset(); + this->depthCamera.reset(); } //////////////////////////////////////////////////////////////////////////////// // Load the controller void GazeboRosImageSonar::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) { - this->parentSensor = std::dynamic_pointer_cast(_parent); - this->depthCamera = this->parentSensor->DepthCamera(); - - if (!this->parentSensor) - { - gzerr << "DepthCameraPlugin not attached to a depthCamera sensor\n"; - return; - } - - this->width = this->depthCamera->ImageWidth(); - this->height = this->depthCamera->ImageHeight(); - this->depth = this->depthCamera->ImageDepth(); - this->format = this->depthCamera->ImageFormat(); - - this->newDepthFrameConnection = this->depthCamera->ConnectNewDepthFrame( - std::bind(&GazeboRosImageSonar::OnNewDepthFrame, this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); - - this->newRGBPointCloudConnection = this->depthCamera->ConnectNewRGBPointCloud( - std::bind(&GazeboRosImageSonar::OnNewRGBPointCloud, this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); - - this->newImageFrameConnection = this->depthCamera->ConnectNewImageFrame( - std::bind(&GazeboRosImageSonar::OnNewImageFrame, this, std::placeholders::_1, std::placeholders::_2, - std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); - - this->parentSensor->SetActive(true); - - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("depth_camera", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the " - "gazebo_ros package)"); - return; - } - - // copying from DepthCameraPlugin into GazeboRosCameraUtils - this->parentSensor_ = this->parentSensor; - this->width_ = this->width; - this->height_ = this->height; - this->depth_ = this->depth; - this->format_ = this->format; - this->camera_ = this->depthCamera; - - // using a different default - if (!_sdf->HasElement("imageTopicName")) - this->image_topic_name_ = "ir/image_raw"; - if (!_sdf->HasElement("cameraInfoTopicName")) - this->camera_info_topic_name_ = "ir/camera_info"; - - // point cloud stuff - if (!_sdf->HasElement("pointCloudTopicName")) - this->point_cloud_topic_name_ = "points"; - else - this->point_cloud_topic_name_ = _sdf->GetElement("pointCloudTopicName")->Get(); - - // depth image stuff - if (!_sdf->HasElement("depthImageTopicName")) - this->depth_image_topic_name_ = "depth/image_raw"; - else - this->depth_image_topic_name_ = _sdf->GetElement("depthImageTopicName")->Get(); - - if (!_sdf->HasElement("depthImageCameraInfoTopicName")) - this->depth_image_camera_info_topic_name_ = "depth/camera_info"; - else - this->depth_image_camera_info_topic_name_ = _sdf->GetElement("depthImageCameraInfoTopicName")->Get(); - - if (!_sdf->HasElement("pointCloudCutoff")) - this->point_cloud_cutoff_ = 0.4; - else - this->point_cloud_cutoff_ = _sdf->GetElement("pointCloudCutoff")->Get(); - - if (!_sdf->HasElement("clip")) - { - gzerr << "We do not have clip" << std::endl; - } - else - { - gzerr << "We do have clip" << std::endl; - gzerr << _sdf->GetElement("clip")->GetElement("far")->Get() << std::endl; - } - - //this->sonar_ping_topic_name = "" - - load_connection_ = GazeboRosCameraUtils::OnLoad(boost::bind(&GazeboRosImageSonar::Advertise, this)); - GazeboRosCameraUtils::Load(_parent, _sdf); + this->parentSensor = std::dynamic_pointer_cast(_parent); + this->depthCamera = this->parentSensor->DepthCamera(); + + if (!this->parentSensor) + { + gzerr << "DepthCameraPlugin not attached to a depthCamera sensor\n"; + return; + } + + this->width = this->depthCamera->ImageWidth(); + this->height = this->depthCamera->ImageHeight(); + this->depth = this->depthCamera->ImageDepth(); + this->format = this->depthCamera->ImageFormat(); + + this->newDepthFrameConnection = this->depthCamera->ConnectNewDepthFrame( + std::bind(&GazeboRosImageSonar::OnNewDepthFrame, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->newRGBPointCloudConnection = this->depthCamera->ConnectNewRGBPointCloud( + std::bind(&GazeboRosImageSonar::OnNewRGBPointCloud, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->newImageFrameConnection = this->depthCamera->ConnectNewImageFrame( + std::bind(&GazeboRosImageSonar::OnNewImageFrame, this, std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + this->parentSensor->SetActive(true); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM_NAMED("depth_camera", "A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the " + "gazebo_ros package)"); + return; + } + + // copying from DepthCameraPlugin into GazeboRosCameraUtils + this->parentSensor_ = this->parentSensor; + this->width_ = this->width; + this->height_ = this->height; + this->depth_ = this->depth; + this->format_ = this->format; + this->camera_ = this->depthCamera; + + // using a different default + if (!_sdf->HasElement("imageTopicName")) + this->image_topic_name_ = "ir/image_raw"; + if (!_sdf->HasElement("cameraInfoTopicName")) + this->camera_info_topic_name_ = "ir/camera_info"; + + // point cloud stuff + if (!_sdf->HasElement("pointCloudTopicName")) + this->point_cloud_topic_name_ = "points"; + else + this->point_cloud_topic_name_ = _sdf->GetElement("pointCloudTopicName")->Get(); + + // depth image stuff + if (!_sdf->HasElement("depthImageTopicName")) + this->depth_image_topic_name_ = "depth/image_raw"; + else + this->depth_image_topic_name_ = _sdf->GetElement("depthImageTopicName")->Get(); + + if (!_sdf->HasElement("depthImageCameraInfoTopicName")) + this->depth_image_camera_info_topic_name_ = "depth/camera_info"; + else + this->depth_image_camera_info_topic_name_ = _sdf->GetElement("depthImageCameraInfoTopicName")->Get(); + + if (!_sdf->HasElement("pointCloudCutoff")) + this->point_cloud_cutoff_ = 0.4; + else + this->point_cloud_cutoff_ = _sdf->GetElement("pointCloudCutoff")->Get(); + + if (!_sdf->HasElement("clip")) + { + gzerr << "We do not have clip" << std::endl; + } + else + { + gzerr << "We do have clip" << std::endl; + gzerr << _sdf->GetElement("clip")->GetElement("far")->Get() << std::endl; + } + + // this->sonar_ping_topic_name = "" + + load_connection_ = GazeboRosCameraUtils::OnLoad(boost::bind(&GazeboRosImageSonar::Advertise, this)); + GazeboRosCameraUtils::Load(_parent, _sdf); } void GazeboRosImageSonar::Advertise() { - ros::AdvertiseOptions point_cloud_ao = ros::AdvertiseOptions::create( - this->point_cloud_topic_name_, 1, boost::bind(&GazeboRosImageSonar::PointCloudConnect, this), - boost::bind(&GazeboRosImageSonar::PointCloudDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->point_cloud_pub_ = this->rosnode_->advertise(point_cloud_ao); - - ros::AdvertiseOptions depth_image_ao = ros::AdvertiseOptions::create( - this->depth_image_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthImageConnect, this), - boost::bind(&GazeboRosImageSonar::DepthImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->depth_image_pub_ = this->rosnode_->advertise(depth_image_ao); - - ros::AdvertiseOptions normal_image_ao = ros::AdvertiseOptions::create( - this->depth_image_topic_name_ + "_normals", 1, boost::bind(&GazeboRosImageSonar::NormalImageConnect, this), - boost::bind(&GazeboRosImageSonar::NormalImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->normal_image_pub_ = this->rosnode_->advertise(normal_image_ao); - - ros::AdvertiseOptions multibeam_image_ao = ros::AdvertiseOptions::create( - this->depth_image_topic_name_ + "_multibeam", 1, boost::bind(&GazeboRosImageSonar::MultibeamImageConnect, this), - boost::bind(&GazeboRosImageSonar::MultibeamImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->multibeam_image_pub_ = this->rosnode_->advertise(multibeam_image_ao); - - ros::AdvertiseOptions sonar_image_ao = ros::AdvertiseOptions::create( - this->depth_image_topic_name_ + "_sonar", 1, boost::bind(&GazeboRosImageSonar::SonarImageConnect, this), - boost::bind(&GazeboRosImageSonar::SonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->sonar_image_pub_ = this->rosnode_->advertise(sonar_image_ao); - - ros::AdvertiseOptions raw_sonar_image_ao = ros::AdvertiseOptions::create( - this->depth_image_topic_name_ + "_raw_sonar", 1, boost::bind(&GazeboRosImageSonar::RawSonarImageConnect, this), - boost::bind(&GazeboRosImageSonar::RawSonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->raw_sonar_image_pub_ = this->rosnode_->advertise(raw_sonar_image_ao); - - ros::AdvertiseOptions depth_image_camera_info_ao = ros::AdvertiseOptions::create( - this->depth_image_camera_info_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthInfoConnect, this), - boost::bind(&GazeboRosImageSonar::DepthInfoDisconnect, this), ros::VoidPtr(), &this->camera_queue_); - this->depth_image_camera_info_pub_ = this->rosnode_->advertise(depth_image_camera_info_ao); - - /*ros::AdvertiseOptions ping_msg_ao = ros::AdvertiseOptions::create( - sub8_gazebo::simulated_sonar_ping, 1, boost::bind(&GazeboRosImageSonar::SonarPingConnect, this), - boost::bind(&GazeboRosImageSonar::SonarPingDisconnect, this), ros::VoidPtr()); - this->sonar_ping_msg_pub_ = this->rosnode_->advertise(ping_msg_ao); - */ - this->sonar_ping_msg_pub_ = this->rosnode_->advertise("simRanges", 5); - this->ping_ptr.reset(new sub8_gazebo::simulated_sonar_ping); - + ros::AdvertiseOptions point_cloud_ao = ros::AdvertiseOptions::create( + this->point_cloud_topic_name_, 1, boost::bind(&GazeboRosImageSonar::PointCloudConnect, this), + boost::bind(&GazeboRosImageSonar::PointCloudDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->point_cloud_pub_ = this->rosnode_->advertise(point_cloud_ao); + + ros::AdvertiseOptions depth_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthImageConnect, this), + boost::bind(&GazeboRosImageSonar::DepthImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->depth_image_pub_ = this->rosnode_->advertise(depth_image_ao); + + ros::AdvertiseOptions normal_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_normals", 1, boost::bind(&GazeboRosImageSonar::NormalImageConnect, this), + boost::bind(&GazeboRosImageSonar::NormalImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->normal_image_pub_ = this->rosnode_->advertise(normal_image_ao); + + ros::AdvertiseOptions multibeam_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_multibeam", 1, boost::bind(&GazeboRosImageSonar::MultibeamImageConnect, this), + boost::bind(&GazeboRosImageSonar::MultibeamImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->multibeam_image_pub_ = this->rosnode_->advertise(multibeam_image_ao); + + ros::AdvertiseOptions sonar_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_sonar", 1, boost::bind(&GazeboRosImageSonar::SonarImageConnect, this), + boost::bind(&GazeboRosImageSonar::SonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->sonar_image_pub_ = this->rosnode_->advertise(sonar_image_ao); + + ros::AdvertiseOptions raw_sonar_image_ao = ros::AdvertiseOptions::create( + this->depth_image_topic_name_ + "_raw_sonar", 1, boost::bind(&GazeboRosImageSonar::RawSonarImageConnect, this), + boost::bind(&GazeboRosImageSonar::RawSonarImageDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->raw_sonar_image_pub_ = this->rosnode_->advertise(raw_sonar_image_ao); + + ros::AdvertiseOptions depth_image_camera_info_ao = ros::AdvertiseOptions::create( + this->depth_image_camera_info_topic_name_, 1, boost::bind(&GazeboRosImageSonar::DepthInfoConnect, this), + boost::bind(&GazeboRosImageSonar::DepthInfoDisconnect, this), ros::VoidPtr(), &this->camera_queue_); + this->depth_image_camera_info_pub_ = this->rosnode_->advertise(depth_image_camera_info_ao); + + /*ros::AdvertiseOptions ping_msg_ao = ros::AdvertiseOptions::create( + sub8_gazebo::simulated_sonar_ping, 1, boost::bind(&GazeboRosImageSonar::SonarPingConnect, this), + boost::bind(&GazeboRosImageSonar::SonarPingDisconnect, this), ros::VoidPtr()); + this->sonar_ping_msg_pub_ = this->rosnode_->advertise(ping_msg_ao); + */ + this->sonar_ping_msg_pub_ = this->rosnode_->advertise("blueview_driver/ranges", 5); +// this->ping_ptr.reset(new sub8_gazebo::simulated_sonar_ping); + this->ping_ptr.reset(new mil_blueview_driver::BlueViewPing); } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::PointCloudConnect() { - this->point_cloud_connect_count_++; - (*this->image_connect_count_)++; - this->parentSensor->SetActive(true); + this->point_cloud_connect_count_++; + (*this->image_connect_count_)++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::PointCloudDisconnect() { - this->point_cloud_connect_count_--; - (*this->image_connect_count_)--; - if (this->point_cloud_connect_count_ <= 0) - this->parentSensor->SetActive(false); + this->point_cloud_connect_count_--; + (*this->image_connect_count_)--; + if (this->point_cloud_connect_count_ <= 0) + this->parentSensor->SetActive(false); } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::DepthImageConnect() { - this->depth_image_connect_count_++; - this->parentSensor->SetActive(true); + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::DepthImageDisconnect() { - this->depth_image_connect_count_--; + this->depth_image_connect_count_--; } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::NormalImageConnect() { - this->depth_image_connect_count_++; - this->parentSensor->SetActive(true); + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::NormalImageDisconnect() { - this->depth_image_connect_count_--; + this->depth_image_connect_count_--; } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::MultibeamImageConnect() { - this->depth_image_connect_count_++; - this->parentSensor->SetActive(true); + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::MultibeamImageDisconnect() { - this->depth_image_connect_count_--; + this->depth_image_connect_count_--; } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::SonarImageConnect() { - this->depth_image_connect_count_++; - this->parentSensor->SetActive(true); + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::SonarImageDisconnect() { - this->depth_image_connect_count_--; + this->depth_image_connect_count_--; } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::RawSonarImageConnect() { - this->depth_image_connect_count_++; - this->parentSensor->SetActive(true); + this->depth_image_connect_count_++; + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::RawSonarImageDisconnect() { - this->depth_image_connect_count_--; + this->depth_image_connect_count_--; } //////////////////////////////////////////////////////////////////////////////// // Increment count void GazeboRosImageSonar::DepthInfoConnect() { - this->depth_info_connect_count_++; + this->depth_info_connect_count_++; } //////////////////////////////////////////////////////////////////////////////// // Decrement count void GazeboRosImageSonar::DepthInfoDisconnect() { - this->depth_info_connect_count_--; + this->depth_info_connect_count_--; } void GazeboRosImageSonar::SonarPingConnect() { - this->sonar_ping_count_++; + this->sonar_ping_count_++; } void GazeboRosImageSonar::SonarPingDisconnect() { - this->sonar_ping_count_--; + this->sonar_ping_count_--; } - //////////////////////////////////////////////////////////////////////////////// // Update the controller void GazeboRosImageSonar::OnNewDepthFrame(const float* _image, unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string& _format) + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) - return; - - this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); - - if (this->parentSensor->IsActive()) - { - if (this->point_cloud_connect_count_ <= 0 && this->depth_image_connect_count_ <= 0 && - (*this->image_connect_count_) <= 0) - { - this->parentSensor->SetActive(false); - } - else - { - if (this->point_cloud_connect_count_ > 0) - this->FillPointdCloud(_image); - - if (this->depth_image_connect_count_ > 0) - // this->FillDepthImage(_image); - this->ComputeSonarImage(_image); - } - } - else - { - if (this->point_cloud_connect_count_ > 0 || this->depth_image_connect_count_ <= 0) - // do this first so there's chance for sensor to run 1 frame after activate - this->parentSensor->SetActive(true); - } + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) + return; + + this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (this->parentSensor->IsActive()) + { + if (this->point_cloud_connect_count_ <= 0 && this->depth_image_connect_count_ <= 0 && + (*this->image_connect_count_) <= 0) + { + this->parentSensor->SetActive(false); + } + else + { + if (this->point_cloud_connect_count_ > 0) + this->FillPointdCloud(_image); + + if (this->depth_image_connect_count_ > 0) + // this->FillDepthImage(_image); + this->ComputeSonarImage(_image); + } + } + else + { + if (this->point_cloud_connect_count_ > 0 || this->depth_image_connect_count_ <= 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } } /////////////////////////////////////////////////////////////////////////////// // Update the controller void GazeboRosImageSonar::OnNewRGBPointCloud(const float* _pcd, unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string& _format) + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) - return; - - this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); - - if (!this->parentSensor->IsActive()) - { - if (this->point_cloud_connect_count_ > 0) - // do this first so there's chance for sensor to run 1 frame after activate - this->parentSensor->SetActive(true); - } - else - { - if (this->point_cloud_connect_count_ > 0) - { - this->lock_.lock(); - this->point_cloud_msg_.header.frame_id = this->frame_name_; - this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; - this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - this->point_cloud_msg_.width = this->width; - this->point_cloud_msg_.height = this->height; - this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; - - sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg_); - pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); - pcd_modifier.resize(_width * _height); - - point_cloud_msg_.is_dense = true; - - sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); - sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); - sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); - sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); - - for (unsigned int i = 0; i < _width; i++) - { - for (unsigned int j = 0; j < _height; j++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) - { - unsigned int index = (j * _width) + i; - *iter_x = _pcd[4 * index]; - *iter_y = _pcd[4 * index + 1]; - *iter_z = _pcd[4 * index + 2]; - *iter_rgb = _pcd[4 * index + 3]; - if (i == _width / 2 && j == _height / 2) - { - uint32_t rgb = *reinterpret_cast(&(*iter_rgb)); - uint8_t r = (rgb >> 16) & 0x0000ff; - uint8_t g = (rgb >> 8) & 0x0000ff; - uint8_t b = (rgb)&0x0000ff; - std::cerr << (int)r << " " << (int)g << " " << (int)b << "\n"; - } - } - } - - this->point_cloud_pub_.publish(this->point_cloud_msg_); - this->lock_.unlock(); - } - } + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) + return; + + this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (!this->parentSensor->IsActive()) + { + if (this->point_cloud_connect_count_ > 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } + else + { + if (this->point_cloud_connect_count_ > 0) + { + this->lock_.lock(); + this->point_cloud_msg_.header.frame_id = this->frame_name_; + this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + this->point_cloud_msg_.width = this->width; + this->point_cloud_msg_.height = this->height; + this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; + + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg_); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(_width * _height); + + point_cloud_msg_.is_dense = true; + + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); + + for (unsigned int i = 0; i < _width; i++) + { + for (unsigned int j = 0; j < _height; j++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) + { + unsigned int index = (j * _width) + i; + *iter_x = _pcd[4 * index]; + *iter_y = _pcd[4 * index + 1]; + *iter_z = _pcd[4 * index + 2]; + *iter_rgb = _pcd[4 * index + 3]; + if (i == _width / 2 && j == _height / 2) + { + uint32_t rgb = *reinterpret_cast(&(*iter_rgb)); + uint8_t r = (rgb >> 16) & 0x0000ff; + uint8_t g = (rgb >> 8) & 0x0000ff; + uint8_t b = (rgb)&0x0000ff; + std::cerr << (int)r << " " << (int)g << " " << (int)b << "\n"; + } + } + } + + this->point_cloud_pub_.publish(this->point_cloud_msg_); + this->lock_.unlock(); + } + } } //////////////////////////////////////////////////////////////////////////////// // Update the controller void GazeboRosImageSonar::OnNewImageFrame(const unsigned char* _image, unsigned int _width, unsigned int _height, - unsigned int _depth, const std::string& _format) + unsigned int _depth, const std::string& _format) { - if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) - return; - - // ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s - // %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); - this->sensor_update_time_ = this->parentSensor->LastMeasurementTime(); - - if (!this->parentSensor->IsActive()) - { - if ((*this->image_connect_count_) > 0) - // do this first so there's chance for sensor to run 1 frame after activate - this->parentSensor->SetActive(true); - } - else - { - if ((*this->image_connect_count_) > 0) - { - this->PutCameraData(_image); - // TODO(lucasw) publish camera info with depth image - // this->PublishCameraInfo(sensor_update_time); - } - } + if (!this->initialized_ || this->height_ <= 0 || this->width_ <= 0) + return; + + // ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s + // %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); + this->sensor_update_time_ = this->parentSensor->LastMeasurementTime(); + + if (!this->parentSensor->IsActive()) + { + if ((*this->image_connect_count_) > 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } + else + { + if ((*this->image_connect_count_) > 0) + { + this->PutCameraData(_image); + // TODO(lucasw) publish camera info with depth image + // this->PublishCameraInfo(sensor_update_time); + } + } } //////////////////////////////////////////////////////////////////////////////// // Put camera data to the interface void GazeboRosImageSonar::FillPointdCloud(const float* _src) { - this->lock_.lock(); + this->lock_.lock(); - this->point_cloud_msg_.header.frame_id = this->frame_name_; - this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; - this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - this->point_cloud_msg_.width = this->width; - this->point_cloud_msg_.height = this->height; - this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; + this->point_cloud_msg_.header.frame_id = this->frame_name_; + this->point_cloud_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->point_cloud_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + this->point_cloud_msg_.width = this->width; + this->point_cloud_msg_.height = this->height; + this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; - /// copy from depth to point cloud message - FillPointCloudHelper(this->point_cloud_msg_, this->height, this->width, this->skip_, (void*)_src); + /// copy from depth to point cloud message + FillPointCloudHelper(this->point_cloud_msg_, this->height, this->width, this->skip_, (void*)_src); - this->point_cloud_pub_.publish(this->point_cloud_msg_); + this->point_cloud_pub_.publish(this->point_cloud_msg_); - this->lock_.unlock(); + this->lock_.unlock(); } //////////////////////////////////////////////////////////////////////////////// // Put depth image data to the interface void GazeboRosImageSonar::FillDepthImage(const float* _src) { - this->lock_.lock(); - // copy data into image - this->depth_image_msg_.header.frame_id = this->frame_name_; - this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; - this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + this->lock_.lock(); + // copy data into image + this->depth_image_msg_.header.frame_id = this->frame_name_; + this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - /// copy from depth to depth image message - FillDepthImageHelper(this->depth_image_msg_, this->height, this->width, this->skip_, (void*)_src); + /// copy from depth to depth image message + FillDepthImageHelper(this->depth_image_msg_, this->height, this->width, this->skip_, (void*)_src); - this->depth_image_pub_.publish(this->depth_image_msg_); + this->depth_image_pub_.publish(this->depth_image_msg_); - this->lock_.unlock(); + this->lock_.unlock(); } // Fill depth information bool GazeboRosImageSonar::FillPointCloudHelper(sensor_msgs::PointCloud2& point_cloud_msg, uint32_t rows_arg, - uint32_t cols_arg, uint32_t step_arg, void* data_arg) + uint32_t cols_arg, uint32_t step_arg, void* data_arg) { - sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); - pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); - pcd_modifier.resize(rows_arg * cols_arg); - - sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); - sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); - sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); - sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); - - point_cloud_msg.is_dense = true; - - float* toCopyFrom = (float*)data_arg; - int index = 0; - - double hfov = this->parentSensor->DepthCamera()->HFOV().Radian(); - double fl = ((double)this->width) / (2.0 * tan(hfov / 2.0)); - - // convert depth to point cloud - for (uint32_t j = 0; j < rows_arg; j++) - { - double pAngle; - if (rows_arg > 1) - pAngle = atan2((double)j - 0.5 * (double)(rows_arg - 1), fl); - else - pAngle = 0.0; - - for (uint32_t i = 0; i < cols_arg; i++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) - { - double yAngle; - if (cols_arg > 1) - yAngle = atan2((double)i - 0.5 * (double)(cols_arg - 1), fl); - else - yAngle = 0.0; - - double depth = toCopyFrom[index++]; - - // in optical frame - // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in - // to urdf, where the *_optical_frame should have above relative - // rotation from the physical camera *_frame - *iter_x = depth * tan(yAngle); - *iter_y = depth * tan(pAngle); - if (depth > this->point_cloud_cutoff_) - { - *iter_z = depth; - } - else // point in the unseeable range - { - *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN(); - point_cloud_msg.is_dense = false; - } - - // put image color data for each point - uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0])); - if (this->image_msg_.data.size() == rows_arg * cols_arg * 3) - { - // color - iter_rgb[0] = image_src[i * 3 + j * cols_arg * 3 + 0]; - iter_rgb[1] = image_src[i * 3 + j * cols_arg * 3 + 1]; - iter_rgb[2] = image_src[i * 3 + j * cols_arg * 3 + 2]; - } - else if (this->image_msg_.data.size() == rows_arg * cols_arg) - { - // mono (or bayer? @todo; fix for bayer) - iter_rgb[0] = image_src[i + j * cols_arg]; - iter_rgb[1] = image_src[i + j * cols_arg]; - iter_rgb[2] = image_src[i + j * cols_arg]; - } - else - { - // no image - iter_rgb[0] = 0; - iter_rgb[1] = 0; - iter_rgb[2] = 0; - } - } - } - - return true; + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(rows_arg * cols_arg); + + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); + + point_cloud_msg.is_dense = true; + + float* toCopyFrom = (float*)data_arg; + int index = 0; + + double hfov = this->parentSensor->DepthCamera()->HFOV().Radian(); + double fl = ((double)this->width) / (2.0 * tan(hfov / 2.0)); + + // convert depth to point cloud + for (uint32_t j = 0; j < rows_arg; j++) + { + double pAngle; + if (rows_arg > 1) + pAngle = atan2((double)j - 0.5 * (double)(rows_arg - 1), fl); + else + pAngle = 0.0; + + for (uint32_t i = 0; i < cols_arg; i++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) + { + double yAngle; + if (cols_arg > 1) + yAngle = atan2((double)i - 0.5 * (double)(cols_arg - 1), fl); + else + yAngle = 0.0; + + double depth = toCopyFrom[index++]; + + // in optical frame + // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in + // to urdf, where the *_optical_frame should have above relative + // rotation from the physical camera *_frame + *iter_x = depth * tan(yAngle); + *iter_y = depth * tan(pAngle); + if (depth > this->point_cloud_cutoff_) + { + *iter_z = depth; + } + else // point in the unseeable range + { + *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN(); + point_cloud_msg.is_dense = false; + } + + // put image color data for each point + uint8_t* image_src = (uint8_t*)(&(this->image_msg_.data[0])); + if (this->image_msg_.data.size() == rows_arg * cols_arg * 3) + { + iter_rgb[0] = image_src[i * 3 + j * cols_arg * 3 + 0]; + iter_rgb[1] = image_src[i * 3 + j * cols_arg * 3 + 1]; + iter_rgb[2] = image_src[i * 3 + j * cols_arg * 3 + 2]; + } + else if (this->image_msg_.data.size() == rows_arg * cols_arg) + { + // mono + iter_rgb[0] = image_src[i + j * cols_arg]; + iter_rgb[1] = image_src[i + j * cols_arg]; + iter_rgb[2] = image_src[i + j * cols_arg]; + } + else + { + // no image + iter_rgb[0] = 0; + iter_rgb[1] = 0; + iter_rgb[2] = 0; + } + } + } + + return true; } // Fill depth information bool GazeboRosImageSonar::FillDepthImageHelper(sensor_msgs::Image& image_msg, uint32_t rows_arg, uint32_t cols_arg, - uint32_t step_arg, void* data_arg) + uint32_t step_arg, void* data_arg) { - image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; - image_msg.height = rows_arg; - image_msg.width = cols_arg; - image_msg.step = sizeof(float) * cols_arg; - image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); - image_msg.is_bigendian = 0; - - const float bad_point = std::numeric_limits::quiet_NaN(); - - float* dest = (float*)(&(image_msg.data[0])); - float* toCopyFrom = (float*)data_arg; - int index = 0; - - // convert depth to point cloud - for (uint32_t j = 0; j < rows_arg; j++) - { - for (uint32_t i = 0; i < cols_arg; i++) - { - float depth = toCopyFrom[index++]; - - if (depth > this->point_cloud_cutoff_) - { - dest[i + j * cols_arg] = depth; - } - else // point in the unseeable range - { - dest[i + j * cols_arg] = bad_point; - } - } - } - return true; + image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; + image_msg.height = rows_arg; + image_msg.width = cols_arg; + image_msg.step = sizeof(float) * cols_arg; + image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); + image_msg.is_bigendian = 0; + + const float bad_point = std::numeric_limits::quiet_NaN(); + + float* dest = (float*)(&(image_msg.data[0])); + float* toCopyFrom = (float*)data_arg; + int index = 0; + + // convert depth to point cloud + for (uint32_t j = 0; j < rows_arg; j++) + { + for (uint32_t i = 0; i < cols_arg; i++) + { + float depth = toCopyFrom[index++]; + + if (depth > this->point_cloud_cutoff_) + dest[i + j * cols_arg] = depth; + else // point in the unseeable range + dest[i + j * cols_arg] = bad_point; + } + } + return true; } cv::Mat GazeboRosImageSonar::ComputeNormalImage(cv::Mat& depth) { - // copy data into image - this->normal_image_msg_.header.frame_id = this->frame_name_; - this->normal_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; - this->normal_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - - // filters - cv::Mat_ f1 = (cv::Mat_(3, 3) << 1, 2, 1, 0, 0, 0, -1, -2, -1) / 8; - - cv::Mat_ f2 = (cv::Mat_(3, 3) << 1, 0, -1, 2, 0, -2, 1, 0, -1) / 8; - - cv::Mat f1m, f2m; - cv::flip(f1, f1m, 0); - cv::flip(f2, f2m, 1); - - cv::Mat n1, n2; - cv::filter2D(depth, n1, -1, f1m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); - cv::filter2D(depth, n2, -1, f2m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); - - cv::Mat no_readings; - cv::erode(depth == 0, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); - // cv::dilate(no_readings, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); - n1.setTo(0, no_readings); - n2.setTo(0, no_readings); - - std::vector images(3); - cv::Mat white = cv::Mat::ones(depth.rows, depth.cols, CV_32FC1); - - // NOTE: with different focal lengths, the expression becomes - // (-dzx*fy, -dzy*fx, fx*fy) - images.at(0) = n1; // for green channel - images.at(1) = n2; // for red channel - images.at(2) = 1. / this->focal_length_ * depth; // for blue channel - - cv::Mat normal_image; // = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC3); - cv::merge(images, normal_image); - - // TODO: we should do this on the split images instead - for (int i = 0; i < normal_image.rows; ++i) - { - for (int j = 0; j < normal_image.cols; ++j) - { - cv::Vec3f& n = normal_image.at(i, j); - n = cv::normalize(n); - } - } - - cv::split(normal_image.clone(), images); - cv::Vec3d minVec, maxVec; - for (int i = 0; i < 3; ++i) - { - cv::minMaxLoc(images[i], &minVec[i], &maxVec[i]); - images[i] -= minVec[i]; - images[i] *= 1. / (maxVec[i] - minVec[i]); - } - - cv::merge(images, normal_image); - cv::Mat normal_image8; - normal_image.convertTo(normal_image8, CV_8UC3, 255.0); - - cv_bridge::CvImage img_bridge; - img_bridge = cv_bridge::CvImage(this->normal_image_msg_.header, sensor_msgs::image_encodings::RGB8, normal_image8); - img_bridge.toImageMsg(this->normal_image_msg_); // from cv_bridge to sensor_msgs::Image - - this->normal_image_pub_.publish(this->normal_image_msg_); - - return normal_image; + // copy data into image + this->normal_image_msg_.header.frame_id = this->frame_name_; + this->normal_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->normal_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + + // filters + cv::Mat_ f1 = (cv::Mat_(3, 3) << 1, 2, 1, 0, 0, 0, -1, -2, -1) / 8; + cv::Mat_ f2 = (cv::Mat_(3, 3) << 1, 0, -1, 2, 0, -2, 1, 0, -1) / 8; + + cv::Mat f1m, f2m; + cv::flip(f1, f1m, 0); + cv::flip(f2, f2m, 1); + + cv::Mat n1, n2; + cv::filter2D(depth, n1, -1, f1m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); + cv::filter2D(depth, n2, -1, f2m, cv::Point(-1, -1), 0, cv::BORDER_REPLICATE); + + cv::Mat no_readings; + cv::erode(depth == 0, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); + // cv::dilate(no_readings, no_readings, cv::Mat(), cv::Point(-1, -1), 2, 1, 1); + n1.setTo(0, no_readings); + n2.setTo(0, no_readings); + + std::vector images(3); + cv::Mat white = cv::Mat::ones(depth.rows, depth.cols, CV_32FC1); + + // NOTE: with different focal lengths, the expression becomes + // (-dzx*fy, -dzy*fx, fx*fy) + images.at(0) = n1; // for green channel + images.at(1) = n2; // for red channel + images.at(2) = 1. / this->focal_length_ * depth; // for blue channel + + cv::Mat normal_image; // = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC3); + cv::merge(images, normal_image); + + // TODO: we should do this on the split images instead + for (int i = 0; i < normal_image.rows; ++i) + { + for (int j = 0; j < normal_image.cols; ++j) + { + cv::Vec3f& n = normal_image.at(i, j); + n = cv::normalize(n); + } + } + + cv::split(normal_image.clone(), images); + cv::Vec3d minVec, maxVec; + for (int i = 0; i < 3; ++i) + { + cv::minMaxLoc(images[i], &minVec[i], &maxVec[i]); + images[i] -= minVec[i]; + images[i] *= 1. / (maxVec[i] - minVec[i]); + } + + cv::merge(images, normal_image); + cv::Mat normal_image8; + normal_image.convertTo(normal_image8, CV_8UC3, 255.0); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->normal_image_msg_.header, sensor_msgs::image_encodings::RGB8, normal_image8); + img_bridge.toImageMsg(this->normal_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->normal_image_pub_.publish(this->normal_image_msg_); + + return normal_image; } cv::Mat GazeboRosImageSonar::ConstructSonarImage(cv::Mat& depth, cv::Mat& normals) { - std::vector images(3); - cv::split(normals, images); - - float intensity = 100.; // target strength - float SL = 200.; // source level - float NL = 30; // noise level - float DI = 0.0; // directivity index - - if (dist_matrix_.empty()) - { - std::vector t_x, t_y; - for (int i = 0; i < depth.cols; i++) - t_x.push_back((float(i) - this->cx_) / this->focal_length_); - for (int i = 0; i < depth.rows; i++) - t_y.push_back((float(i) - this->cy_) / this->focal_length_); - cv::Mat X, Y; - cv::repeat(cv::Mat(t_x).reshape(1, 1), t_y.size(), 1, X); - cv::repeat(cv::Mat(t_y).reshape(1, 1).t(), 1, t_x.size(), Y); - dist_matrix_ = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC1); - cv::multiply(X, X, X); - cv::multiply(Y, Y, Y); - cv::sqrt(X + Y + 1, dist_matrix_); - } - - // TODO: make these into proper parameters - cv::Mat TS = intensity * images[2]; // target strength, probably dir should be DI - cv::Mat TL = 5 * depth; // transmission loss - cv::multiply(TL, dist_matrix_, TL); - cv::Mat SNR = SL - 2.0 * TL - (NL - DI) + TS; - SNR.setTo(0., SNR < 0.); - - double minVal, maxVal; - cv::minMaxLoc(SNR, &minVal, &maxVal); - SNR -= minVal; - SNR *= 1. / (maxVal - minVal); - - cv::Mat sonar_image8; - SNR.convertTo(sonar_image8, CV_8UC3, 255.0); - - cv_bridge::CvImage img_bridge; - img_bridge = cv_bridge::CvImage(this->multibeam_image_msg_.header, sensor_msgs::image_encodings::MONO8, sonar_image8); - img_bridge.toImageMsg(this->multibeam_image_msg_); // from cv_bridge to sensor_msgs::Image - - this->multibeam_image_pub_.publish(this->multibeam_image_msg_); - - return SNR; // sonar_image8; + std::vector images(3); + cv::split(normals, images); + + float intensity = 100.; // target strength + float SL = 200.; // source level + float NL = 20; // noise level + float DI = 0.0; // directivity index + + if (dist_matrix_.empty()) + { + std::vector t_x, t_y; + for (int i = 0; i < depth.cols; i++) + t_x.push_back((float(i) - this->cx_) / this->focal_length_); + for (int i = 0; i < depth.rows; i++) + t_y.push_back((float(i) - this->cy_) / this->focal_length_); + cv::Mat X, Y; + cv::repeat(cv::Mat(t_x).reshape(1, 1), t_y.size(), 1, X); + cv::repeat(cv::Mat(t_y).reshape(1, 1).t(), 1, t_x.size(), Y); + dist_matrix_ = cv::Mat::zeros(depth.rows, depth.cols, CV_32FC1); + cv::multiply(X, X, X); + cv::multiply(Y, Y, Y); + cv::sqrt(X + Y + 1, dist_matrix_); + } + + // TODO: make these into proper parameters + cv::Mat TS = intensity * images[2]; // target strength, probably dir should be DI + cv::Mat TL = 5 * depth; // transmission loss + cv::multiply(TL, dist_matrix_, TL); + cv::Mat SNR = SL - 2.0 * TL - (NL - DI) + TS; + SNR.setTo(0., SNR < 0.); + + double minVal, maxVal; + cv::minMaxLoc(SNR, &minVal, &maxVal); + SNR -= minVal; + SNR *= 1. / (maxVal - minVal); + + cv::Mat sonar_image8; + SNR.convertTo(sonar_image8, CV_8UC3, 255.0); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->multibeam_image_msg_.header, sensor_msgs::image_encodings::MONO8, sonar_image8); + img_bridge.toImageMsg(this->multibeam_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->multibeam_image_pub_.publish(this->multibeam_image_msg_); + + return SNR; // sonar_image8; } +///////////////////////////////////////////////////////////////////////////// +// Speckles make it look more realistic void GazeboRosImageSonar::ApplySpeckleNoise(cv::Mat& scan, float fov) { - std::normal_distribution speckle_dist(1.0, 0.1); - - for (int i = 0; i < scan.rows; ++i) - { - for (int j = 0; j < scan.cols; ++j) - { - float& a = scan.at(i, j); - if (a == 0.) - { - continue; - } - float speckle = fabs(speckle_dist(generator)); - a *= speckle; - } - } + std::normal_distribution speckle_dist(1.0, 0.1); + + for (int i = 0; i < scan.rows; ++i) + { + for (int j = 0; j < scan.cols; ++j) + { + float& a = scan.at(i, j); + if (a == 0.) + continue; + + float speckle = fabs(speckle_dist(generator)); + a *= speckle; + } + } + } +//////////////////////////////////////////////////////////////////////// +// TODO: void GazeboRosImageSonar::ApplySmoothing(cv::Mat& scan, float fov) { - int nrolls = 300; - int window_size = 30; - - if (angle_range_indices_.empty()) - { - angle_range_indices_.resize(scan.rows / 1); - angle_nbr_indices_.resize(scan.rows / 2, 0); - float threshold = tan(fov); - for (int j = 0; j < scan.cols; ++j) - { - for (int i = 0; i < scan.rows; ++i) - { - float x = fabs(float(scan.cols) / 2. - j); - float y = scan.rows - i; - int dist = int(sqrt(x * x + y * y)) / 2; - if (dist >= scan.rows / 2 || fabs(x) / y > threshold) - { - continue; - } - angle_range_indices_[dist].push_back(scan.cols * i + j); - angle_nbr_indices_[dist] += 1; - } - } - } - - std::discrete_distribution<> range_dist(angle_nbr_indices_.begin(), angle_nbr_indices_.end()); - std::uniform_real_distribution index_dist(0.0, 1.0); - - std::vector kernel(window_size); - for (int i = 0; i < window_size; ++i) - { - float diff = float(i - window_size / 2) / float(window_size / 4.); - kernel[i] = exp(-0.5 * diff); - } - - std::vector conv_results(2 * window_size); - for (int i = 0; i < nrolls; ++i) - { - int sampled_range = range_dist(generator); - if (angle_nbr_indices_[sampled_range] == 0) - { - continue; - } - int sampled_index = int(index_dist(generator) * angle_nbr_indices_[sampled_range]); - - int window_start = std::max(0, sampled_index - window_size); - int window_end = std::min(angle_nbr_indices_[sampled_range], sampled_index + window_size); - for (int i = window_start; i < window_end; ++i) - { - conv_results[i - window_start] = 0.; - float conv_mass = 0.; - for (int j = 0; j < window_size; ++j) - { - int index = i + j - window_size / 2; - if (index >= 0 && index < angle_nbr_indices_[sampled_range]) - { - conv_results[i - window_start] += kernel[j] * scan.at(angle_range_indices_[sampled_range][index]); - conv_mass += kernel[j]; - } - } - if (conv_mass == 0.) - { - conv_results[i - window_start] = scan.at(angle_range_indices_[sampled_range][i]); - } - else - { - conv_results[i - window_start] *= 1. / conv_mass; - } - } - - for (int i = window_start; i < window_end; ++i) - { - scan.at(angle_range_indices_[sampled_range][i]) = conv_results[i - window_start]; - } - } + int nrolls = 300; + int window_size = 30; + + if (angle_range_indices_.empty()) + { + angle_range_indices_.resize(scan.rows / 1); + angle_nbr_indices_.resize(scan.rows / 2, 0); + float threshold = tan(fov); + for (int j = 0; j < scan.cols; ++j) + { + for (int i = 0; i < scan.rows; ++i) + { + float x = fabs(float(scan.cols) / 2. - j); + float y = scan.rows - i; + int dist = int(sqrt(x * x + y * y)) / 2; + if (dist >= scan.rows / 2 || fabs(x) / y > threshold) + { + continue; + } + angle_range_indices_[dist].push_back(scan.cols * i + j); + angle_nbr_indices_[dist] += 1; + } + } + } + + std::discrete_distribution<> range_dist(angle_nbr_indices_.begin(), angle_nbr_indices_.end()); + std::uniform_real_distribution index_dist(0.0, 1.0); + + std::vector kernel(window_size); + for (int i = 0; i < window_size; ++i) + { + float diff = float(i - window_size / 2) / float(window_size / 4.); + kernel[i] = exp(-0.5 * diff); + } + + std::vector conv_results(2 * window_size); + for (int i = 0; i < nrolls; ++i) + { + int sampled_range = range_dist(generator); + if (angle_nbr_indices_[sampled_range] == 0) + { + continue; + } + int sampled_index = int(index_dist(generator) * angle_nbr_indices_[sampled_range]); + + int window_start = std::max(0, sampled_index - window_size); + int window_end = std::min(angle_nbr_indices_[sampled_range], sampled_index + window_size); + for (int i = window_start; i < window_end; ++i) + { + conv_results[i - window_start] = 0.; + float conv_mass = 0.; + for (int j = 0; j < window_size; ++j) + { + int index = i + j - window_size / 2; + if (index >= 0 && index < angle_nbr_indices_[sampled_range]) + { + conv_results[i - window_start] += kernel[j] * scan.at(angle_range_indices_[sampled_range][index]); + conv_mass += kernel[j]; + } + } + if (conv_mass == 0.) + { + conv_results[i - window_start] = scan.at(angle_range_indices_[sampled_range][i]); + } + else + { + conv_results[i - window_start] *= 1. / conv_mass; + } + } + + for (int i = window_start; i < window_end; ++i) + { + scan.at(angle_range_indices_[sampled_range][i]) = conv_results[i - window_start]; + } + } } void GazeboRosImageSonar::ApplyMedianFilter(cv::Mat& scan) { - cv::Mat is_zero = scan == 0.; - cv::Mat is_bg = scan == 0.2; - cv::bitwise_or(is_zero, is_bg, is_zero); - - cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 9)); - cv::Mat scan_dilated; - cv::dilate(scan, scan_dilated, element, cv::Point(-1, -1), 1, 1, 1); - // scan.setTo(scan_dilated, is_zero); - scan_dilated.copyTo(scan, is_zero); + cv::Mat is_zero = scan == 0.; + cv::Mat is_bg = scan == 0.2; + cv::bitwise_or(is_zero, is_bg, is_zero); + + cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 9)); + cv::Mat scan_dilated; + cv::dilate(scan, scan_dilated, element, cv::Point(-1, -1), 1, 1, 1); + // scan.setTo(scan_dilated, is_zero); + scan_dilated.copyTo(scan, is_zero); } // Constructs the raw sonar image cv::Mat GazeboRosImageSonar::ConstructScanImage(cv::Mat& depth, cv::Mat& SNR) { - int rows = 400; // TODO: add a parameter for this - float range = 8.; // TODO: get this from the sensor config instead - - float fov = depthCamera->HFOV().Degree(); - int cols = 2 * int(float(rows) * sin(M_PI / 180. * fov / 2.)) + 20; //~36.4 for 130FOV - - // M gets crops image based on FOV, should at least - cv::Mat scan = cv::Mat::zeros(rows, cols, CV_32FC1); - // float fov = 180./M_PI*2.*asin(this->cx_/this->focal_length_); - cv::Point center(scan.cols / 2, scan.rows); - cv::Size full_axes(scan.rows, scan.rows); - cv::ellipse(scan, center, full_axes, -90, -fov / 2., fov / 2., 0.2, -1); - cv::Size third_axes(scan.rows / 3, scan.rows / 3); - cv::ellipse(scan, center, third_axes, -90, -fov / 2., fov / 2., 0, -1); - - float mapped_range = float(scan.rows); - int ping_count = 0; - cv::Point scan_origin = cv::Point(double(depth.cols / 2.0), 0.0); - std::vector bearings; - std::vector ranges; - std::vector intensities; - int x_trans; - int y_trans; - - - for (int i = 0; i < depth.rows; ++i) - { - for (int j = 0; j < depth.cols; ++j) - { - float d = depth.at(i, j); - // uchar a = SNR.at(i, j); - float a = SNR.at(i, j); - if (d == 0 || a == 0) - { - continue; - } - - float x = (float(j) - this->cx_) / this->focal_length_; - float y = (float(i) - this->cy_) / this->focal_length_; - float z = 1.; - - if (false) - { - z = d; - } - else - { - z = d * sqrt(y * y + z * z); - } - - x *= z; - y *= z; - x_trans = x - (scan.cols/2); - y_trans = scan.rows - y; - - cv::Point hit = cv::Point(double(x), double(y)); - - int pi = scan.rows - 1 - int(z / range * mapped_range); - int pj = scan.cols / 2 + int(x / range * mapped_range); - if (pi < scan.rows && pi > 0 && pj < scan.cols && pj > 0 && x * x + z * z < range * range) - { - scan.at(pi, pj) = a; - - //this->ping_ptr->header.frame_id = this->frame_name.nsec - //ROS_INFO("depth val: %f\n",d); - ranges.push_back(d); - intensities.push_back((uint16_t)a); - //bearings.push_back((float)(this->CalculateBearing(hit, scan_origin))); - bearings.push_back(atan2(y_trans - 0, x_trans - 0) * 180 / M_PI); - //this->ping_ptr->intensities[ping_count] = (uint16_t)a; - //this->ping_ptr->ranges[ping_count] = d; - //this->ping_ptr->bearings[ping_count] = float(this->CalculateBearing(hit, scan_origin)); - ping_count++; - - } - //ping_count++; - } - } - // this->ping_ptr->header.frame_id = "ranges"; - this->ping_ptr->header.stamp.sec = this->depth_sensor_update_time_.sec; - this->ping_ptr->header.stamp.nsec = this->depth_sensor_update_time_.nsec; - ranges.resize(ping_count); - intensities.resize(ping_count); - bearings.resize(ping_count); - this->ping_ptr->ranges = ranges; - this->ping_ptr->intensities = intensities; - this->ping_ptr->bearings = bearings; - this->sonar_ping_msg_pub_.publish(this->ping_ptr); - this->ApplyMedianFilter(scan); - this->ApplySpeckleNoise(scan, fov); - // this->ApplySmoothing(scan, fov); - - //ToDo: send over to constructPingMsg - - cv_bridge::CvImage img_bridge; - img_bridge = cv_bridge::CvImage(this->raw_sonar_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, scan); - img_bridge.toImageMsg(this->raw_sonar_image_msg_); // from cv_bridge to sensor_msgs::Image - - this->raw_sonar_image_pub_.publish(this->raw_sonar_image_msg_); - - return scan; -} - -double GazeboRosImageSonar::CalculateBearing(const cv::Point& v1, const cv::Point& v2) -{ - double cosAngle = v1.dot(v2) / (cv::norm(v1) * cv::norm(v2)); - if (cosAngle > 1.0) - return 0.0; - else if (cosAngle < -1.0) - return CV_PI; - return std::acos(cosAngle); + int rows = 860; // TODO: add a parameter for this + float range = 17.; // TODO: get this from the sensor config instead + ping_scan_max_ = 0; + ping_scan_min_ = 0; + + float fov = depthCamera->HFOV().Degree(); + int cols = 2 * int(float(rows) * sin(M_PI / 180. * fov / 2.)) + 20; //~36.4 for 130FOV + + // M gets crops image based on FOV, should at least + cv::Mat scan = cv::Mat::zeros(rows, cols, CV_32FC1); + // float fov = 180./M_PI*2.*asin(this->cx_/this->focal_length_); + cv::Point center(scan.cols / 2, scan.rows); + cv::Size full_axes(scan.rows, scan.rows); + cv::ellipse(scan, center, full_axes, -90, -fov / 2., fov / 2., 0.2, -1); + cv::Size third_axes(scan.rows / 3, scan.rows / 3); + cv::ellipse(scan, center, third_axes, -90, -fov / 2., fov / 2., 0, -1); + + float mapped_range = float(scan.rows); + int ping_count = 0; + cv::Point scan_origin = cv::Point(double(depth.cols / 2.0), 0.0); + std::vector bearings; + std::vector ranges; + std::vector intensities; + float x_trans; + float y_trans; + double angle; + + for (int i = 0; i < depth.rows; ++i) + { + for (int j = 0; j < depth.cols; ++j) + { + float d = depth.at(i, j); + // uchar a = SNR.at(i, j); + float a = SNR.at(i, j); + if (d == 0 || a == 0) + continue; + + float x = (float(j) - this->cx_) / this->focal_length_; + float y = (float(i) - this->cy_) / this->focal_length_; + float z = 1.; + + if (false) + { + z = d; + } + else + { + z = d * sqrt(y * y + z * z); + } + + x *= z; + y *= z; + // cv::Point hit = cv::Point(double(x), double(y)); + + int pi = scan.rows - 1 - int(z / range * mapped_range); + int pj = scan.cols / 2 + int(x / range * mapped_range); + if (pi < scan.rows && pi > 0 && pj < scan.cols && pj > 0 && x * x + z * z < range * range) + { + x_trans = pj - (scan.cols / 2); + y_trans = scan.rows - pi; + scan.at(pi, pj) = a; + + // ROS_INFO("depth val: %f\n",d); + + // Scales intensity so farther away objects are visible + int scalar; + ranges.push_back((float)d); + if (d < 4.0) + scalar = 1000; + if (4.0 <= d < 8.0) + scalar = 1300; + if (d > 8.0) + scalar = 1450; + + intensities.push_back(uint16_t(a * scalar)); + angle = atan2(y_trans - 0.0, -x_trans - 0.0); + + if (0.0 < angle < M_PI / 2.0) + bearings.push_back(float((M_PI / 2.0) - angle)); + else if (M_PI / 2.0 < angle < M_PI) + bearings.push_back(float(M_PI - angle)); + // else if(angle > M_PI/2.0) + // bearings.push_back(float(-(angle -(M_PI/2.0)))); + else + bearings.push_back(0.0); + + ping_count++; + } + } + } + this->ping_ptr->header.frame_id = "blueview/sonar_link"; + this->ping_ptr->header.stamp.sec = this->depth_sensor_update_time_.sec; + this->ping_ptr->header.stamp.nsec = this->depth_sensor_update_time_.nsec; + ranges.resize(ping_count); + intensities.resize(ping_count); + bearings.resize(ping_count); + this->ping_ptr->ranges = ranges; + this->ping_ptr->intensities = intensities; + this->ping_ptr->bearings = bearings; + this->sonar_ping_msg_pub_.publish(this->ping_ptr); + this->ApplyMedianFilter(scan); + this->ApplySpeckleNoise(scan, fov); + + // this->ApplySmoothing(scan, fov); + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->raw_sonar_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, scan); + img_bridge.toImageMsg(this->raw_sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->raw_sonar_image_pub_.publish(this->raw_sonar_image_msg_); + + return scan; } cv::Mat GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat& raw_scan) { - float fov = depthCamera->HFOV().Degree(); - float mapped_range = float(raw_scan.rows); - - //cv::Scalar blue(15, 48, 102); - cv::Scalar darkGrey(37, 37, 37); - cv::Scalar black(0, 0, 0); - cv::Mat scan(raw_scan.rows, raw_scan.cols, CV_8UC3); - //scan.setTo(blue); - scan.setTo(darkGrey); - - - cv::Point center(scan.cols / 2, scan.rows); - cv::Size axes(scan.rows + 3, scan.rows + 3); - cv::ellipse(scan, center, axes, -90, -fov / 2., fov / 2., black, -1); //, int lineType=LINE_8, 0); - - for (int i = 0; i < scan.rows; ++i) - { - for (int j = 0; j < scan.cols; ++j) - { - float a = raw_scan.at(i, j); - if (a == 0.) - { - continue; - } - - if (a < 0.8) - { - scan.at(i, j) = cv::Vec3b(255 * 1.25 * a, 255 * 0.78 * a, 255 * 0.50 * a); - } - else if (a < 1.) - { - scan.at(i, j) = cv::Vec3b(255 * a, 255 * (1.88 * a - 0.88), 255 * (-1.99 * a + 1.99)); - } - else - { - scan.at(i, j) = cv::Vec3b(255, 255 * (1.88 - 0.88), 255 * (-1.99 + 1.99)); - } - } - } - - cv::Scalar white(255, 255, 255); - cv::Size axes1(2. / 3. * scan.rows, 2. / 3. * scan.rows); - cv::Size axes2(1. / 3. * scan.rows, 1. / 3. * scan.rows); - cv::ellipse(scan, center, axes, -90, -fov / 2. - 0.5, fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - cv::ellipse(scan, center, axes1, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - cv::ellipse(scan, center, axes2, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); - - for (int i = 0; i < 5; ++i) - { - float angle = -fov / 2. - 0.5 + (fov + 0.5) * i / float(5 - 1); - int cornerx = int(mapped_range * sin(M_PI / 180. * angle)); - int cornery = int(mapped_range * cos(M_PI / 180. * angle)); - // cv::Point left_corner(scan.cols/2-cornerx, scan.rows-cornery); - // cv::Point right_corner(scan.cols/2+cornerx, scan.rows-cornery); - cv::Point corner(scan.cols / 2 + cornerx, scan.rows - cornery); - // cv::line(scan, center, left_corner, white, 2); - // cv::line(scan, center, right_corner, white, 2); - cv::line(scan, center, corner, white, 1, CV_AA); - } - - cv_bridge::CvImage img_bridge; - img_bridge = cv_bridge::CvImage(this->sonar_image_msg_.header, sensor_msgs::image_encodings::RGB8, scan); - img_bridge.toImageMsg(this->sonar_image_msg_); // from cv_bridge to sensor_msgs::Image - - this->sonar_image_pub_.publish(this->sonar_image_msg_); - - return scan; -} - -cv::Mat GazeboRosImageSonar::ConstructPingMsg() -{ - + float fov = depthCamera->HFOV().Degree(); + float mapped_range = float(raw_scan.rows); + + // cv::Scalar blue(15, 48, 102); + cv::Scalar darkGrey(37, 37, 37); + cv::Scalar black(0, 0, 0); + cv::Mat scan(raw_scan.rows, raw_scan.cols, CV_8UC3); + // scan.setTo(blue); + scan.setTo(darkGrey); + // what the FUCKKCKCk'cFBGFSTHDFDsETJKN(i, j); + if (a == 0.) + continue; + + if (a < 0.8) + scan.at(i, j) = cv::Vec3b(255 * 1.25 * a, 255 * 0.78 * a, 255 * 0.50 * a); + else if (a < 1.) + scan.at(i, j) = cv::Vec3b(255 * a, 255 * (1.88 * a - 0.88), 255 * (-1.99 * a + 1.99)); + else + scan.at(i, j) = cv::Vec3b(255, 255 * (1.88 - 0.88), 255 * (-1.99 + 1.99)); + } + } + + cv::Scalar white(255, 255, 255); + cv::Size axes1(2. / 3. * scan.rows, 2. / 3. * scan.rows); + cv::Size axes2(1. / 3. * scan.rows, 1. / 3. * scan.rows); + cv::ellipse(scan, center, axes, -90, -fov / 2. - 0.5, fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes1, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + cv::ellipse(scan, center, axes2, -90, -fov / 2., fov / 2., white, 1, CV_AA); //, int lineType=LINE_8, 0); + + for (int i = 0; i < 5; ++i) + { + float angle = -fov / 2. - 0.5 + (fov + 0.5) * i / float(5 - 1); + int cornerx = int(mapped_range * sin(M_PI / 180. * angle)); + int cornery = int(mapped_range * cos(M_PI / 180. * angle)); + // cv::Point left_corner(scan.cols/2-cornerx, scan.rows-cornery); + // cv::Point right_corner(scan.cols/2+cornerx, scan.rows-cornery); + cv::Point corner(scan.cols / 2 + cornerx, scan.rows - cornery); + // cv::line(scan, center, left_corner, white, 2); + // cv::line(scan, center, right_corner, white, 2); + cv::line(scan, center, corner, white, 1, CV_AA); + } + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->sonar_image_msg_.header, sensor_msgs::image_encodings::RGB8, scan); + img_bridge.toImageMsg(this->sonar_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->sonar_image_pub_.publish(this->sonar_image_msg_); + + return scan; } //////////////////////////////////////////////////////////////////////////////// // Put depth image data to the interface void GazeboRosImageSonar::ComputeSonarImage(const float* _src) { - this->lock_.lock(); - // copy data into image - this->depth_image_msg_.header.frame_id = this->frame_name_; - this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; - this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; - - // copy from depth to depth image (OpenCV) - int rows_arg = this->height; - int cols_arg = this->width; - int step_arg = this->skip_; - - sensor_msgs::Image image_msg; - image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; - image_msg.height = rows_arg; - image_msg.width = cols_arg; - image_msg.step = sizeof(float) * cols_arg; - image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); - image_msg.is_bigendian = 0; - - // cv::Mat depth_image = cv::Mat(rows_arg, cols_arg, CV_32FC1, (float*)_src).clone(); - cv::Mat depth_image(rows_arg, cols_arg, CV_32FC1, (float*)_src); - - // publish normal image - cv::Mat normal_image = this->ComputeNormalImage(depth_image); - cv::Mat multibeam_image = this->ConstructSonarImage(depth_image, normal_image); - cv::Mat raw_scan = this->ConstructScanImage(depth_image, multibeam_image); - cv::Mat visual_scan = this->ConstructVisualScanImage(raw_scan); - - cv_bridge::CvImage img_bridge; - img_bridge = cv_bridge::CvImage(this->depth_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, depth_image); - img_bridge.toImageMsg(this->depth_image_msg_); // from cv_bridge to sensor_msgs::Image - - this->depth_image_pub_.publish(this->depth_image_msg_); - - this->lock_.unlock(); + this->lock_.lock(); + // copy data into image + this->depth_image_msg_.header.frame_id = this->frame_name_; + this->depth_image_msg_.header.stamp.sec = this->depth_sensor_update_time_.sec; + this->depth_image_msg_.header.stamp.nsec = this->depth_sensor_update_time_.nsec; + + // copy from depth to depth image (OpenCV) + int rows_arg = this->height; + int cols_arg = this->width; + int step_arg = this->skip_; + + sensor_msgs::Image image_msg; + image_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; + image_msg.height = rows_arg; + image_msg.width = cols_arg; + image_msg.step = sizeof(float) * cols_arg; + image_msg.data.resize(rows_arg * cols_arg * sizeof(float)); + image_msg.is_bigendian = 0; + + // cv::Mat depth_image = cv::Mat(rows_arg, cols_arg, CV_32FC1, (float*)_src).clone(); + cv::Mat depth_image(rows_arg, cols_arg, CV_32FC1, (float*)_src); + + // publish normal image + cv::Mat normal_image = this->ComputeNormalImage(depth_image); + cv::Mat multibeam_image = this->ConstructSonarImage(depth_image, normal_image); + cv::Mat raw_scan = this->ConstructScanImage(depth_image, multibeam_image); + cv::Mat visual_scan = this->ConstructVisualScanImage(raw_scan); + + cv_bridge::CvImage img_bridge; + img_bridge = cv_bridge::CvImage(this->depth_image_msg_.header, sensor_msgs::image_encodings::TYPE_32FC1, depth_image); + img_bridge.toImageMsg(this->depth_image_msg_); // from cv_bridge to sensor_msgs::Image + + this->depth_image_pub_.publish(this->depth_image_msg_); + + this->lock_.unlock(); } void GazeboRosImageSonar::PublishCameraInfo() { - ROS_DEBUG_NAMED("depth_camera", "publishing default camera info, then depth camera info"); - GazeboRosCameraUtils::PublishCameraInfo(); - - if (this->depth_info_connect_count_ > 0) - { - common::Time sensor_update_time = this->parentSensor_->LastMeasurementTime(); - - this->sensor_update_time_ = sensor_update_time; - if (sensor_update_time - this->last_depth_image_camera_info_update_time_ >= this->update_period_) - { - this->PublishCameraInfo(this->depth_image_camera_info_pub_); // , sensor_update_time); - this->last_depth_image_camera_info_update_time_ = sensor_update_time; - } - } + ROS_DEBUG_NAMED("depth_camera", "publishing default camera info, then depth camera info"); + GazeboRosCameraUtils::PublishCameraInfo(); + + if (this->depth_info_connect_count_ > 0) + { + common::Time sensor_update_time = this->parentSensor_->LastMeasurementTime(); + + this->sensor_update_time_ = sensor_update_time; + if (sensor_update_time - this->last_depth_image_camera_info_update_time_ >= this->update_period_) + { + this->PublishCameraInfo(this->depth_image_camera_info_pub_); // , sensor_update_time); + this->last_depth_image_camera_info_update_time_ = sensor_update_time; + } + } } -//@todo: publish disparity similar to openni_camera_deprecated/src/nodelets/openni_nodelet.cpp. -/* -#include -pub_disparity_ = comm_nh.advertise ("depth/disparity", 5, subscriberChanged2, -subscriberChanged2); -void GazeboRosImageSonar::PublishDisparityImage(const DepthImage& depth, ros::Time time) -{ - stereo_msgs::DisparityImagePtr disp_msg = boost::make_shared (); - disp_msg->header.stamp = time; - disp_msg->header.frame_id = device_->isDepthRegistered () ? rgb_frame_id_ : depth_frame_id_; - disp_msg->image.header = disp_msg->header; - disp_msg->image.encoding = sensor_msgs::image_encodings::TYPE_32FC1; - disp_msg->image.height = depth_height_; - disp_msg->image.width = depth_width_; - disp_msg->image.step = disp_msg->image.width * sizeof (float); - disp_msg->image.data.resize (disp_msg->image.height * disp_msg->image.step); - disp_msg->T = depth.getBaseline (); - disp_msg->f = depth.getFocalLength () * depth_width_ / depth.getWidth (); - /// @todo Compute these values from DepthGenerator::GetDeviceMaxDepth() and the like - disp_msg->min_disparity = 0.0; - disp_msg->max_disparity = disp_msg->T * disp_msg->f / 0.3; - disp_msg->delta_d = 0.125; - depth.fillDisparityImage (depth_width_, depth_height_, reinterpret_cast(&disp_msg->image.data[0]), -disp_msg->image.step); - pub_disparity_.publish (disp_msg); -} -*/ } \ No newline at end of file diff --git a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro index 2547e195..f8b621ff 100644 --- a/simulation/sub8_gazebo/urdf/sub8.urdf.xacro +++ b/simulation/sub8_gazebo/urdf/sub8.urdf.xacro @@ -16,11 +16,13 @@ - + + - - + + @@ -46,25 +48,23 @@ - + width="1600" + height="860"> - - + + @@ -84,6 +84,6 @@ - + From 8c888a0adbf139ae7a0cbc09454dbd8eec9e8b79 Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Wed, 24 Jul 2019 20:43:29 -0400 Subject: [PATCH 5/7] Added some sim models --- .../models/GarlicDrop/garlicDrop.dae | 198 +++++++++++++++++ .../models/GarlicDrop/model.config | 11 + .../sub8_gazebo/models/GarlicDrop/model.sdf | 102 +++++++++ simulation/sub8_gazebo/models/README.md | 4 + .../models/TownParke_Pool/model.config | 11 + .../models/TownParke_Pool/model.sdf | 106 +++++++++ .../models/TownParke_Pool/pool3.dae | 208 ++++++++++++++++++ .../models/start_gate_2019/model.config | 11 + .../models/start_gate_2019/start_gate.sdf | 106 +++++++++ .../start_gate_2019/start_gate_2019.dae | 159 +++++++++++++ .../models/steakThroughHeart/model.config | 11 + .../models/steakThroughHeart/model.sdf | 100 +++++++++ .../steakThroughHeart/shotThroughTheHeart.dae | 159 +++++++++++++ 13 files changed, 1186 insertions(+) create mode 100644 simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae create mode 100644 simulation/sub8_gazebo/models/GarlicDrop/model.config create mode 100644 simulation/sub8_gazebo/models/GarlicDrop/model.sdf create mode 100644 simulation/sub8_gazebo/models/README.md create mode 100644 simulation/sub8_gazebo/models/TownParke_Pool/model.config create mode 100644 simulation/sub8_gazebo/models/TownParke_Pool/model.sdf create mode 100644 simulation/sub8_gazebo/models/TownParke_Pool/pool3.dae create mode 100644 simulation/sub8_gazebo/models/start_gate_2019/model.config create mode 100644 simulation/sub8_gazebo/models/start_gate_2019/start_gate.sdf create mode 100644 simulation/sub8_gazebo/models/start_gate_2019/start_gate_2019.dae create mode 100644 simulation/sub8_gazebo/models/steakThroughHeart/model.config create mode 100644 simulation/sub8_gazebo/models/steakThroughHeart/model.sdf create mode 100644 simulation/sub8_gazebo/models/steakThroughHeart/shotThroughTheHeart.dae diff --git a/simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae b/simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae new file mode 100644 index 00000000..cf8eeaa1 --- /dev/null +++ b/simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae @@ -0,0 +1,198 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2019-07-10T17:24:13 + 2019-07-10T17:24:13 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1 + 29.99998 + 75 + 0.15 + 1 + 0 + 1 + 2 + 1.000799 + 30.002 + 1 + 3 + 0.04999995 + 2880 + 3 + 1 + 0 + 0 + 2 + 1 + 1 + 1 + 0 + 1 + 0.1 + 0.1 + 1 + 0.000999987 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 2 + 1 + 1 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 164004.9 1.42303e6 440967.6 165328.1 1.42061e6 440967.6 164004.9 1.42049e6 440967.6 163122.8 1.42311e6 440967.6 162681.7 1.42061e6 440967.6 164004.9 1.42049e6 1.05057e6 162681.7 1.42061e6 1.05057e6 164004.9 1.42303e6 1.05057e6 164887 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+ + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 9.99917e-4 -1.24585e-5 -3.16882e-6 -394.6942 -1.2446e-5 -9.99915e-4 3.94256e-6 840.665 -3.21767e-6 -3.90279e-6 -9.99987e-4 602.7523 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation/sub8_gazebo/models/GarlicDrop/model.config b/simulation/sub8_gazebo/models/GarlicDrop/model.config new file mode 100644 index 00000000..2e839b90 --- /dev/null +++ b/simulation/sub8_gazebo/models/GarlicDrop/model.config @@ -0,0 +1,11 @@ + + + GarlicDrop + 1.0 + model.sdf + + Michael Fleming + Michael201193@gmail.com + + Garlic bins w/o lever + diff --git a/simulation/sub8_gazebo/models/GarlicDrop/model.sdf b/simulation/sub8_gazebo/models/GarlicDrop/model.sdf new file mode 100644 index 00000000..3d1ecde8 --- /dev/null +++ b/simulation/sub8_gazebo/models/GarlicDrop/model.sdf @@ -0,0 +1,102 @@ + + + + + 0 0 -0 0 -0 0 + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + 0 0 0 0 -0 0 + + + + /home/mike/mil_ws/src/SubjuGator/simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae + 1 1 1 + + + + 1 + + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + + /home/mike/mil_ws/src/SubjuGator/simulation/sub8_gazebo/models/GarlicDrop/garlicDrop.dae + 1 1 1 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/simulation/sub8_gazebo/models/README.md b/simulation/sub8_gazebo/models/README.md new file mode 100644 index 00000000..07aeaa65 --- /dev/null +++ b/simulation/sub8_gazebo/models/README.md @@ -0,0 +1,4 @@ +### Directions to get Start_gate_2019, GarlicDrop, Pool and SteakThroughHeart to work +open the *.sdf file in the desired model's directory. Then edit the mesh uri path(2 per sdf file) + +Getting a Collada file to use relative paths is to much of a pain for these objects which will likely never be used past robosub 2019. :DealWithItParrot: diff --git a/simulation/sub8_gazebo/models/TownParke_Pool/model.config b/simulation/sub8_gazebo/models/TownParke_Pool/model.config new file mode 100644 index 00000000..b0fa1715 --- /dev/null +++ b/simulation/sub8_gazebo/models/TownParke_Pool/model.config @@ -0,0 +1,11 @@ + + + TownParke Pool + 1.0 + model.sdf + + Mike Fleming + Michael201193@gmail.com + + It's a pool + diff --git a/simulation/sub8_gazebo/models/TownParke_Pool/model.sdf b/simulation/sub8_gazebo/models/TownParke_Pool/model.sdf new file mode 100644 index 00000000..2beaa8ae --- /dev/null +++ b/simulation/sub8_gazebo/models/TownParke_Pool/model.sdf @@ -0,0 +1,106 @@ + + + + + 0 0 0 0 -0 3.14159 + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + /home/mike/Downloads/pool3.dae + 1 1 1 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + /home/mike/Downloads/pool3.dae + 1 1 1 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/simulation/sub8_gazebo/models/TownParke_Pool/pool3.dae b/simulation/sub8_gazebo/models/TownParke_Pool/pool3.dae new file mode 100644 index 00000000..da5cd680 --- /dev/null +++ b/simulation/sub8_gazebo/models/TownParke_Pool/pool3.dae @@ -0,0 +1,208 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2019-07-11T17:03:57 + 2019-07-11T17:03:57 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1 + 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738.509 251.4162 679.3565 706.8607 254.2344 679.2083 738.6573 254.0242 652.5847 737.45 254.0242 675.5541 737.45 254.1097 675.9536 737.8496 254.1097 675.9536 706.8607 254.0242 703.3848 737.45 254.0242 680.4155 737.45 254.2344 679.2083 706.8607 236.2138 652.5847 737.179 236.2138 675.283 737.179 236.0066 675.9402 737.8362 251.0598 652.5847 737.179 253.5314 652.5847 735.8928 251.267 675.9402 737.8362 251.4162 676.613 706.8607 235.8574 679.3565 706.8607 236.0066 680.0293 737.8362 251.267 680.0293 737.8362 236.2138 703.3848 737.179 233.466 703.3848 736.662 251.0598 703.3848 737.179 251.0598 680.6865 737.179 233.1639 675.9536 737.8496 233.466 652.5847 736.662 233.3501 680.8115 737.0539 233.3501 680.8115 706.8607 233.466 681.2035 736.662 233.466 674.766 736.662 233.1639 675.9536 706.8607 236.2138 675.283 706.8607 251.0598 675.283 737.179 236.2138 680.6865 737.179 251.0598 680.6865 706.8607 253.5314 673.9968 735.8928 253.6769 674.3788 736.2748 253.6769 674.3788 706.8607 253.9234 680.8115 737.0539 253.5314 703.3848 735.8928 236.7957 652.5847 735.931 236.7957 674.035 735.931 236.4775 674.6464 736.5423 250.4779 652.5847 735.931 252.8067 652.5847 734.4292 250.7961 674.6464 736.5423 251.0598 675.283 706.8607 236.2138 680.6865 706.8607 236.4775 681.3233 736.5423 250.7961 681.3233 736.5423 236.7957 703.3848 735.931 234.0765 703.3848 735.1471 250.4779 703.3848 735.931 250.4779 681.9345 735.931 253.5314 681.9727 735.8928 253.9234 680.8115 706.8607 233.5967 674.3788 736.2748 234.0765 652.5847 735.1471 233.9022 682.3488 735.5168 233.9022 682.3488 706.8607 234.0765 682.7184 735.1471 236.7957 674.035 706.8607 250.4779 674.035 735.931 236.7957 681.9345 735.931 250.4779 681.9345 706.8607 234.0765 673.2511 735.1471 233.5967 674.3788 706.8607 234.9111 652.5847 733.7432 237.5855 652.5847 734.8031 237.5855 672.9071 734.8031 237.166 673.4539 735.3498 249.6881 652.5847 734.8031 251.867 652.5847 733.0933 250.1076 673.4539 735.3498 250.4779 674.035 706.8607 236.7957 681.9345 706.8607 237.166 682.5156 735.3498 250.1076 682.5156 735.3498 237.5855 703.3848 734.8031 234.9111 703.3848 733.7432 252.8067 703.3848 734.4292 249.6881 703.3848 734.8031 249.6881 683.0624 734.8031 252.8067 672.5332 734.4292 253.0088 672.8884 734.7844 253.0088 672.8884 706.8607 253.3714 682.3488 735.5168 252.8067 683.4363 734.4292 253.3714 682.3488 706.8607 237.5855 672.9071 706.8607 249.6881 672.9071 734.8031 237.5855 683.0624 734.8031 249.6881 683.0624 706.8607 234.2648 672.8884 734.7844 234.6824 683.7836 734.082 234.6824 683.7836 706.8607 234.9111 684.1223 733.7432 235.9503 652.5847 732.4832 238.5592 652.5847 733.8294 238.5592 671.9335 733.8294 238.0511 672.3991 734.295 248.7144 652.5847 733.8294 250.7345 652.5847 731.9165 249.2225 672.3991 734.295 249.6881 672.9071 706.8607 237.5855 683.0624 706.8607 238.0511 683.5704 734.295 249.2225 683.5704 734.295 238.5592 703.3848 733.8294 237.1696 703.3848 731.3966 235.9503 703.3848 732.4832 251.867 703.3848 733.0933 248.7144 703.3848 733.8294 248.7144 684.036 733.8294 234.9111 671.8473 733.7432 234.2648 672.8884 706.8607 251.867 671.1973 733.0933 252.121 671.5176 733.4135 252.121 671.5176 706.8607 252.5911 683.7836 734.082 238.5592 671.9335 706.8607 248.7144 671.9335 733.8294 238.5592 684.036 733.8294 248.7144 684.036 706.8607 251.867 684.7722 733.0933 252.5911 683.7836 706.8607 237.1696 652.5847 731.3966 239.6871 652.5847 733.0396 239.6871 671.1437 733.0396 239.1059 671.5139 733.4099 247.5865 652.5847 733.0396 249.4356 652.5847 730.9264 248.1677 671.5139 733.4099 248.7144 671.9335 706.8607 238.5592 684.036 706.8607 239.1059 684.4556 733.4099 248.1677 684.4556 733.4099 239.6871 703.3848 733.0396 238.5405 703.3848 730.5087 250.7345 703.3848 731.9165 247.5865 703.3848 733.0396 247.5865 684.8258 733.0396 235.1526 671.5176 733.4135 235.6726 685.0824 732.783 235.6726 685.0824 706.8607 235.9503 685.3823 732.4832 235.9503 670.5873 732.4832 235.1526 671.5176 706.8607 239.6871 671.1437 706.8607 247.5865 671.1437 733.0396 239.6871 684.8258 733.0396 247.5865 684.8258 706.8607 250.7345 670.0205 731.9165 251.0343 670.2982 732.1942 251.0343 670.2982 706.8607 251.601 685.0824 732.783 238.5405 652.5847 730.5087 240.935 652.5847 732.4577 240.935 670.5618 732.4577 240.2984 670.8255 732.7214 246.3385 652.5847 732.4577 248.0007 652.5847 730.1461 246.9752 670.8255 732.7214 247.5865 671.1437 706.8607 239.6871 684.8258 706.8607 240.2984 685.1441 732.7214 246.9752 685.1441 732.7214 240.935 703.3848 732.4577 240.0308 703.3848 729.8406 249.4356 703.3848 730.9264 246.3385 703.3848 732.4577 246.3385 685.4077 732.4577 250.7345 685.949 731.9165 251.601 685.0824 706.8607 240.935 670.5618 706.8607 246.3385 670.5618 732.4577 240.935 685.4077 732.4577 246.3385 685.4077 706.8607 236.2393 670.2982 732.1942 236.8494 686.215 731.6505 236.8494 686.215 706.8607 237.1696 686.469 731.3966 240.0308 652.5847 729.8406 242.2651 652.5847 732.1013 242.2651 670.2053 732.1013 241.5923 670.3545 732.2505 245.0085 652.5847 732.1013 246.4636 652.5847 729.5941 245.6813 670.3545 732.2505 246.3385 670.5618 706.8607 240.935 685.4077 706.8607 241.5923 685.615 732.2505 245.6813 685.615 732.2505 242.2651 703.3848 732.1013 241.6057 703.3848 729.4078 248.0007 703.3848 730.1461 246.4636 703.3848 729.5941 245.0085 703.3848 732.1013 245.0085 685.7642 732.1013 242.2651 670.2053 706.8607 245.0085 670.2053 732.1013 242.2651 685.7642 732.1013 245.0085 685.7642 706.8607 237.1696 669.5006 731.3966 236.2393 670.2982 706.8607 241.6057 652.5847 729.4078 243.6368 652.5847 731.9813 243.6368 670.0853 731.9813 242.9483 670.1155 732.0114 243.2282 652.5847 729.2205 244.8602 652.5847 729.2831 244.3253 670.1155 732.0114 245.0085 670.2053 706.8607 242.2651 685.7642 706.8607 242.9483 685.8541 732.0114 244.3253 685.8541 732.0114 243.6368 703.3848 731.9813 243.2282 703.3848 729.2205 244.8602 703.3848 729.2831 243.6368 685.8842 731.9813 243.6368 670.0853 706.8607 243.6368 685.8842 706.8607 249.4356 669.0304 730.9264 249.7743 669.259 731.155 249.7743 669.259 706.8607 250.4242 686.215 731.6505 249.4356 686.9391 730.9264 250.4242 686.215 706.8607 237.4993 669.259 731.155 238.1852 687.1547 730.7108 238.1852 687.1547 706.8607 238.5405 687.3567 730.5087 238.5405 668.6128 730.5087 237.4993 669.259 706.8607 248.0007 668.2501 730.1461 248.3704 668.4244 730.3204 248.3704 668.4244 706.8607 249.0883 687.1547 730.7108 248.0007 687.7194 730.1461 249.0883 687.1547 706.8607 238.9032 668.4244 730.3204 239.6489 687.8794 729.9862 239.6489 687.8794 706.8607 240.0308 688.0249 729.8406 240.0308 667.9447 729.8406 238.9032 668.4244 706.8607 246.4636 667.6981 729.5941 246.8555 667.814 729.7099 246.8555 667.814 706.8607 247.6247 687.8794 729.9862 246.4636 688.2714 729.5941 247.6247 687.8794 706.8607 240.418 667.814 729.7099 241.2061 688.3722 729.4934 241.2061 688.3722 706.8607 241.6057 688.4577 729.4078 241.6057 667.5119 729.4078 240.418 667.814 706.8607 244.8602 667.3871 729.2831 245.2653 667.4418 729.3378 245.2653 667.4418 706.8607 246.0675 688.3722 729.4934 244.8602 688.5824 729.2831 246.0675 688.3722 706.8607 242.0083 667.4418 729.3378 242.8202 688.6215 729.244 242.8202 688.6215 706.8607 243.2282 688.6449 729.2205 243.2282 667.3246 729.2205 242.0083 667.4418 706.8607 243.6368 667.3168 729.2127 243.6368 667.3168 706.8607 244.4534 688.6215 729.244 244.4534 688.6215 706.8607 243.6368 688.6527 706.8607 361.5933 20.96338 172.7548 340.1421 22.2735 172.5999 361.5933 23.58582 172.5484 340.1938 23.58582 172.5484 361.5933 26.20831 172.7548 361.5933 23.58582 176.6124 361.5933 25.79114 176.8054 339.9862 20.96344 172.7552 339.9882 20.97333 172.7532 339.7274 19.66669 173.013 361.5933 18.40546 173.3689 361.5933 21.38049 176.8054 339.9866 26.20831 172.7548 361.5933 28.76618 173.3689 339.9878 26.1983 172.7536 340.142 24.89948 172.6 361.5933 27.92951 177.3783 339.3764 18.42511 173.3625 361.5933 15.97516 174.3756 338.9145 17.17554 173.8224 339.3692 18.40576 173.3697 361.5933 19.24219 177.3783 339.7295 27.49634 173.0109 339.3756 28.74634 173.3633 339.37 28.76618 173.3689 361.5933 31.19653 174.3756 361.5933 29.93585 178.3139 338.3577 15.97577 174.3767 338.3735 16.00397 174.3609 337.7138 14.82886 175.0174 361.5933 13.73218 175.7501 361.5933 17.23584 178.3139 338.3588 31.19653 174.3756 361.5933 33.43945 175.7501 338.3724 31.16718 174.3621 338.9115 30.0033 173.8254 361.5933 31.74921 179.5837 337.0043 13.76953 175.723 361.5933 11.73187 177.4585 336.1683 12.71161 176.5538 336.9756 13.73328 175.7515 361.5933 15.42242 179.5837 337.7144 32.3418 175.0168 337.0028 33.40112 175.7245 336.9771 33.43945 175.7501 361.5933 35.43976 177.4585 336.1933 23.58582 176.6124 336.1449 24.69269 176.6607 336.1449 22.47894 176.6607 336.0003 21.38049 176.8054 336.0003 25.79114 176.8054 335.7605 26.87286 177.0452 335.7605 20.29883 177.0452 335.4274 19.24219 177.3783 335.4274 27.92951 177.3783 335.0034 28.95306 177.8023 335.2555 11.7337 177.4602 335.3023 11.77679 177.4138 334.3016 10.85449 178.4063 361.5933 10.0235 179.4588 361.5933 13.85706 181.149 335.2572 35.43976 177.4585 361.5933 37.14819 179.4588 335.3005 35.39319 177.4155 336.1663 34.4624 176.5558 361.5933 33.31457 181.149 334.4918 17.23584 178.3139 335.0034 18.21857 177.8023 334.4918 29.93585 178.3139 333.8965 30.87024 178.9092 333.3096 10.07483 179.3885 331.0751 8.705567 181.5917 332.1744 9.318909 180.5098 333.2365 10.02618 179.4606 330.9607 8.653138 181.7037 361.5933 8.648987 181.7017 334.3046 36.31464 178.4033 333.3075 37.09418 179.3904 333.2385 37.14819 179.4588 361.5933 38.52264 181.7017 361.5933 34.58435 182.9624 333.8965 16.30139 178.9092 333.222 15.42242 179.5837 333.222 31.74921 179.5837 332.4735 32.5661 180.3322 331.6567 13.85706 181.149 361.5933 12.58728 182.9624 332.4735 14.60559 180.3322 331.6567 33.31457 181.149 330.7777 33.98907 182.028 329.8196 8.129944 182.8203 361.5933 7.642334 184.1321 330.9631 38.52264 181.7017 361.5933 39.52936 184.1321 331.0729 38.46197 181.5937 332.1708 37.85498 180.5133 361.5933 35.51996 184.9688 330.7777 13.18262 182.028 329.8433 12.58728 182.9624 361.5933 11.65173 184.9688 329.8433 34.58435 182.9624 328.8605 35.09595 183.9452 328.654 7.702698 183.9497 361.5933 7.028198 186.69 327.3028 7.325623 185.2335 328.4602 7.648621 184.1339 329.8233 39.04016 182.8166 328.6515 39.46197 183.9508 328.4643 39.52936 184.1321 361.5933 40.14343 186.69 361.5933 36.09289 187.1071 327.8369 11.65173 184.9688 361.5933 11.0788 187.1071 328.8605 12.07574 183.9452 327.8369 35.51996 184.9688 326.7803 35.85309 186.0254 361.5933 6.821838 189.3124 323.9221 6.890808 187.7929 324.1833 6.899597 187.6996 324.6684 6.926697 187.44 325.1824 6.970947 187.0813 325.6567 7.032593 186.6906 326.1058 7.090942 186.3207 326.1058 40.08075 186.3207 325.6733 40.14343 186.69 361.5933 40.34985 189.3124 327.3021 39.84619 185.2342 361.5933 36.28583 189.3124 325.6986 11.0788 187.1071 361.5933 10.8858 189.3124 326.7803 11.3186 186.0254 325.6986 36.09289 187.1071 324.6001 36.23749 188.2055 324.6668 6.926636 191.1838 324.3941 6.909668 191.0261 361.5933 7.028198 191.9349 325.6733 7.028198 191.9349 325.1823 6.970947 191.5435 324.1089 6.896667 190.8948 323.8066 6.888245 190.8034 323.6512 6.886108 190.7787 323.4933 6.885315 190.7702 285.3933 6.821838 189.3124 323.4933 6.885315 187.8547 323.6521 6.886108 187.846 324.6001 10.93414 188.2055 323.4933 10.8858 189.3124 324.6001 10.93414 190.4193 361.5933 11.0788 191.5177 323.4933 36.28583 189.3124 361.5933 36.09289 191.5177 325.6986 36.09289 191.5177 324.6001 36.23749 190.4193 323.4933 40.28631 190.7702 323.6511 40.28558 190.7787 323.9239 40.28076 190.8324 361.5933 40.14343 191.9349 325.182 40.20074 187.0815 324.3938 40.26202 187.5989 324.1802 40.27222 187.7009 323.9591 40.27985 187.7821 323.7284 40.28467 187.8358 285.3933 40.34985 189.3124 323.4933 40.28631 187.8547 326.7803 11.3186 192.5994 361.5933 11.65173 193.6561 325.6986 11.0788 191.5177 361.5933 7.642334 194.4928 361.5933 35.51996 193.6561 327.8369 35.51996 193.6561 326.7803 35.85309 192.5994 326.1058 7.090942 192.3041 328.4643 7.642334 194.4928 327.3047 7.32605 193.3931 327.305 39.84552 193.3934 361.5933 39.52936 194.4928 326.1058 40.08075 192.3041 324.1836 40.27203 190.9253 324.6709 40.24475 191.1864 325.1844 40.2005 191.5451 325.6567 40.1391 191.9342 328.8605 12.07574 194.6797 361.5933 12.58728 195.6624 327.8369 11.65173 193.6561 361.5933 8.648987 196.9231 361.5933 34.58435 195.6624 329.8433 34.58435 195.6624 328.8605 35.09595 194.6797 328.6515 7.709717 194.674 330.9631 8.648987 196.9231 329.8197 8.130005 195.8047 328.4602 39.52307 194.4909 328.654 39.46893 194.6751 329.82 39.0415 195.805 361.5933 38.52264 196.9231 330.7777 13.18262 196.5968 361.5933 13.85706 197.4758 329.8433 12.58728 195.6624 361.5933 10.0235 199.166 361.5933 33.31457 197.4758 331.6567 33.31457 197.4758 330.7777 33.98907 196.5968 333.2385 10.0235 199.166 332.1701 9.316285 198.1108 331.0729 8.709717 197.0312 330.9607 38.51855 196.9212 361.5933 37.14819 199.166 332.4735 14.60559 198.2927 361.5933 15.42242 199.0412 331.6567 13.85706 197.4758 361.5933 11.73187 201.1663 361.5933 31.74921 199.0412 333.222 31.74921 199.0412 332.4735 32.5661 198.2927 361.5933 35.43976 201.1663 333.8965 16.30139 199.7156 361.5933 17.23584 200.3109 333.222 15.42242 199.0412 361.5933 15.97516 204.2492 361.5933 13.73218 202.8748 361.5933 29.93585 200.3109 334.4918 29.93585 200.3109 333.8965 30.87024 199.7156 361.5933 33.43945 202.8748 333.3075 10.07745 199.2344 335.2572 11.73187 201.1663 334.3051 10.85742 200.222 334.3048 36.31445 200.2218 332.1712 37.85467 198.1119 333.2365 37.14545 199.1642 333.3096 37.0968 199.2364 331.0751 38.46606 197.0332 335.0034 18.21857 200.8225 361.5933 19.24219 201.2465 334.4918 17.23584 200.3109 361.5933 18.40546 205.2559 361.5933 27.92951 201.2465 335.4274 27.92951 201.2465 335.0034 28.95306 200.8225 361.5933 31.19653 204.2492 336.9771 13.73218 202.8748 336.1631 12.70551 202.0659 335.3005 11.77844 201.2094 336.1632 34.466 202.066 335.3023 35.3949 201.2111 335.2555 35.43799 201.1647 335.7605 20.29883 201.5797 361.5933 21.38049 201.8195 335.4274 19.24219 201.2465 361.5933 20.96338 205.87 361.5933 25.79114 201.8195 336.0003 25.79114 201.8195 335.7605 26.87286 201.5797 361.5933 28.76618 205.2559 336.1449 22.47894 201.9641 361.5933 23.58582 202.0124 336.0003 21.38049 201.8195 361.5933 23.58582 206.0764 336.1933 23.58582 202.0124 336.1449 24.69269 201.9641 361.5933 26.20831 205.87 337.0028 13.77051 202.9004 338.3588 15.97516 204.2492 337.7166 14.83356 203.6103 336.9756 33.43835 202.8734 337.0043 33.40216 202.9018 337.7162 32.3388 203.6099 339.37 18.40546 205.2559 338.9109 17.16681 204.7988 338.3724 16.00452 204.2628 338.9117 30.00281 204.7996 338.3735 31.16773 204.2639 338.3577 31.19592 204.2481 339.3756 18.42529 205.2615 339.9866 20.96338 205.87 339.7283 19.67066 205.6128 339.3692 28.76593 205.2552 339.3764 28.74658 205.2623 339.7282 27.50165 205.6127 340.1425 22.27808 206.0253 339.9878 20.97333 205.8712 340.1938 23.58582 206.0764 340.1425 24.89362 206.0253 339.9882 26.19836 205.8716 339.9862 26.20825 205.8696 336.1933 23.58582 151.2124 339.9882 26.19836 151.2124 340.1938 23.58582 151.2124 336.0003 21.38049 151.2124 339.9882 20.97333 151.2124 340.1938 23.58582 227.4124 339.9882 26.19836 227.4124 339.9882 20.97333 227.4124 336.1933 23.58582 227.4124 336.0003 25.79114 227.4124 335.4274 19.24219 151.2124 339.3764 18.42511 151.2124 336.0003 25.79114 151.2124 339.3764 28.74658 151.2124 339.3764 18.42511 227.4124 336.0003 21.38049 227.4124 339.3764 28.74658 227.4124 335.4274 27.92951 227.4124 334.4918 17.23584 151.2124 338.3735 16.00397 151.2124 335.4274 27.92951 151.2124 338.3735 31.16773 151.2124 338.3735 16.00397 227.4124 335.4274 19.24219 227.4124 338.3735 31.16773 227.4124 334.4918 29.93585 227.4124 333.222 15.42242 151.2124 337.0043 13.76953 151.2124 334.4918 29.93585 151.2124 337.0043 33.40216 151.2124 337.0043 13.76953 227.4124 334.4918 17.23584 227.4124 337.0043 33.40216 227.4124 333.222 31.74921 227.4124 335.3023 11.77679 151.2124 333.222 31.74921 151.2124 335.3023 35.3949 151.2124 335.3023 35.3949 227.4124 335.3023 11.77679 227.4124 333.222 15.42242 227.4124 331.6567 13.85706 151.2124 333.3096 10.07483 151.2124 331.6567 33.31457 151.2124 333.3096 37.0968 151.2124 333.3096 37.0968 227.4124 333.3096 10.07483 227.4124 331.6567 13.85706 227.4124 331.6567 33.31457 227.4124 329.8433 12.58728 151.2124 331.0751 8.705567 151.2124 331.0751 38.46606 151.2124 331.0751 38.46606 227.4124 331.0751 8.705567 227.4124 329.8433 34.58435 227.4124 329.8433 34.58435 151.2124 329.8433 12.58728 227.4124 327.8369 11.65173 151.2124 328.654 7.702698 151.2124 328.654 39.46893 151.2124 328.654 39.46893 227.4124 328.654 7.702698 227.4124 327.8369 35.51996 227.4124 327.8369 35.51996 151.2124 327.8369 11.65173 227.4124 325.6986 11.0788 151.2124 326.1058 7.090942 151.2124 326.1058 40.08075 151.2124 326.1058 40.08075 227.4124 326.1058 7.090942 227.4124 325.6986 36.09289 227.4124 325.6986 36.09289 151.2124 325.6986 11.0788 227.4124 323.4933 10.8858 151.2124 323.4933 6.885315 151.2124 323.4933 40.28631 151.2124 323.4933 40.28631 227.4124 323.4933 6.885315 227.4124 323.4933 36.28583 227.4124 323.4933 36.28583 151.2124 323.4933 10.8858 227.4124 321.2879 11.0788 187.1071 322.3864 10.93414 188.2055 321.2879 11.0788 151.2124 322.3864 10.93414 190.4193 321.2879 11.0788 227.4124 320.8807 7.090942 151.2124 323.3354 6.886108 187.8462 323.1799 6.888245 187.8214 322.8777 6.896667 187.73 322.5924 6.909668 187.5988 322.3198 6.926636 187.4411 321.8043 6.970947 187.0814 321.3133 7.028198 186.69 323.3344 6.886108 190.7788 321.8042 6.970947 191.5436 322.3182 6.926697 191.1848 322.8033 6.899597 190.9252 323.0645 6.890808 190.8319 320.8807 7.090942 227.4124 320.8807 7.090942 192.3041 321.3299 7.032593 191.9342 321.2879 36.09289 151.2124 320.8807 40.08075 151.2124 322.3864 36.23749 188.2055 322.3864 36.23749 190.4193 321.2879 36.09289 191.5177 321.2879 36.09289 227.4124 321.8022 40.2005 187.0798 322.3156 40.24475 187.4384 322.8029 40.27203 187.6995 323.0627 40.28076 187.7924 323.3354 40.28558 187.8462 320.8807 40.08075 186.3207 321.3298 40.1391 186.6906 323.2582 40.28467 190.789 323.0274 40.27985 190.8428 322.8063 40.27222 190.9239 322.5927 40.26202 191.0259 321.8045 40.20074 191.5433 321.3133 40.14343 191.9349 320.8807 40.08075 227.4124 285.3933 10.8858 189.3124 285.3933 36.28583 189.3124 285.3933 7.028198 191.9349 285.3933 40.14343 186.69 285.3933 11.0788 187.1071 321.2879 36.09289 187.1071 321.2879 11.0788 191.5177 285.3933 36.09289 191.5177 285.3933 7.028198 186.69 320.8807 7.090942 186.3207 320.8807 40.08075 192.3041 285.3933 40.14343 191.9349 319.1496 11.65173 151.2124 319.1496 35.51996 151.2124 318.3325 39.46893 151.2124 319.1496 11.65173 184.9688 320.2063 11.3186 186.0254 320.2063 35.85309 186.0254 285.3933 36.09289 187.1071 320.2063 11.3186 192.5994 285.3933 11.0788 191.5177 320.2063 35.85309 192.5994 319.1496 11.65173 227.4124 318.3325 7.702698 227.4124 319.1496 35.51996 227.4124 319.1496 35.51996 193.6561 318.3325 7.702698 151.2124 318.5222 7.642334 184.1321 319.6818 7.32605 185.2317 318.3325 39.46893 183.9497 318.5264 39.52307 184.1339 319.6815 39.84552 185.2314 319.6837 7.325623 193.3913 319.6845 39.84619 193.3907 318.3325 7.702698 194.6751 318.5264 7.648621 194.4909 318.5222 39.52936 194.4928 318.3325 39.46893 227.4124 285.3933 11.65173 184.9688 319.1496 35.51996 184.9688 319.1496 11.65173 193.6561 285.3933 35.51996 193.6561 285.3933 7.642334 194.4928 285.3933 39.52936 184.1321 317.1433 12.58728 151.2124 317.1433 34.58435 151.2124 315.9114 38.46606 151.2124 317.1433 12.58728 182.9624 318.126 12.07574 183.9452 318.126 35.09595 183.9452 285.3933 35.51996 184.9688 318.126 12.07574 194.6797 285.3933 11.65173 193.6561 318.126 35.09595 194.6797 317.1433 12.58728 227.4124 315.9114 8.705567 227.4124 317.1433 34.58435 227.4124 317.1433 34.58435 195.6624 285.3933 7.642334 184.1321 318.335 7.709717 183.9508 318.335 39.46197 194.674 285.3933 39.52936 194.4928 317.1632 39.04016 195.8082 317.1668 8.130005 182.8202 315.9114 8.705567 151.2124 316.0235 8.648987 181.7017 317.1665 39.0415 182.8199 315.9114 38.46606 181.5917 316.0259 38.51855 181.7037 317.1669 8.129944 195.8045 315.9114 8.705567 197.0332 316.0259 8.653138 196.9212 316.0235 38.52264 196.9231 315.9114 38.46606 227.4124 285.3933 12.58728 182.9624 317.1433 34.58435 182.9624 317.1433 12.58728 195.6624 285.3933 34.58435 195.6624 285.3933 8.648987 196.9231 285.3933 38.52264 181.7017 315.3299 13.85706 151.2124 315.3299 33.31457 151.2124 313.677 37.0968 151.2124 315.3299 13.85706 181.149 316.2088 13.18262 182.028 316.2088 33.98907 182.028 285.3933 34.58435 182.9624 316.2088 13.18262 196.5968 285.3933 12.58728 195.6624 316.2088 33.98907 196.5968 315.3299 13.85706 227.4124 313.677 10.07483 227.4124 315.3299 33.31457 227.4124 315.3299 33.31457 197.4758 285.3933 13.85706 181.149 315.3299 33.31457 181.149 315.3299 13.85706 197.4758 285.3933 33.31457 197.4758 285.3933 10.0235 199.166 285.3933 37.14819 179.4588 285.3933 8.648987 181.7017 315.9137 8.709717 181.5937 315.9137 38.46197 197.0312 285.3933 38.52264 196.9231 314.8158 37.85498 198.1115 314.8164 9.316285 180.514 313.677 10.07483 151.2124 313.7481 10.0235 179.4588 314.8153 37.85467 180.5129 313.677 37.0968 179.3885 313.75 37.14545 179.4606 314.8122 9.318909 198.115 313.677 10.07483 199.2364 313.75 10.02618 199.1642 313.7481 37.14819 199.166 313.677 37.0968 227.4124 311.6842 11.77679 151.2124 313.7645 15.42242 151.2124 313.7645 31.74921 151.2124 311.6842 35.3949 151.2124 313.7645 15.42242 179.5837 314.513 14.60559 180.3322 314.513 32.5661 180.3322 285.3933 33.31457 181.149 314.513 14.60559 198.2927 285.3933 13.85706 197.4758 314.513 32.5661 198.2927 313.7645 15.42242 227.4124 311.6842 11.77679 227.4124 313.7645 31.74921 227.4124 313.7645 31.74921 199.0412 311.6842 35.3949 227.4124 285.3933 15.42242 179.5837 313.7645 31.74921 179.5837 313.7645 15.42242 199.0412 285.3933 31.74921 199.0412 309.9823 13.76953 151.2124 312.4948 17.23584 151.2124 312.4948 29.93585 151.2124 308.613 31.16773 151.2124 309.9823 33.40216 151.2124 312.4948 17.23584 178.3139 313.09 16.30139 178.9092 313.09 30.87024 178.9092 285.3933 31.74921 179.5837 313.09 16.30139 199.7156 285.3933 15.42242 199.0412 313.09 30.87024 199.7156 312.4948 17.23584 227.4124 308.613 16.00397 227.4124 309.9823 13.76953 227.4124 312.4948 29.93585 227.4124 312.4948 29.93585 200.3109 309.9823 33.40216 227.4124 285.3933 10.0235 179.4588 313.679 10.07745 179.3904 313.679 37.09418 199.2344 285.3933 37.14819 199.166 312.6815 10.85742 178.4028 312.682 36.31464 200.2216 311.7293 11.73187 177.4585 312.6817 36.31445 178.4031 311.6842 35.3949 177.4138 311.731 35.43799 177.4601 312.685 10.85449 200.2186 311.6842 11.77679 201.2111 311.731 11.7337 201.1647 311.7293 35.43976 201.1663 285.3933 17.23584 178.3139 312.4948 29.93585 178.3139 312.4948 17.23584 200.3109 285.3933 29.93585 200.3109 285.3933 11.73187 201.1663 285.3933 35.43976 177.4585 308.613 16.00397 151.2124 311.5592 19.24219 151.2124 311.5592 27.92951 151.2124 307.6101 28.74658 151.2124 311.5592 19.24219 177.3783 311.9832 18.21857 177.8023 311.9832 28.95306 177.8023 285.3933 29.93585 178.3139 311.9832 18.21857 200.8225 285.3933 17.23584 200.3109 311.9832 28.95306 200.8225 311.5592 19.24219 227.4124 307.6101 18.42511 227.4124 311.5592 27.92951 227.4124 311.5592 27.92951 201.2465 308.613 31.16773 227.4124 285.3933 19.24219 177.3783 311.5592 27.92951 177.3783 311.5592 19.24219 201.2465 285.3933 27.92951 201.2465 285.3933 11.73187 177.4585 311.686 11.77844 177.4155 311.686 35.39319 201.2094 285.3933 35.43976 201.1663 310.8202 34.4624 202.069 310.8234 12.70551 176.559 310.0095 13.73218 175.7501 310.8233 34.466 176.5589 309.9823 33.40216 175.723 310.0109 33.43835 175.7515 310.8182 12.71161 202.071 309.9823 13.76953 202.9018 310.0109 13.73328 202.8734 310.0095 33.43945 202.8748 307.6101 18.42511 151.2124 310.9862 21.38049 151.2124 310.9862 25.79114 151.2124 306.9984 26.19836 151.2124 310.9862 21.38049 176.8054 311.226 20.29883 177.0452 311.226 26.87286 177.0452 285.3933 27.92951 177.3783 311.226 20.29883 201.5797 285.3933 19.24219 201.2465 311.226 26.87286 201.5797 310.9862 21.38049 227.4124 306.9984 20.97333 227.4124 310.9862 25.79114 227.4124 310.9862 25.79114 201.8195 307.6101 28.74658 227.4124 285.3933 21.38049 176.8054 310.9862 25.79114 176.8054 310.9862 21.38049 201.8195 285.3933 25.79114 201.8195 306.9984 20.97333 151.2124 310.7933 23.58582 151.2124 306.7928 23.58582 151.2124 310.8416 22.47894 176.6607 310.7933 23.58582 176.6124 310.8416 24.69269 176.6607 285.3933 25.79114 176.8054 310.8416 22.47894 201.9641 285.3933 21.38049 201.8195 310.8416 24.69269 201.9641 310.7933 23.58582 227.4124 306.7928 23.58582 227.4124 310.7933 23.58582 202.0124 306.9984 26.19836 227.4124 285.3933 23.58582 176.6124 285.3933 23.58582 202.0124 285.3933 33.43945 175.7501 285.3933 13.73218 202.8748 285.3933 13.73218 175.7501 309.9837 13.77051 175.7245 309.9837 33.40112 202.9004 285.3933 33.43945 202.8748 309.2699 14.83356 175.0146 309.2722 32.3418 203.608 308.6277 15.97516 174.3756 309.2703 32.3388 175.0149 308.6289 31.19592 174.3767 309.2728 14.82886 203.6074 308.6289 15.97577 204.2481 308.6277 31.19653 204.2492 285.3933 15.97516 204.2492 285.3933 31.19653 174.3756 308.613 16.00397 204.2639 308.613 31.16773 174.3609 285.3933 15.97516 174.3756 308.6141 16.00452 174.362 308.6141 31.16718 204.2628 285.3933 31.19653 204.2492 308.075 30.0033 204.7994 308.0757 17.16681 173.826 307.6165 18.40546 173.3689 307.6173 28.76593 173.3697 308.0748 30.00281 173.8252 308.072 17.17554 204.8024 307.6173 18.40576 205.2552 307.6165 28.76618 205.2559 285.3933 28.76618 173.3689 285.3933 18.40546 205.2559 307.6101 28.74658 173.3625 307.6101 18.42511 205.2623 285.3933 18.40546 173.3689 307.6109 18.42529 173.3633 307.6109 28.74634 205.2615 285.3933 28.76618 205.2559 307.2571 27.49634 205.6139 307.2582 19.67066 173.012 307 20.96338 172.7548 307.2583 27.50165 173.0122 307.0003 26.20825 172.7552 307.2591 19.66669 205.6119 307.0003 20.96344 205.8696 307 26.20831 205.87 285.3933 20.96338 205.87 285.3933 26.20831 172.7548 306.9984 20.97333 205.8716 306.9984 26.19836 172.7532 285.3933 20.96338 172.7548 306.9988 20.97333 172.7536 306.9988 26.1983 205.8712 285.3933 26.20831 205.87 306.8441 22.27808 172.5995 306.8445 24.89948 206.0249 306.7928 23.58582 172.5484 306.8441 24.89362 172.5995 306.8444 22.2735 206.025 306.7928 23.58582 206.0764 285.3933 23.58582 206.0764 285.3933 23.58582 172.5484 238.934 25.5069 752.5808 236.2444 25.43414 752.5808 236.5826 26.46741 752.5808 239.3391 26.29431 752.5808 237.0645 27.44196 752.5808 236.5826 26.46741 790.6807 237.0645 27.44196 790.6807 238.934 25.5069 790.6807 238.6719 24.66107 790.6807 236.2444 25.43414 790.6807 239.8747 26.99945 752.5808 237.6802 28.33807 752.5808 238.6719 24.66107 752.5808 236.0566 24.36328 752.5808 237.6802 28.33807 790.6807 239.3391 26.29431 790.6807 238.5606 23.78259 790.6807 236.0566 24.36328 790.6807 238.4172 29.13739 752.5808 238.5606 23.78259 752.5808 236.0231 23.27661 752.5808 238.4172 29.13739 790.6807 239.8747 26.99945 790.6807 236.0231 23.27661 790.6807 240.5246 27.60089 752.5808 239.2604 29.82373 752.5808 238.6036 22.89813 752.5808 236.1446 22.19623 752.5808 239.2604 29.82373 790.6807 240.5246 27.60089 790.6807 238.6036 22.89813 790.6807 236.1446 22.19623 790.6807 241.2691 28.08032 752.5808 240.1927 30.38306 752.5808 236.4186 21.1441 752.5808 240.1927 30.38306 790.6807 238.7994 22.03455 790.6807 236.4186 21.1441 790.6807 242.0855 28.42316 752.5808 241.195 30.80402 752.5808 238.7994 22.03455 752.5808 236.8396 20.14166 752.5808 241.195 30.80402 790.6807 241.2691 28.08032 790.6807 239.1423 21.21814 790.6807 236.8396 20.14166 790.6807 242.9491 28.61908 752.5808 242.2472 31.07806 752.5808 239.1423 21.21814 752.5808 237.3989 19.20941 752.5808 242.2472 31.07806 790.6807 242.0855 28.42316 790.6807 239.6217 20.47363 790.6807 237.3989 19.20941 790.6807 243.3276 31.19959 752.5808 239.6217 20.47363 752.5808 238.0852 18.36621 752.5808 243.3276 31.19959 790.6807 242.9491 28.61908 790.6807 238.0852 18.36621 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677.7827 110.5724 248.6145 676.9703 110.5724 238.8188 676.3745 110.5724 236.4098 675.5693 110.5724 238.8188 676.3745 720.1724 248.715 677.8501 110.5724 248.6612 678.734 720.1724 251.1735 679.1085 720.1724 236.1001 676.861 720.1724 251.1735 679.1085 110.5724 238.6123 677.2356 110.5724 236.1001 676.861 110.5724 238.6123 677.2356 720.1724 248.6612 678.734 110.5724 248.4548 679.5951 110.5724 248.4548 679.5951 720.1724 250.8638 680.4002 720.1724 250.8638 680.4002 110.5724 238.5586 678.1194 720.1724 236.0195 678.1868 720.1724 238.5586 678.1194 110.5724 236.0195 678.1868 110.5724 248.102 680.4072 720.1724 238.6591 678.9993 720.1724 236.1703 679.5065 720.1724 248.102 680.4072 110.5724 250.3346 681.6184 110.5724 238.6591 678.9993 110.5724 250.3346 681.6184 720.1724 236.1703 679.5065 110.5724 247.6135 681.1458 720.1724 238.9109 679.8482 720.1724 236.5479 680.7799 720.1724 247.6135 681.1458 110.5724 249.6018 682.7263 110.5724 238.9109 679.8482 110.5724 249.6018 682.7263 720.1724 247.0042 681.7883 720.1724 239.3063 680.6405 720.1724 237.141 681.9684 720.1724 247.0042 681.7883 110.5724 248.6879 683.6901 110.5724 236.5479 680.7799 110.5724 239.3063 680.6405 110.5724 248.6879 683.6901 720.1724 246.2925 682.3153 720.1724 239.8332 681.3522 720.1724 237.9314 683.0359 720.1724 246.2925 682.3153 110.5724 247.6204 684.4806 110.5724 237.141 681.9684 110.5724 239.8332 681.3522 110.5724 247.6204 684.4806 720.1724 245.5002 682.7107 720.1724 240.4757 681.9614 720.1724 238.8952 683.9498 720.1724 245.5002 682.7107 110.5724 246.4319 685.0736 110.5724 237.9314 683.0359 110.5724 240.4757 681.9614 110.5724 246.4319 685.0736 720.1724 244.6512 682.9624 720.1724 241.2143 682.45 720.1724 240.0031 684.6826 720.1724 244.6512 682.9624 110.5724 245.1585 685.4513 110.5724 238.8952 683.9498 110.5724 241.2143 682.45 110.5724 245.1585 685.4513 720.1724 243.7715 683.063 720.1724 242.0265 682.8027 720.1724 241.2213 685.2118 720.1724 243.7715 683.063 110.5724 243.8388 685.6021 110.5724 240.0031 684.6826 110.5724 242.0265 682.8027 110.5724 243.8388 685.6021 720.1724 242.8876 683.0092 720.1724 242.513 685.5215 720.1724 242.8876 683.0092 110.5724 242.513 685.5215 110.5724 241.2213 685.2118 110.5724 233.0392 22.36237 0.9690293 232.9766 23.99445 51.76903 232.9766 23.99445 0.9690293 233.1639 25.61694 51.76903 233.1639 25.61694 0.9690293 235.7374 23.58582 0.9690293 235.8574 24.95752 0.9690293 233.0392 22.36237 51.76903 235.7374 23.58582 51.76903 235.8574 22.21411 51.76903 233.3501 20.75903 0.9690293 235.8574 22.21411 0.9690293 233.3501 20.75903 51.76903 233.5967 27.19177 51.76903 233.5967 27.19177 0.9690293 236.2138 26.2876 0.9690293 235.8574 24.95752 51.76903 233.9022 19.22186 0.9690293 236.2138 20.88409 0.9690293 233.9022 19.22186 51.76903 236.2138 20.88409 51.76903 234.2648 28.68213 51.76903 234.2648 28.68213 0.9690293 236.7957 27.53552 0.9690293 236.2138 26.2876 51.76903 234.6824 17.78705 0.9690293 234.6824 17.78705 51.76903 236.7957 19.63611 51.76903 235.1526 30.05304 51.76903 235.1526 30.05304 0.9690293 237.5855 28.66345 0.9690293 236.7957 27.53552 51.76903 235.6726 16.48816 0.9690293 236.7957 19.63611 0.9690293 235.6726 16.48816 51.76903 237.5855 18.50818 51.76903 236.2393 31.27234 51.76903 236.2393 31.27234 0.9690293 238.5592 29.63715 0.9690293 237.5855 28.66345 51.76903 236.8494 15.35559 0.9690293 237.5855 18.50818 0.9690293 236.8494 15.35559 51.76903 238.5592 17.53455 51.76903 237.4993 32.31152 51.76903 237.4993 32.31152 0.9690293 238.5592 29.63715 51.76903 238.1852 14.41595 0.9690293 238.5592 17.53455 0.9690293 238.1852 14.41595 51.76903 239.6871 16.74475 51.76903 238.9032 33.14612 51.76903 238.9032 33.14612 0.9690293 239.6871 30.42694 0.9690293 239.6871 30.42694 51.76903 239.6489 13.69122 0.9690293 239.6871 16.74475 0.9690293 239.6489 13.69122 51.76903 240.935 16.16284 51.76903 240.418 33.75665 51.76903 240.418 33.75665 0.9690293 240.935 31.00885 0.9690293 241.2061 13.19843 0.9690293 240.935 16.16284 0.9690293 241.2061 13.19843 51.76903 242.2651 15.80646 51.76903 240.935 31.00885 51.76903 242.0083 34.12878 51.76903 242.0083 34.12878 0.9690293 242.2651 31.36524 0.9690293 242.2651 31.36524 51.76903 242.2651 15.80646 0.9690293 242.8202 12.94916 0.9690293 242.8202 12.94916 51.76903 243.6368 34.25384 26.36903 243.6368 34.25384 0.9690293 243.6368 31.48523 0.9690293 243.6368 34.25384 51.76903 243.6368 31.48523 26.36903 243.6368 15.68646 0.9690293 243.6368 15.68646 26.36903 243.6368 31.48523 51.76903 243.6368 15.68646 51.76903 243.6368 12.91785 0.9690293 244.0451 12.93347 25.96072 243.6368 12.91785 26.36903 243.6368 12.91785 51.76903 245.0085 31.36524 0.9690293 245.0085 31.36524 24.99732 244.3253 31.4552 25.68055 244.3253 31.4552 27.05751 245.0085 31.36524 51.76903 244.0454 34.24603 25.96042 245.2653 34.12878 0.9690293 244.8602 34.18347 27.59247 276.6568 31.48523 26.36903 244.3253 15.71649 27.05751 276.6568 15.68646 26.36903 244.3253 15.71649 25.68055 244.4525 12.96478 27.18471 245.2653 34.12878 51.76903 245.2653 34.12878 27.99749 245.0085 15.80646 0.9690293 244.4534 12.94916 0.9690293 245.0085 15.80646 51.76903 245.0085 15.80646 27.74075 244.4534 12.94916 25.5524 244.4534 12.94916 51.76903 276.6568 12.92566 25.96042 245.2653 34.12878 24.74057 276.6568 34.18347 27.59247 276.6568 34.24603 25.96042 276.6568 31.36524 24.99732 245.0085 15.80646 24.99732 245.0085 31.36524 27.74075 276.6568 15.80646 27.74075 244.8602 12.98822 27.59247 246.0675 13.19843 0.9690293 246.0675 13.19843 23.93829 245.6679 13.11298 24.33794 276.6568 13.11298 24.33794 246.0675 13.19843 51.76903 246.0675 13.19843 28.79977 276.6568 12.98822 27.59247 246.3385 31.00885 0.9690293 246.3385 31.00885 23.66728 245.6813 31.21607 24.32451 246.3385 16.16284 0.9690293 247.6247 13.69122 0.9690293 245.6813 15.95563 24.32451 276.6568 15.80646 24.99732 276.6568 31.36524 27.74075 245.6813 31.21607 28.41355 245.6813 15.95563 28.41355 246.3385 31.00885 51.76903 246.8555 33.75665 51.76903 246.3385 16.16284 51.76903 246.3385 16.16284 29.07078 245.6679 34.05871 24.33794 246.8555 33.75665 0.9690293 246.4636 33.8725 29.19585 276.6568 33.8725 29.19585 246.8555 33.75665 29.58778 246.8555 33.75665 23.15027 276.6568 34.05871 24.33794 276.6568 31.00885 23.66728 246.3385 16.16284 23.66728 246.3385 31.00885 29.07078 276.6568 16.16284 29.07078 247.6247 13.69122 22.38115 247.2427 13.54578 22.76307 276.6568 13.54578 22.76307 246.4636 13.29919 29.19585 247.6247 13.69122 51.76903 247.5865 30.42694 0.9690293 247.5865 30.42694 22.41933 246.9752 30.74512 23.0306 247.5865 16.74475 0.9690293 249.0883 14.41595 0.9690293 246.9752 16.42658 23.0306 276.6568 16.16284 23.66728 276.6568 31.00885 29.07078 246.9752 30.74512 29.70746 246.9752 16.42658 29.70746 247.5865 30.42694 51.76903 248.3704 33.14612 51.76903 247.5865 16.74475 51.76903 247.5865 16.74475 30.31873 247.6247 13.69122 30.35691 276.6568 13.29919 29.19585 247.2427 33.62591 22.76307 248.3704 33.14612 0.9690293 248.0007 33.32043 30.73297 276.6568 33.32043 30.73297 248.3704 33.14612 31.10263 276.6568 30.42694 22.41933 247.5865 16.74475 22.41933 247.5865 30.42694 30.31873 276.6568 16.74475 30.31873 248.3704 33.14612 21.63543 276.6568 33.62591 22.76307 249.7743 32.31152 0.9690293 248.7144 29.63715 0.9690293 248.7144 29.63715 21.29139 248.1677 30.05664 21.83812 248.7144 17.53455 0.9690293 250.4242 15.35559 0.9690293 248.1677 17.11505 21.83812 276.6568 16.74475 22.41933 276.6568 30.42694 30.31873 248.1677 30.05664 30.89994 248.1677 17.11505 30.89994 248.7144 29.63715 51.76903 249.7743 32.31152 51.76903 249.0883 14.41595 51.76903 248.7144 17.53455 51.76903 248.7144 17.53455 31.44667 249.0883 14.41595 20.91748 248.7331 14.21387 21.27272 276.6568 14.21387 21.27272 248.0007 13.85126 30.73297 249.0883 14.41595 31.82058 276.6568 13.85126 30.73297 276.6568 29.63715 21.29139 248.7144 17.53455 21.29139 248.7144 29.63715 31.44667 276.6568 17.53455 31.44667 248.7331 32.95782 21.27272 249.4356 32.54016 32.16781 276.6568 32.54016 32.16781 249.7743 32.31152 32.50653 251.0343 31.27234 0.9690293 249.6881 28.66345 0.9690293 249.6881 28.66345 20.31774 249.2225 29.17157 20.78331 249.6881 18.50818 0.9690293 251.601 16.48816 0.9690293 249.2225 18.00012 20.78331 276.6568 17.53455 21.29139 276.6568 29.63715 31.44667 249.2225 29.17157 31.95475 249.2225 18.00012 31.95475 249.6881 28.66345 51.76903 252.121 30.05304 51.76903 251.0343 31.27234 51.76903 250.4242 15.35559 51.76903 249.6881 18.50818 51.76903 249.6881 18.50818 32.42032 249.7743 32.31152 20.23153 276.6568 32.95782 21.27272 250.4242 15.35559 19.5816 250.104 15.10162 19.90182 276.6568 15.10162 19.90182 249.4356 14.63147 32.16781 276.6568 28.66345 20.31774 249.6881 18.50818 20.31774 249.6881 28.66345 32.42032 276.6568 18.50818 32.42032 250.4242 15.35559 33.15646 276.6568 14.63147 32.16781 252.121 30.05304 0.9690293 250.4779 27.53552 0.9690293 250.4779 27.53552 19.52795 250.1076 28.11676 19.89822 250.4779 19.63611 0.9690293 252.5911 17.78705 0.9690293 250.1076 19.05493 19.89822 276.6568 18.50818 20.31774 276.6568 28.66345 32.42032 250.1076 28.11676 32.83983 250.1076 19.05493 32.83983 250.4779 27.53552 51.76903 253.0088 28.68213 51.76903 251.601 16.48816 51.76903 250.4779 19.63611 51.76903 250.4779 19.63611 33.21011 250.104 32.07001 19.90182 250.7345 31.55005 33.46672 276.6568 31.55005 33.46672 251.0343 31.27234 33.76657 251.0343 31.27234 18.97149 276.6568 32.07001 19.90182 276.6568 27.53552 19.52795 250.4779 19.63611 19.52795 250.4779 27.53552 33.21011 276.6568 19.63611 33.21011 251.601 16.48816 18.4048 251.3233 16.18829 18.68251 276.6568 16.18829 18.68251 250.7345 15.62158 33.46672 253.0088 28.68213 0.9690293 251.0598 26.2876 0.9690293 251.0598 26.2876 18.94602 250.7961 26.92426 19.20974 251.0598 20.88409 0.9690293 253.3714 19.22186 0.9690293 250.7961 20.24738 19.20974 276.6568 19.63611 19.52795 276.6568 27.53552 33.21011 250.7961 26.92426 33.52832 250.7961 20.24738 33.52832 251.0598 26.2876 51.76903 253.6769 27.19177 51.76903 252.5911 17.78705 51.76903 251.0598 20.88409 51.76903 251.0598 20.88409 33.79204 251.601 16.48816 34.33326 276.6568 15.62158 33.46672 276.6568 26.2876 18.94602 251.0598 20.88409 18.94602 251.0598 26.2876 33.79204 276.6568 20.88409 33.79204 251.3233 30.9834 18.68251 251.867 30.37329 34.59928 276.6568 30.37329 34.59928 252.121 30.05304 34.85321 253.6769 27.19177 0.9690293 251.4162 24.95752 0.9690293 251.4162 24.95752 18.58964 251.267 25.63037 18.7388 251.4162 22.21411 0.9690293 253.9234 20.75903 0.9690293 251.267 21.54132 18.7388 276.6568 20.88409 18.94602 276.6568 26.2876 33.79204 251.267 25.63037 33.99926 251.267 21.54132 33.99926 251.4162 24.95752 51.76903 254.1097 25.61694 51.76903 253.3714 19.22186 51.76903 253.9234 20.75903 51.76903 251.4162 22.21411 51.76903 251.4162 22.21411 34.14842 276.6568 24.95752 18.58964 251.4162 22.21411 18.58964 251.4162 24.95752 34.14842 276.6568 22.21411 34.14842 252.121 30.05304 17.88484 276.6568 30.9834 18.68251 254.1097 25.61694 0.9690293 251.5362 23.58582 0.9690293 251.5362 23.58582 18.46963 251.5061 24.27429 18.49969 254.297 23.99445 0.9690293 254.2344 22.36237 0.9690293 251.5061 22.89734 18.49969 276.6568 22.21411 18.58964 276.6568 24.95752 34.14842 251.5061 24.27429 34.23837 251.5061 22.89734 34.23837 251.5362 23.58582 51.76903 254.297 23.99445 51.76903 254.2344 22.36237 51.76903 251.5362 23.58582 34.26843 276.6568 23.58582 18.46963 276.6568 23.58582 34.26843 252.5911 17.78705 17.41468 252.3625 17.4483 17.64336 276.6568 17.4483 17.64336 251.867 16.7984 34.59928 252.5911 17.78705 35.32338 276.6568 16.7984 34.59928 252.3625 29.72333 17.64336 252.8067 29.03735 35.53892 276.6568 29.03735 35.53892 253.0088 28.68213 35.741 253.0088 28.68213 16.99706 276.6568 29.72333 17.64336 253.3714 19.22186 16.63444 253.1971 18.85223 16.80874 276.6568 18.85223 16.80874 252.8067 18.13428 35.53892 253.3714 19.22186 36.10362 276.6568 18.13428 35.53892 253.1971 28.31946 16.80874 253.5314 27.57373 36.26362 276.6568 27.57373 36.26362 253.6769 27.19177 36.40911 253.6769 27.19177 16.32895 276.6568 28.31946 16.80874 253.9234 20.75903 16.08237 253.8076 20.36707 16.1982 276.6568 20.36707 16.1982 253.5314 19.59796 36.26362 253.9234 20.75903 36.65568 276.6568 19.59796 36.26362 253.8076 26.80457 16.1982 254.0242 26.0166 36.75641 276.6568 26.0166 36.75641 254.1097 25.61694 36.84189 254.1097 25.61694 15.89616 276.6568 26.80457 16.1982 254.2344 22.36237 15.77142 254.1798 21.9574 15.82605 276.6568 21.9574 15.82605 254.0242 21.15509 36.75641 254.2344 22.36237 36.96664 276.6568 21.15509 36.75641 254.1798 25.2143 15.82605 254.2735 24.40247 37.00572 276.6568 24.40247 37.00572 254.297 23.99445 37.0292 254.297 23.99445 15.70886 276.6568 25.2143 15.82605 254.3048 23.58582 15.70103 276.6568 23.58582 15.70103 254.2735 22.76923 37.00572 276.6568 22.76923 37.00572 276.6568 23.58582 37.03703 320.8085 19.27326 21.06072 320.6506 16.51593 21.06072 319.4661 17.11694 21.06072 320.1004 19.80493 21.06072 318.404 17.91449 21.06072 319.4661 17.11694 783.0607 318.404 17.91449 783.0607 320.8085 19.27326 783.0607 321.5982 18.87256 783.0607 320.6506 16.51593 783.0607 319.4954 20.45154 21.06072 317.4965 18.8844 21.06072 317.4965 18.8844 783.0607 321.5982 18.87256 21.06072 321.9215 16.1297 21.06072 320.1004 19.80493 783.0607 322.4454 18.61505 783.0607 321.9215 16.1297 783.0607 319.0119 21.19336 21.06072 316.7712 19.99719 21.06072 316.7712 19.99719 783.0607 322.4454 18.61505 21.06072 323.2401 15.97003 21.06072 319.4954 20.45154 783.0607 323.3245 18.50861 783.0607 323.2401 15.97003 783.0607 318.6646 22.00794 21.06072 316.2502 21.21893 21.06072 316.2502 21.21893 783.0607 323.3245 18.50861 21.06072 324.5664 16.04181 21.06072 319.0119 21.19336 783.0607 324.2087 18.55646 783.0607 324.5664 16.04181 783.0607 318.4639 22.87036 21.06072 315.9492 22.51263 21.06072 315.9492 22.51263 783.0607 324.2087 18.55646 21.06072 325.8601 16.34277 21.06072 318.6646 22.00794 783.0607 325.0712 18.75708 783.0607 325.8601 16.34277 783.0607 318.4161 23.75458 21.06072 315.8775 23.83899 21.06072 315.8775 23.83899 783.0607 325.0712 18.75708 21.06072 327.082 16.86377 21.06072 318.4639 22.87036 783.0607 325.8857 19.10449 783.0607 327.082 16.86377 783.0607 318.5225 24.63367 21.06072 316.0372 25.15759 21.06072 316.0372 25.15759 783.0607 325.8857 19.10449 21.06072 328.1947 17.58905 21.06072 318.4161 23.75458 783.0607 326.6275 19.58801 783.0607 328.1947 17.58905 783.0607 318.78 25.4809 21.06072 316.4234 26.42847 21.06072 316.4234 26.42847 783.0607 326.6275 19.58801 21.06072 329.1646 18.49658 21.06072 318.5225 24.63367 783.0607 327.2742 20.19299 783.0607 329.1646 18.49658 783.0607 318.78 25.4809 783.0607 327.2742 20.19299 21.06072 319.1807 26.27057 21.06072 317.0244 27.61298 21.06072 317.0244 27.61298 783.0607 329.9622 19.55872 21.06072 327.8059 20.90106 783.0607 329.9622 19.55872 783.0607 319.1807 26.27057 783.0607 327.8059 20.90106 21.06072 319.7124 26.9787 783.0607 319.7124 26.9787 21.06072 317.8219 28.67511 21.06072 317.8219 28.67511 783.0607 328.2066 21.69074 21.06072 330.5632 20.74323 21.06072 328.2066 21.69074 783.0607 330.5632 20.74323 783.0607 320.359 27.58368 21.06072 320.359 27.58368 783.0607 328.464 22.53796 21.06072 330.9494 22.01404 21.06072 318.7919 29.58258 783.0607 328.464 22.53796 783.0607 318.7919 29.58258 21.06072 330.9494 22.01404 783.0607 321.1008 28.0672 21.06072 321.1008 28.0672 783.0607 328.5705 23.41705 21.06072 331.1091 23.3327 21.06072 319.9046 30.30786 783.0607 328.5705 23.41705 783.0607 319.9046 30.30786 21.06072 321.9154 28.41455 21.06072 321.9154 28.41455 783.0607 328.5227 24.30127 21.06072 331.0373 24.659 21.06072 321.1264 30.82892 783.0607 331.1091 23.3327 783.0607 328.5227 24.30127 783.0607 321.1264 30.82892 21.06072 322.7778 28.61517 21.06072 322.7778 28.61517 783.0607 328.322 25.16376 21.06072 330.7364 25.9527 21.06072 322.4201 31.12988 783.0607 331.0373 24.659 783.0607 328.322 25.16376 783.0607 322.4201 31.12988 21.06072 323.662 28.66303 21.06072 323.662 28.66303 783.0607 327.9746 25.97827 21.06072 330.2153 27.1745 21.06072 323.7464 31.2016 783.0607 330.7364 25.9527 783.0607 327.9746 25.97827 783.0607 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30.42694 807.3305 248.1677 30.05664 807.9116 248.1677 17.11505 807.9116 248.7144 29.63715 828.7807 249.7743 32.31152 828.7807 249.0883 14.41595 828.7807 248.7144 17.53455 828.7807 248.7144 17.53455 808.4584 249.0883 14.41595 797.9292 248.7331 14.21387 798.2844 276.6568 14.21387 798.2844 248.0007 13.85126 807.7447 249.0883 14.41595 808.8323 276.6568 13.85126 807.7447 276.6568 29.63715 798.3031 248.7144 17.53455 798.3031 248.7144 29.63715 808.4584 276.6568 17.53455 808.4584 248.7331 32.95782 798.2844 249.4356 32.54016 809.1795 276.6568 32.54016 809.1795 249.7743 32.31152 809.5182 251.0343 31.27234 777.9807 249.6881 28.66345 777.9807 249.6881 28.66345 797.3294 249.2225 29.17157 797.795 249.6881 18.50818 777.9807 251.601 16.48816 777.9807 249.2225 18.00012 797.795 276.6568 17.53455 798.3031 276.6568 29.63715 808.4584 249.2225 29.17157 808.9664 249.2225 18.00012 808.9664 249.6881 28.66345 828.7807 252.121 30.05304 828.7807 251.0343 31.27234 828.7807 250.4242 15.35559 828.7807 249.6881 18.50818 828.7807 249.6881 18.50818 809.432 249.7743 32.31152 797.2432 276.6568 32.95782 798.2844 250.4242 15.35559 796.5933 250.104 15.10162 796.9135 276.6568 15.10162 796.9135 249.4356 14.63147 809.1795 276.6568 28.66345 797.3294 249.6881 18.50818 797.3294 249.6881 28.66345 809.432 276.6568 18.50818 809.432 250.4242 15.35559 810.1682 276.6568 14.63147 809.1795 252.121 30.05304 777.9807 250.4779 27.53552 777.9807 250.4779 27.53552 796.5396 250.1076 28.11676 796.9099 250.4779 19.63611 777.9807 252.5911 17.78705 777.9807 250.1076 19.05493 796.9099 276.6568 18.50818 797.3294 276.6568 28.66345 809.432 250.1076 28.11676 809.8515 250.1076 19.05493 809.8515 250.4779 27.53552 828.7807 253.0088 28.68213 828.7807 251.601 16.48816 828.7807 250.4779 19.63611 828.7807 250.4779 19.63611 810.2218 250.104 32.07001 796.9135 250.7345 31.55005 810.4784 276.6568 31.55005 810.4784 251.0343 31.27234 810.7783 251.0343 31.27234 795.9832 276.6568 32.07001 796.9135 276.6568 27.53552 796.5396 250.4779 19.63611 796.5396 250.4779 27.53552 810.2218 276.6568 19.63611 810.2218 251.601 16.48816 795.4165 251.3233 16.18829 795.6942 276.6568 16.18829 795.6942 250.7345 15.62158 810.4784 253.0088 28.68213 777.9807 251.0598 26.2876 777.9807 251.0598 26.2876 795.9577 250.7961 26.92426 796.2214 251.0598 20.88409 777.9807 253.3714 19.22186 777.9807 250.7961 20.24738 796.2214 276.6568 19.63611 796.5396 276.6568 27.53552 810.2218 250.7961 26.92426 810.54 250.7961 20.24738 810.54 251.0598 26.2876 828.7807 253.6769 27.19177 828.7807 252.5911 17.78705 828.7807 251.0598 20.88409 828.7807 251.0598 20.88409 810.8037 251.601 16.48816 811.345 276.6568 15.62158 810.4784 276.6568 26.2876 795.9577 251.0598 20.88409 795.9577 251.0598 26.2876 810.8037 276.6568 20.88409 810.8037 251.3233 30.9834 795.6942 251.867 30.37329 811.611 276.6568 30.37329 811.611 252.121 30.05304 811.8649 253.6769 27.19177 777.9807 251.4162 24.95752 777.9807 251.4162 24.95752 795.6013 251.267 25.63037 795.7505 251.4162 22.21411 777.9807 253.9234 20.75903 777.9807 251.267 21.54132 795.7505 276.6568 20.88409 795.9577 276.6568 26.2876 810.8037 251.267 25.63037 811.0109 251.267 21.54132 811.0109 251.4162 24.95752 828.7807 254.1097 25.61694 828.7807 253.3714 19.22186 828.7807 253.9234 20.75903 828.7807 251.4162 22.21411 828.7807 251.4162 22.21411 811.1601 276.6568 24.95752 795.6013 251.4162 22.21411 795.6013 251.4162 24.95752 811.1601 276.6568 22.21411 811.1601 252.121 30.05304 794.8966 276.6568 30.9834 795.6942 254.1097 25.61694 777.9807 251.5362 23.58582 777.9807 251.5362 23.58582 795.4813 251.5061 24.27429 795.5114 254.297 23.99445 777.9807 254.2344 22.36237 777.9807 251.5061 22.89734 795.5114 276.6568 22.21411 795.6013 276.6568 24.95752 811.1601 251.5061 24.27429 811.2501 251.5061 22.89734 811.2501 251.5362 23.58582 828.7807 254.297 23.99445 828.7807 254.2344 22.36237 828.7807 251.5362 23.58582 811.2801 276.6568 23.58582 795.4813 276.6568 23.58582 811.2801 252.5911 17.78705 794.4264 252.3625 17.4483 794.655 276.6568 17.4483 794.655 251.867 16.7984 811.611 252.5911 17.78705 812.3351 276.6568 16.7984 811.611 252.3625 29.72333 794.655 252.8067 29.03735 812.5506 276.6568 29.03735 812.5506 253.0088 28.68213 812.7527 253.0088 28.68213 794.0087 276.6568 29.72333 794.655 253.3714 19.22186 793.6461 253.1971 18.85223 793.8204 276.6568 18.85223 793.8204 252.8067 18.13428 812.5506 253.3714 19.22186 813.1153 276.6568 18.13428 812.5506 253.1971 28.31946 793.8204 253.5314 27.57373 813.2753 276.6568 27.57373 813.2753 253.6769 27.19177 813.4208 253.6769 27.19177 793.3406 276.6568 28.31946 793.8204 253.9234 20.75903 793.0941 253.8076 20.36707 793.2099 276.6568 20.36707 793.2099 253.5314 19.59796 813.2753 253.9234 20.75903 813.6674 276.6568 19.59796 813.2753 253.8076 26.80457 793.2099 254.0242 26.0166 813.7681 276.6568 26.0166 813.7681 254.1097 25.61694 813.8536 254.1097 25.61694 792.9078 276.6568 26.80457 793.2099 254.2344 22.36237 792.7831 254.1798 21.9574 792.8378 276.6568 21.9574 792.8378 254.0242 21.15509 813.7681 254.2344 22.36237 813.9783 276.6568 21.15509 813.7681 254.1798 25.2143 792.8378 254.2735 24.40247 814.0174 276.6568 24.40247 814.0174 254.297 23.99445 814.0409 254.297 23.99445 792.7205 276.6568 25.2143 792.8378 254.3048 23.58582 792.7127 276.6568 23.58582 792.7127 254.2735 22.76923 814.0174 276.6568 22.76923 814.0174 276.6568 23.58582 814.0487 227.0792 26.20831 227.4124 226.9242 24.89813 205.9613 226.8728 23.58582 227.4124 226.8728 23.58582 206.0129 227.0792 20.96338 227.4124 230.9368 23.58582 227.4124 231.1297 21.38049 227.4124 227.0796 26.20825 205.8053 227.0776 26.19836 205.8073 227.3373 27.50494 205.5466 227.6933 28.76618 227.4124 231.1297 25.79114 227.4124 227.0792 20.96338 205.8057 227.6933 18.40546 227.4124 227.078 20.97333 205.8069 226.9243 22.27222 205.9612 231.7027 19.24219 227.4124 227.6869 28.74658 205.1955 228.7 31.19653 227.4124 228.1468 29.99616 204.7337 227.694 28.76593 205.1884 231.7027 27.92951 227.4124 227.3353 19.67529 205.5486 227.6877 18.42529 205.1948 227.6933 18.40546 205.1891 228.7 15.97516 227.4124 232.6383 17.23584 227.4124 228.7011 31.19592 204.1768 228.6853 31.16773 204.1927 229.3418 32.34283 203.5329 230.0744 33.43945 227.4124 232.6383 29.93585 227.4124 228.7 15.97516 204.1779 230.0744 13.73218 227.4124 228.6864 16.00452 204.1915 228.1498 17.1684 204.7307 233.908 15.42242 227.4124 230.0474 33.40216 202.8234 231.7828 35.43976 227.4124 230.8782 34.46008 201.9875 230.0758 33.43835 202.7948 233.908 31.74921 227.4124 229.3412 14.82989 203.5335 230.0488 13.77051 202.8219 230.0744 13.73218 202.7962 231.7828 11.73187 227.4124 230.9368 23.58582 202.0124 230.9851 22.47894 201.9641 230.9851 24.69269 201.9641 231.1297 25.79114 201.8195 231.1297 21.38049 201.8195 231.3695 20.29883 201.5797 231.3695 26.87286 201.5797 231.7027 27.92951 201.2465 231.7027 19.24219 201.2465 232.1267 18.21857 200.8225 231.7845 35.43799 201.0747 231.7381 35.3949 201.1215 232.7306 36.3172 200.1207 233.7832 37.14819 227.4124 235.4734 33.31457 227.4124 231.7828 11.73187 201.0764 233.7832 10.0235 227.4124 231.7398 11.77844 201.1197 230.8802 12.70923 201.9855 235.4734 13.85706 227.4124 232.6383 29.93585 200.3109 232.1267 28.95306 200.8225 232.6383 17.23584 200.3109 233.2336 16.30139 199.7156 233.7128 37.0968 199.1287 235.9161 38.46606 196.8943 234.8342 37.85278 197.9935 233.785 37.14545 199.0557 236.028 38.51855 196.7798 236.0261 38.52264 227.4124 232.7277 10.85706 200.1237 233.7148 10.07745 199.1267 233.7832 10.0235 199.0576 236.0261 8.648987 227.4124 237.2868 12.58728 227.4124 233.2336 30.87024 199.7156 233.908 31.74921 199.0412 233.908 15.42242 199.0412 234.6565 14.60559 198.2927 235.4734 33.31457 197.4758 237.2868 34.58435 227.4124 234.6565 32.5661 198.2927 235.4734 13.85706 197.4758 236.3524 13.18262 196.5968 237.1447 39.04169 195.6388 238.4564 39.52936 227.4124 236.0261 8.648987 196.7822 238.4564 7.642334 227.4124 235.918 8.709717 196.892 234.8377 9.316712 197.9899 239.2931 11.65173 227.4124 236.3524 33.98907 196.5968 237.2868 34.58435 195.6624 239.2931 35.51996 227.4124 237.2868 12.58728 195.6624 238.2695 12.07574 194.6797 238.2741 39.46893 194.4732 241.0143 40.14343 227.4124 239.5579 39.84601 193.1219 238.4583 39.52307 194.2793 237.141 8.13147 195.6425 238.2752 7.709717 194.4707 238.4564 7.642334 194.2834 241.0143 7.028198 227.4124 241.4315 11.0788 227.4124 239.2931 35.51996 193.6561 241.4315 36.09289 227.4124 238.2695 35.09595 194.6797 239.2931 11.65173 193.6561 240.3498 11.3186 192.5994 243.6368 40.34985 227.4124 242.1173 40.28082 189.7412 242.024 40.27209 190.0024 241.7644 40.24493 190.4875 241.4057 40.20068 191.0015 241.015 40.1391 191.4758 240.6451 40.08075 191.925 240.6451 7.090942 191.925 241.0143 7.028198 191.4924 243.6368 6.821838 227.4124 239.5585 7.325439 193.1212 243.6368 10.8858 227.4124 241.4315 36.09289 191.5177 243.6368 36.28583 227.4124 240.3498 35.85309 192.5994 241.4315 11.0788 191.5177 242.5299 10.93414 190.4193 245.5082 40.24505 190.4859 245.3504 40.26202 190.2133 246.2593 40.14343 227.4124 246.2593 40.14343 191.4924 245.8679 40.20068 191.0014 245.2192 40.27496 189.928 245.1278 40.28339 189.6258 245.1031 40.28558 189.4703 245.0945 40.28631 189.3124 243.6368 40.34985 151.2124 242.1791 40.28631 189.3124 242.1704 40.28558 189.4713 242.5299 36.23749 190.4193 243.6368 36.28583 189.3124 244.7437 36.23749 190.4193 245.8421 36.09289 227.4124 243.6368 10.8858 189.3124 245.8421 11.0788 227.4124 245.8421 11.0788 191.5177 244.7437 10.93414 190.4193 245.0945 6.885315 189.3124 245.1031 6.886108 189.4703 245.1568 6.890869 189.743 246.2593 7.028198 227.4124 241.4059 6.970947 191.0012 241.9233 6.909607 190.213 242.0253 6.899475 189.9994 242.1064 6.891846 189.7782 242.1602 6.886963 189.5475 243.6368 6.821838 151.2124 242.1791 6.885315 189.3124 246.9238 35.85309 192.5994 247.9804 35.51996 227.4124 245.8421 36.09289 191.5177 248.8171 39.52936 227.4124 247.9804 11.65173 227.4124 247.9804 11.65173 193.6561 246.9238 11.3186 192.5994 246.6285 40.08075 191.925 248.8171 39.52936 194.2834 247.7175 39.84558 193.1239 247.7178 7.326172 193.1242 248.8171 7.642334 227.4124 246.6285 7.090942 191.925 245.2497 6.899597 190.0027 245.5108 6.92688 190.49 245.8695 6.971191 191.0035 246.2586 7.032593 191.4759 249.004 35.09595 194.6797 249.9868 34.58435 227.4124 247.9804 35.51996 193.6561 251.2475 38.52264 227.4124 249.9868 12.58728 227.4124 249.9868 12.58728 195.6624 249.004 12.07574 194.6797 248.9984 39.46197 194.4707 251.2475 38.52264 196.7822 250.129 39.04169 195.6389 248.8153 7.648621 194.2793 248.9995 7.702698 194.4732 250.1293 8.130127 195.6392 251.2475 8.648987 227.4124 250.9212 33.98907 196.5968 251.8002 33.31457 227.4124 249.9868 34.58435 195.6624 253.4904 37.14819 227.4124 251.8002 13.85706 227.4124 251.8002 13.85706 197.4758 250.9212 13.18262 196.5968 253.4904 37.14819 199.0576 252.4352 37.85535 197.9892 251.3556 38.46197 196.892 251.2455 8.653138 196.7798 253.4904 10.0235 227.4124 252.617 32.5661 198.2927 253.3656 31.74921 227.4124 251.8002 33.31457 197.4758 255.4907 35.43976 227.4124 253.3656 15.42242 227.4124 253.3656 15.42242 199.0412 252.617 14.60559 198.2927 255.4907 11.73187 227.4124 254.04 30.87024 199.7156 254.6353 29.93585 227.4124 253.3656 31.74921 199.0412 258.5736 31.19653 227.4124 257.1992 33.43945 227.4124 254.6353 17.23584 227.4124 254.6353 17.23584 200.3109 254.04 16.30139 199.7156 257.1992 13.73218 227.4124 253.5588 37.09418 199.1267 255.4907 35.43976 201.0764 254.5464 36.31421 200.1242 254.5462 10.85724 200.1239 252.4363 9.316956 197.9903 253.4886 10.02618 199.0556 253.5607 10.07483 199.1287 251.3575 8.705567 196.8943 255.1469 28.95306 200.8225 255.5709 27.92951 227.4124 254.6353 29.93585 200.3109 259.5803 28.76618 227.4124 255.5709 19.24219 227.4124 255.5709 19.24219 201.2465 255.1469 18.21857 200.8225 258.5736 15.97516 227.4124 257.1992 33.43945 202.7962 256.3902 34.46619 201.9823 255.5337 35.39319 201.1197 256.3904 12.70563 201.9824 255.5355 11.77679 201.1215 255.4891 11.73364 201.0747 255.904 26.87286 201.5797 256.1439 25.79114 227.4124 255.5709 27.92951 201.2465 260.1944 26.20831 227.4124 256.1439 21.38049 227.4124 256.1439 21.38049 201.8195 255.904 20.29883 201.5797 259.5803 18.40546 227.4124 256.2885 24.69269 201.9641 256.3368 23.58582 227.4124 256.1439 25.79114 201.8195 260.4008 23.58582 227.4124 256.3368 23.58582 202.0124 256.2885 22.47894 201.9641 260.1944 20.96338 227.4124 257.2247 33.40112 202.8219 258.5736 31.19653 204.1779 257.9347 32.33813 203.5358 257.1978 13.73328 202.7948 257.2262 13.76953 202.8234 257.9343 14.83289 203.5354 259.5803 28.76618 205.1891 259.1232 30.00488 204.73 258.5872 31.16718 204.1915 259.124 17.16882 204.7309 258.5883 16.00397 204.1927 258.5725 15.97577 204.1768 259.5859 28.74634 205.1948 260.1944 26.20831 205.8057 259.9372 27.50104 205.5475 259.5796 18.40576 205.1884 259.5867 18.42511 205.1955 259.9371 19.67004 205.5474 260.3497 24.89356 205.9616 260.1956 26.1983 205.8069 260.4008 23.58582 206.0129 260.3497 22.27802 205.9616 260.196 20.97333 205.8073 260.194 20.96344 205.8053 205.5368 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+ + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1 + + + + + + + + \ No newline at end of file From 608bc5c8a4b19ed37d4c7575b8fcb83ef0cb653a Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Fri, 26 Jul 2019 18:56:03 -0400 Subject: [PATCH 6/7] fixed build errors --- simulation/sub8_gazebo/CMakeLists.txt | 5 ----- simulation/sub8_gazebo/src/sub8_sonar.cpp | 4 ++-- 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/simulation/sub8_gazebo/CMakeLists.txt b/simulation/sub8_gazebo/CMakeLists.txt index 7afc9ed4..d95f0f68 100644 --- a/simulation/sub8_gazebo/CMakeLists.txt +++ b/simulation/sub8_gazebo/CMakeLists.txt @@ -93,11 +93,6 @@ add_service_files( SetTurbulence.srv ) -add_message_files( -FILES -simulated_sonar_ping.msg - -) generate_messages(DEPENDENCIES std_msgs) diff --git a/simulation/sub8_gazebo/src/sub8_sonar.cpp b/simulation/sub8_gazebo/src/sub8_sonar.cpp index 066efa5f..741e9e21 100644 --- a/simulation/sub8_gazebo/src/sub8_sonar.cpp +++ b/simulation/sub8_gazebo/src/sub8_sonar.cpp @@ -28,7 +28,7 @@ #include #include #include -#include +#include #include #include @@ -1071,4 +1071,4 @@ void GazeboRosImageSonar::PublishCameraInfo() } } -} \ No newline at end of file +} From ff32f496a680cacf4ad8b08b82e217387c7a67e6 Mon Sep 17 00:00:00 2001 From: MichaelFleming Date: Tue, 30 Jul 2019 14:51:16 -0400 Subject: [PATCH 7/7] updated subviz --- sub.rviz | 162 +++++++++++++++++++++++++++++++------------------------ 1 file changed, 91 insertions(+), 71 deletions(-) diff --git a/sub.rviz b/sub.rviz index 92c45acc..1ca1824f 100644 --- a/sub.rviz +++ b/sub.rviz @@ -3,9 +3,11 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.467647046 - Tree Height: 1021 + Expanded: + - /Marker1 + - /PointCloud21 + Splitter Ratio: 0.502109706 + Tree Height: 178 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -24,7 +26,9 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Front Left +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -113,59 +117,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - blueview: - Alpha: 1 - Show Axes: false - Show Trail: false - depth: - Alpha: 1 - Show Axes: false - Show Trail: false - down_left_cam: - Alpha: 1 - Show Axes: false - Show Trail: false - down_left_cam_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - dvl: - Alpha: 1 - Show Axes: false - Show Trail: false - front_left_cam: - Alpha: 1 - Show Axes: false - Show Trail: false - front_left_cam_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - front_right_cam: - Alpha: 1 - Show Axes: false - Show Trail: false - front_right_cam_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - front_stereo: - Alpha: 1 - Show Axes: false - Show Trail: false - hydrophones: - Alpha: 1 - Show Axes: false - Show Trail: false - imu: - Alpha: 1 - Show Axes: false - Show Trail: false Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -288,7 +239,7 @@ Visualization Manager: Unreliable: false Value: false - Class: rviz/Image - Enabled: false + Enabled: true Image Topic: /camera/down/image_rect_color Max Value: 1 Median window: 5 @@ -298,9 +249,9 @@ Visualization Manager: Queue Size: 2 Transport Hint: compressed Unreliable: false - Value: false + Value: true - Class: rviz/Image - Enabled: false + Enabled: true Image Topic: /blueview_driver/image_color Max Value: 1 Median window: 5 @@ -310,7 +261,22 @@ Visualization Manager: Queue Size: 2 Transport Hint: raw Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /depth/image_raw_sonar + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Sonar Sim + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false Value: false + - Class: rviz/pointcloud2 + Enabled: true + Name: "" - Class: rviz/InteractiveMarkers Enable Transparency: true Enabled: true @@ -325,9 +291,59 @@ Visualization Manager: Marker Topic: /hydrophones/direction_marker Name: Pinger Heading Namespaces: - "": true + {} Queue Size: 100 Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /sub8_mapping/surface + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /CLAHE/debug + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + 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: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 41142 + Min Color: 0; 0; 0 + Min Intensity: 272 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /ogrid_pointcloud/point_cloud/filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: true Global Options: Background Color: 100; 100; 100 @@ -353,7 +369,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 14.386797 + Distance: 20.7873211 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 @@ -368,10 +384,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 1.56479633 + Pitch: 0.739797056 Target Frame: map Value: Orbit (rviz) - Yaw: 1.56368017 + Yaw: 0.7023803 Saved: ~ Window Geometry: Blueview: @@ -384,18 +400,22 @@ Window Geometry: collapsed: false Front Right: collapsed: false - Height: 1163 + Height: 1034 Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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