Exemplo n.º 1
0
  public void handleImage() {
    while (true) {
      Image src = null;
      try {
        src = new Image(visionImage.take(), width, height);
      } catch (InterruptedException e) {
        e.printStackTrace();
        continue;
      }

      // Apply Blob Track to Image
      Image dest = new Image(src);
      blobTrack.apply(src, dest);

      OdometryMsg msg = new OdometryMsg();

      if (LOCALIZE && System.currentTimeMillis() - last_localization > LOCALIZATION_INTERVAL) {
        ResetMsg stop_msg = new ResetMsg();
        stop_msg.reset = false;
        stopPub.publish(stop_msg);

        Point2D.Double curr_point;
        synchronized (localization) {
          curr_point = localization.localize(odo_x, odo_y, blobTrack.fiducials);
        }
        msg.x = curr_point.x;
        msg.y = curr_point.y;

        last_localization = System.currentTimeMillis();
      } else {
        msg.x = odo_x;
        msg.y = odo_y;
      }
      msg.theta = odo_theta;
      localPub.publish(msg);

      // Update newly formed vision message
      gui.setVisionImage(dest.toArray(), width, height);

      try {
        Thread.sleep(1000);
      } catch (Exception exc) {
        exc.printStackTrace();
      }

      ResetMsg stop_msg = new ResetMsg();
      stop_msg.reset = true;
      stopPub.publish(stop_msg);
    }
  }
Exemplo n.º 2
0
  @Override
  public void onStart(Node node) {
    ParameterTree paramTree = node.newParameterTree();
    mapFileName = paramTree.getString(node.resolveName("~/mapFileName"));

    last_localization = System.currentTimeMillis();

    try {
      polymap = new PolygonMap(mapFileName);
    } catch (Exception e) {
      e.printStackTrace();
    }

    Point2D.Double robotStart = polymap.getRobotStart();

    Rectangle2D.Double cSpaceWorld =
        CSpace.CSpaceWorldRect(polymap.getWorldRect(), polymap.getRobotStart(), RADIUS);
    List<PolygonObstacle> cSpaceObstacles =
        CSpace.computeCSpace(polymap, getRobot(), polymap.getRobotStart());

    Map<int[], Point2D.Double> fiducialPairs = new HashMap<int[], Point2D.Double>();

    // Finish adding to fiducial pairs here from map

    localization = new Localization(cSpaceObstacles, cSpaceWorld, robotStart, fiducialPairs);

    blobTrack = new BlobTracking(width, height);
    final boolean reverseRGB = node.newParameterTree().getBoolean("reverse_rgb", false);

    localPub = node.newPublisher("/rss/localization", "rss_msgs/OdometryMsg");
    stopPub = node.newPublisher("/rss/stop", "rss_msgs/ResetMsg");

    vidSub = node.newSubscriber("/rss/video", "sensor_msgs/Image");
    vidSub.addMessageListener(
        new MessageListener<org.ros.message.sensor_msgs.Image>() {
          @Override
          public void onNewMessage(org.ros.message.sensor_msgs.Image message) {
            byte[] rgbData;
            if (reverseRGB) {
              rgbData = Image.RGB2BGR(message.data, (int) message.width, (int) message.height);
            } else {
              rgbData = message.data;
            }
            assert ((int) message.width == width);
            assert ((int) message.height == height);
            handle(rgbData);
          }
        });

    depthSub = node.newSubscriber("/rss/depth", "sensor_msgs/Image");
    depthSub.addMessageListener(
        new MessageListener<org.ros.message.sensor_msgs.Image>() {
          @Override
          public void onNewMessage(org.ros.message.sensor_msgs.Image message) {
            byte[] rgbData;
            if (reverseRGB) {
              rgbData = Image.RGB2BGR(message.data, (int) message.width, (int) message.height);
            } else {
              rgbData = message.data;
            }
            assert ((int) message.width == width);
            assert ((int) message.height == height);
            handle(rgbData);
          }
        });

    odoSub = node.newSubscriber("/rss/odometry", "rss_msgs/OdometryMsg");
    odoSub.addMessageListener(
        new MessageListener<org.ros.message.rss_msgs.OdometryMsg>() {
          @Override
          public void onNewMessage(org.ros.message.rss_msgs.OdometryMsg message) {
            odo_x = message.x;
            odo_y = message.y;
            odo_theta = message.theta;

            Point2D.Double curr_point;
            OdometryMsg msg = new OdometryMsg();
            if (LOCALIZE) {
              synchronized (localization) {
                curr_point = localization.encoderUpdate(odo_x, odo_y);
              }
              msg.x = curr_point.x;
              msg.y = curr_point.y;
            } else {
              msg.x = odo_x;
              msg.y = odo_y;
            }
            msg.theta = odo_theta;
            localPub.publish(msg);
          }
        });

    Thread visionThread =
        new Thread(
            new Runnable() {
              @Override
              public void run() {
                handleImage();
                try {
                  Thread.sleep(10);
                } catch (Exception exc) {
                  exc.printStackTrace();
                }
              }
            });
    visionThread.start();
  }