{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/60","repository_url":"https://api.github.com/repos/start-jsk/jsk_mbzirc","labels_url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/60/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/60/comments","events_url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/60/events","html_url":"https://github.com/start-jsk/jsk_mbzirc/pull/60","id":144535663,"number":60,"title":"Add image projecting node..","user":{"login":"cretaceous-creature","id":8966553,"avatar_url":"https://avatars.githubusercontent.com/u/8966553?v=3","gravatar_id":"","url":"https://api.github.com/users/cretaceous-creature","html_url":"https://github.com/cretaceous-creature","followers_url":"https://api.github.com/users/cretaceous-creature/followers","following_url":"https://api.github.com/users/cretaceous-creature/following{/other_user}","gists_url":"https://api.github.com/users/cretaceous-creature/gists{/gist_id}","starred_url":"https://api.github.com/users/cretaceous-creature/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cretaceous-creature/subscriptions","organizations_url":"https://api.github.com/users/cretaceous-creature/orgs","repos_url":"https://api.github.com/users/cretaceous-creature/repos","events_url":"https://api.github.com/users/cretaceous-creature/events{/privacy}","received_events_url":"https://api.github.com/users/cretaceous-creature/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":8,"created_at":"2016-03-30T10:17:27Z","updated_at":"2016-03-30T15:27:45Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/pulls/60","html_url":"https://github.com/start-jsk/jsk_mbzirc/pull/60","diff_url":"https://github.com/start-jsk/jsk_mbzirc/pull/60.diff","patch_url":"https://github.com/start-jsk/jsk_mbzirc/pull/60.patch"},"body":"Projecting the image to the ground plane.\r\n(need pcl, eigen3 and Opencv installed)\r\nTodo: paralyze\r\n'''\r\nrosrun jsk_mbzirc_tasks uav_img2pointcloud\r\n'''\r\nThis node subscribe to the /groundtruth/state to get the pose of the quarotor\r\nand compute the Extrisic parameters of the Camera.   \r\nBy assuming all the image points is in the ground plane, the corresponding \r\n3D location could be calculated.\r\n\r\nThis will help localize the 3D position of the truck, give any point (or bounding box)\r\nfrom the image, we can get the approximate 3D location of that.\r\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/comments/203487902","html_url":"https://github.com/start-jsk/jsk_mbzirc/pull/60#issuecomment-203487902","issue_url":"https://api.github.com/repos/start-jsk/jsk_mbzirc/issues/60","id":203487902,"user":{"login":"k-okada","id":493276,"avatar_url":"https://avatars.githubusercontent.com/u/493276?v=3","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"created_at":"2016-03-30T15:27:44Z","updated_at":"2016-03-30T15:27:44Z","body":"yes, but you can publish dummy floor point cloud, you can get seme result,\ni think.\n\n--\n◉ Kei Okada\n\n\nOn Thu, Mar 31, 2016 at 12:18 AM, Chen <notifications@github.com> wrote:\n\n> The difference to pointcloud_screenpoint is this node is projecting a mono\n> camera image\n> to 3D... The input pointcloud is not necessary.\n> The purpose of this node is to locate the truck 3D position once we have a\n> 2D tracking result.\n> And perhaps we can apply this to adjust the localization later...\n>\n>\n>\n>\n> 2016-03-30 22:27 GMT+08:00 Kei Okada <notifications@github.com>:\n>\n> > Ok, so\n> > 1) please compare who much did you improve task1 complete time with this\n> > new feature.\n> > 2) this sounds like similar function with\n> >\n> >\n> http://jsk-recognition.readthedocs.org/en/latest/jsk_pcl_ros/nodes/pointcloud_screenpoint.html\n> > ,\n> > please integrate with this\n> >\n> >\n> > --\n> > ◉ Kei Okada\n> >\n> >\n> > On Wed, Mar 30, 2016 at 9:10 PM, Chen <notifications@github.com> wrote:\n> >\n> > > okada sensei,\n> > > The story is like when we find out where the truck is in the image\n> plane,\n> > > we have to project it to the 3D ground, so that\n> > > we know the exact 3D position of the truck, 2D to 3D is a projection\n> > > transform. Since we know the intrisic parameters of\n> > > the camera and the extrisic parameters could be calculated by knowing\n> the\n> > > pose of the drone, we can project all the image\n> > > points to the ground..\n> > > This node only subscribe /ground_truth/state and\n> > /downward_cam/camera/image\n> > > topics, and convert the image to the pointcloud\n> > > in 3D. (2D to 3D we have to assume the image points is in the same\n> plane\n> > to\n> > > remove the scale param)\n> > >\n> > > 2016-03-30 20:46 GMT+09:00 Kei Okada <notifications@github.com>:\n> > >\n> > > > Sorry I could not understand well, what is the purpose of this node?\n> > > > If we know exact(?) position of the drone, and template image for the\n> > > > ground (? which file are you using?) , we can get 2d position (z is\n> 0)\n> > of\n> > > > the target, you pointed on the image. Is it correct?\n> > > >\n> > > > —\n> > > > You are receiving this because you authored the thread.\n> > > > Reply to this email directly or view it on GitHub\n> > > > <\n> > https://github.com/start-jsk/jsk_mbzirc/pull/60#issuecomment-203393956>\n> > > >\n> > >\n> > > —\n> > > You are receiving this because you were mentioned.\n> > > Reply to this email directly or view it on GitHub\n> > > <\n> https://github.com/start-jsk/jsk_mbzirc/pull/60#issuecomment-203400610>\n> >\n> > >\n> >\n> > —\n> > You are receiving this because you authored the thread.\n> > Reply to this email directly or view it on GitHub\n> > <https://github.com/start-jsk/jsk_mbzirc/pull/60#issuecomment-203457629>\n> >\n>\n> —\n> You are receiving this because you were mentioned.\n> Reply to this email directly or view it on GitHub\n> <https://github.com/start-jsk/jsk_mbzirc/pull/60#issuecomment-203484509>\n>\n"}}