C++ PinholeCameraModel::projectPixelTo3dRay方法代码示例

void getCameraRay(const image_geometry::PinholeCameraModel& model, const cv::Point2d& pt, cv::Point3d* ray)
{
    cv::Point2d rect_point;
    rect_point = model.rectifyPoint(pt);
    ROS_DEBUG("Rect Point: %f, %f",rect_point.x,rect_point.y);
    *ray = model.projectPixelTo3dRay(rect_point);
}

 void FindObjectOnPlane::generateStartPoints(
   const cv::Point2f& point_2d,
   const image_geometry::PinholeCameraModel& model,
   const pcl::ModelCoefficients::Ptr& coefficients,
   std::vector<cv::Point3f>& search_points_3d,
   std::vector<cv::Point2f>& search_points_2d)
 {
   NODELET_INFO("generateStartPoints");
   jsk_recognition_utils::Plane::Ptr plane
     (new jsk_recognition_utils::Plane(coefficients->values));
   cv::Point3d ray = model.projectPixelTo3dRay(point_2d);
   Eigen::Vector3f projected_point = rayPlaneInteersect(ray, plane);
   const double resolution_step = 0.01;
   const int resolution = 5;
   search_points_3d.clear();
   search_points_2d.clear();
   for (int i = - resolution; i < resolution; ++i) {
     for (int j = - resolution; j < resolution; ++j) {
       double x_diff = resolution_step * i;
       double y_diff = resolution_step * j;
       Eigen::Vector3f moved_point = projected_point + Eigen::Vector3f(x_diff, y_diff, 0);
       Eigen::Vector3f projected_moved_point;
       plane->project(moved_point, projected_moved_point);
       cv::Point3f projected_moved_point_cv(projected_moved_point[0],
                                            projected_moved_point[1],
                                            projected_moved_point[2]);
       search_points_3d.push_back(cv::Point3f(projected_moved_point_cv));
       cv::Point2d p2d = model.project3dToPixel(projected_moved_point_cv);
       search_points_2d.push_back(p2d);
     }
   }
 }

pcl::PointXYZ PointFromPixel(const cv::Point& pixel, const tf::Transform& cameraFrameToWorldFrame, image_geometry::PinholeCameraModel cam) {
    cv::Point3d cameraRay = cam.projectPixelTo3dRay(pixel);
    tf::Point worldCameraOrigin = cameraFrameToWorldFrame * tf::Vector3(0, 0, 0);
    tf::Point worldCameraStep = cameraFrameToWorldFrame * tf::Vector3(cameraRay.x, cameraRay.y, cameraRay.z) - worldCameraOrigin;
    double zScale = -worldCameraOrigin.z()/worldCameraStep.z();
    tf::Point ret = worldCameraOrigin + zScale * worldCameraStep;
    return pcl::PointXYZ(ret.x(), ret.y(), 0);
}

 cv::Point2d FindObjectOnPlane::getUyEnd(
   const cv::Point2d& ux_start,
   const cv::Point2d& ux_end,
   const image_geometry::PinholeCameraModel& model,
   const jsk_recognition_utils::Plane::Ptr& plane)
 {
   cv::Point3d start_ray = model.projectPixelTo3dRay(ux_start);
   cv::Point3d end_ray = model.projectPixelTo3dRay(ux_end);
   Eigen::Vector3f ux_start_3d = rayPlaneInteersect(start_ray, plane);
   Eigen::Vector3f ux_end_3d = rayPlaneInteersect(end_ray, plane);
   Eigen::Vector3f ux_3d = ux_end_3d - ux_start_3d;
   Eigen::Vector3f normal = plane->getNormal();
   Eigen::Vector3f uy_3d = normal.cross(ux_3d).normalized();
   Eigen::Vector3f uy_end_3d = ux_start_3d + uy_3d;
   cv::Point2d uy_end = model.project3dToPixel(cv::Point3d(uy_end_3d[0],
                                                           uy_end_3d[1],
                                                           uy_end_3d[2]));
   return uy_end;
 }

size_t project_uv_to_cloud_index(const pcl::PointCloud<PointT>& cloud, const cv::Point2d& image_point,
                                 const image_geometry::PinholeCameraModel camera_model, double& distance)
{
  // Assumes camera is at origin, pointed in the normal direction
  size_t pt_pcl_index;
  cv::Point3d pt_cv;
  pt_cv = camera_model.projectPixelTo3dRay(image_point);
  Eigen::Vector3f direction_eig(pt_cv.x, pt_cv.y, pt_cv.z);
  Eigen::Vector3f origin_eig(0.0, 0.0, 0.0);

  pt_pcl_index = closest_point_index_rayOMP(cloud, direction_eig, origin_eig, distance);
  return (pt_pcl_index);
}

cv::Mat projectWithEigen()
{
	// Transform meshes into camera frame

	// For each frame in vector
	for (int frame = 0; frame < mMeshFrameIDs.size(); frame++)
	{
		// Lookup current transform
		Eigen::Isometry3 transform;
		transform = transforms.at(mMeshFrameIDs[frame]);

		// Get copy of mesh for each frame
		ap::Mesh* sourceMesh;
		ap::Mesh* transformedMesh;
		//std::cerr << "Getting frame " << frame << " : " << mMeshFrameIDs[frame] << std::endl;
		MeshMap::iterator scene_i = scenes.find(mMeshFrameIDs[frame]);
		if (scenes.end() == scene_i) { continue; }
		sourceMesh = scene_i->second;

		MeshMap::iterator scene_t = transformedScenes.find(mMeshFrameIDs[frame]);
		if (transformedScenes.end() == scene_t) { continue; }
		transformedMesh = scene_t->second;

		// Transform mesh into camera frame
		for (int i = 0; i < sourceMesh->vertices.size(); i++)
		{
			Eigen::Vector3 newVertex = transform * sourceMesh->vertices[i];
			//std::cerr << mesh->vertices[i].transpose() << "\t->\t" << newVertex.transpose() << std::endl;
			transformedMesh->vertices[i] = newVertex;
		}
	}

	// For each pixel in camera image
	cv::Mat robotImage(mCameraModel.cameraInfo().height, mCameraModel.cameraInfo().width, CV_32F);
	float* pixelPtr = (float*)robotImage.data;
	float maxDepth = 0;
	for (int v = 0; v < robotImage.rows; v++)
	{
		for (int u = 0; u < robotImage.cols; u++)
		{
			// Create a ray through the pixel
			int pixelIdx = u + (v * robotImage.cols);
			//std::cerr << "Pixel (" << u << "," << v << ")" << std::endl;
			cv::Point2d pixel = cv::Point2d(u, v);
			cv::Point3d cvRay = mCameraModel.projectPixelTo3dRay(pixel);
			// Convert cvRay to ap::Ray
			ap::Ray ray;
			ray.point = Eigen::Vector3::Zero();
			ray.vector.x() = cvRay.x; ray.vector.y() = cvRay.y; ray.vector.z() = cvRay.z;
			ray.vector.normalize();
			//std::cerr << ray.vector.transpose() << std::endl;

			// For each frame in vector
			for (int frame = 0; frame < mMeshFrameIDs.size(); frame++)
			{
				MeshMap::iterator scene_i = transformedScenes.find(mMeshFrameIDs[frame]);
				if (transformedScenes.end() == scene_i)
				{
					continue;
				}
				ap::Mesh* mesh = scene_i->second;

				// For each triangle in mesh
				for (int i = 0; i < mesh->faces.size(); i++)
				{
					// Check for intersection. If finite, set distance

					ap::Triangle triangle(mesh->vertices[mesh->faces[i].vertices[0]],
										  mesh->vertices[mesh->faces[i].vertices[1]],
										  mesh->vertices[mesh->faces[i].vertices[2]]);

					Eigen::Vector3 intersection = ap::intersectRayTriangle(ray, triangle);
					if (std::isfinite(intersection.x()))
					{
						float d = intersection.norm();
						float val = pixelPtr[pixelIdx];
						if (val == 0 || val > d)
						{
							pixelPtr[pixelIdx] = d;
						}
						if (d > maxDepth)
						{
							maxDepth = d;
						}
					}
				}
			}
		}
	}

	// Return the matrix
	if (maxDepth == 0) { maxDepth = 1;}
	return robotImage/maxDepth;
}

void FeatureTracker::image_callback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info_msg) {
  //need pose data for each picture, need to publish a camera pose
  ros::Time acquisition_time = msg->header.stamp;
  geometry_msgs::PoseStamped basePose;
  geometry_msgs::PoseStamped mapPose;
  basePose.pose.orientation.w=1.0;
  ros::Duration timeout(3);
  basePose.header.frame_id="/base_link";
  mapPose.header.frame_id="/map";
  
  try {
    tf_listener_.waitForTransform("/camera_1_link", "/map", acquisition_time, timeout);
    tf_listener_.transformPose("/map", acquisition_time,basePose,"/camera_1_link",mapPose);
    printf("pose #%d %f %f %f\n",pic_number++,mapPose.pose.position.x, mapPose.pose.position.y, tf::getYaw(mapPose.pose.orientation));
  }
  catch (tf::TransformException& ex) {
    ROS_WARN("[map_maker] TF exception:\n%s", ex.what());
    printf("[map_maker] TF exception:\n%s", ex.what());
    return;
  }
  cam_model.fromCameraInfo(info_msg);
  
  
  
  
  // printf("callback called\n");
  try
  {
    // if you want to work with color images, change from mono8 to bgr8
    if(image_rect==NULL){
      image_rect = cvCloneImage(bridge.imgMsgToCv(msg, "mono8"));
      last_image= cvCloneImage(bridge.imgMsgToCv(msg, "mono8"));
      pyrA=cvCreateImage(cvSize(last_image->width+8,last_image->height/3.0), IPL_DEPTH_32F, 1);
      pyrB=cvCloneImage(pyrA);
      //  printf("cloned image\n");
    }
    else{
      //save the last image
      cvCopy(image_rect,last_image);
      cvCopy(bridge.imgMsgToCv(msg, "mono8"),image_rect);
      // printf("copied image\n");
    }
    if(output_image==NULL){
      output_image =cvCloneImage(image_rect);
    }
    if(eigImage==NULL){
      eigImage =cvCloneImage(image_rect);
    }
    if(tempImage==NULL){
      tempImage =cvCloneImage(image_rect);
    }
  }
  catch (sensor_msgs::CvBridgeException& e)
  {
    ROS_ERROR("Could not convert from '%s' to 'mono8'.", msg->encoding.c_str());
    return;
  }
  
  if(image_rect!=NULL) {
    cvCopy(image_rect,output_image);
    
    printf("got image\n");
    
    track_features(mapPose);
    
    //draw features on the image
    for(int i=0;i<last_feature_count;i++){
      CvPoint center=cvPoint((int)features[i].x,(int)features[i].y);
      cvCircle(output_image,center,10,cvScalar(150),2);
      
      char strbuf [10];
      
      int n=sprintf(strbuf,"%d",current_feature_id[ i] );
      std::string text=std::string(strbuf,n);
      
      CvFont font;
      
      cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX,1,1);
      
      cvPutText(output_image,text.c_str(),cvPoint(center.x,center.y+20),&font,cvScalar(255));
      
      
      cv::Point3d tempRay;
      cv::Point2d tempPoint=cv::Point2d(features[i]);
      cam_model.projectPixelTo3dRay(tempPoint,tempRay);
  //    printf("%f x  %f y  %f z\n",tempRay.x,tempRay.y,tempRay.z);
    }
    
  //  featureList[0].print();
    
    //determine error gradient
    
    int min_features=10;
    
  //  printf("ypr %f %f %f\n",yaw,pitch,roll);
    
    cv::Point3d error_sum=calc_error(min_features,0, 0, 0);
    printf("total error is : %f\n",error_sum.x);
    
    for(int i=0;i<featureList.size();i++){
//.........这里部分代码省略.........

void FeatureTracker::track_features(geometry_msgs::PoseStamped mapPose){
  //set the initial number of features to the max number we want to find
  int feature_count=num_features;
  printf("pose %f %f %f\n",mapPose.pose.position.x, mapPose.pose.position.y, tf::getYaw(mapPose.pose.orientation));
  int edge_pixels=5;
  
  //check if there were features from the last image to keep tracking
  if(last_feature_count>0){
    //if there were call cvCalcOpticalFlowPyrLK();
    //find matches between last good features and current image features
    //    store matches in featuresB
    cvCalcOpticalFlowPyrLK(last_image,image_rect,pyrA,pyrB,features,featuresB, last_feature_count,cvSize(win_size,win_size) ,4,last_features_status,track_error, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,.3),0);
  }
  
  printf("got image flow\n");
  //    assign last_feature_id values for matched features and set the non matched spots to -1
  
  //find new features and subpixel them
  
  //I SHOULD ADD THE IMAGE FLOW VALUES AS FEATURES NOW BEFORE FINDING NEW FEATURES
  
  //find all good features
  cvGoodFeaturesToTrack(image_rect, eigImage, tempImage, features, &feature_count, quality_level, min_distance, NULL, block_size);
  
  //subpixel good features
  cvFindCornerSubPix(image_rect,features,feature_count,cvSize(win_size,win_size),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
  
  
  printf("subpixeled image\n");
  
  //for all the features in features B, find their matches in the newly found features
  //add all the matches to their correct featuremanager, for the non matching, make a new
  //feature manager and add them to it
  
  //for all features by now we need their ray and the robot pose at that location
  //draw dots on image where features are
  
  
  
  //set the feature ids to a control value
  
  for(int i=0;i<num_features;i++){
    current_feature_id[i]=-1;
  }
  
  for(int i=0;i<last_feature_count;i++){
    //for the previously found features in list b
    if(last_features_status[i]>0){
      for(int j=0;j<feature_count;j++){
	//for every feature found in this image
	
	//determine if the two overlap in a meaningful way
	int xdiff=featuresB[i].x-features[j].x;
	int ydiff=featuresB[i].y-features[j].y;
	//if the pixels are within some margin of eachother
	if(sqrt(xdiff*xdiff + ydiff*ydiff)<pixel_tracking_margin){
	  //if they do set the current id for j to the id of i
	  current_feature_id[j]=last_feature_id[i];
	  printf("feature found %d %d",last_feature_id[i],i);
	}
      }
    }
  }
  
  printf("assigned IDs image\n");
  
  
  for(int i=0;i<feature_count;i++){
    
    printf("looping\n");
    if(current_feature_id[i]>=0){
    printf("prev feature match\n");
      //if we matched a previous feature
      //add our new feature to the previous features list
      cv::Point3d tempRay;
      cv::Point2d tempPoint=cv::Point2d(features[i]);
      cam_model.projectPixelTo3dRay(tempPoint,tempRay);
      
      if(tempPoint.x> edge_pixels && tempPoint.x < last_image->width- edge_pixels &&
	tempPoint.y> edge_pixels && tempPoint.y<last_image->height- edge_pixels){
	featureList[current_feature_id[i]].add(RawFeature(mapPose.pose.position.x, mapPose.pose.position.y, tf::getYaw(mapPose.pose.orientation), tempPoint,tempRay));
      }else{
	current_feature_id[i]=-1;
      }
      
    }else{
    printf("new feature \n");
      
      cv::Point3d tempRay;
      cv::Point2d tempPoint=cv::Point2d(features[i]);
      cam_model.projectPixelTo3dRay(tempPoint,tempRay);
      if(tempPoint.x> edge_pixels && tempPoint.x < last_image->width- edge_pixels &&
	tempPoint.y> edge_pixels && tempPoint.y<last_image->height- edge_pixels){
	printf("new good feature \n");
	//if we didn't
	//create a new feature group in the list
	current_feature_id[i]=feature_number;
	//add the new feature to the feature list
	featureList.push_back(FeatureManager());

//.........这里部分代码省略.........

//.........这里部分代码省略.........
         cv::Point2d right_pt(MySecond[0].x, MySecond[0].y);
         cam_model_left.rectifyPoint(left_pt);

            Matrix<float, 3, 1> Z;
            Matrix<float, 6, 1> RES_KALMAN;
            Z<< 
            MyFirst[0].x, 
            MySecond[0].x, 
            (MyFirst[0].y + MySecond[0].y) / 2.0f;

            RES_KALMAN = kalman_xyz.getKalman(Z);
            cout << "???" << endl;
            cout << RES_KALMAN << endl;;

         // cout << cam_model_left.rectifyPoint(left_pt).x << "," << cam_model_left.rectifyPoint(left_pt).y << "rectified" << endl;
         // cout << cam_model_right.rectifyPoint(right_pt).x << "," << cam_model_right.rectifyPoint(right_pt).y << "rectified" << endl;

         // cout << "notcal :: " << MyFirst[0].y - MySecond[0].y << endl;
         // cout << "calibr  :: " << cam_model_left.rectifyPoint(left_pt).y - cam_model_right.rectifyPoint(right_pt).y << endl;

         float leftpt_y = MyFirst[0].y;

         Matrix<float, 2, 1> X_kalman = kalman_x.getKalman(leftpt_y);
         // cout << "KALMAN" << kalman_x.getKalman_1(leftpt_y) << "," << leftpt_y << endl;;

         geometry_msgs::Point drone1_msg;
         drone1_msg.x = leftpt_y;//get_lpf(&lpf_x,10);
         drone1_msg.y = X_kalman(0, 0); //get_lpf(&lpf_z,10);
         drone1_msg.z = X_kalman(1, 0); //get_lpf(&lpf_y,5);
         pub_drone[0].publish(drone1_msg);



         cv::Point3d ptr_left = cam_model_left.projectPixelTo3dRay(left_pt);
         cv::Point3d ptr_right = cam_model_right.projectPixelTo3dRay(right_pt);


         // getKalman_1();

         // cout << ptr_left.y - ptr_right.y << endl;
         // cout << "left 3d   :: " <<  ptr_left.x  << "," << ptr_left.y << "," << ptr_left.z << endl;
         // cout << "right 3d  :: " <<  ptr_right.x  << "," << ptr_right.y << "," << ptr_right.z << endl << endl;



         ptr_left = cam_model_left.projectPixelTo3dRay(cam_model_left.rectifyPoint(left_pt));
         ptr_right = cam_model_right.projectPixelTo3dRay(cam_model_right.rectifyPoint(right_pt));

         // cout << ptr_left.y - ptr_right.y << endl;
         // cout << "left 3d   :: " <<  ptr_left.x  << "," << ptr_left.y << "," << ptr_left.z << endl;
         // cout << "right 3d  :: " <<  ptr_right.x  << "," << ptr_right.y << "," << ptr_right.z << endl;


      }
      // cout << MySecond[0].x << "," << MySecond[0].y << endl;
      if (Ccount == 1) {
         sort(MyFirst.begin(), MyFirst.end(), MyCompare);
         sort(MySecond.begin(), MySecond.end(), MyCompare);




         Dron_size = MyFirst.size();

         for (int i = 0; i < Dron_size; i++) {
            double a1, b1, c1;

void depthCallback(const sensor_msgs::ImageConstPtr& original_image, const sensor_msgs::CameraInfoConstPtr& info){

    if(need_for_wall==2){
        need_for_wall = 0;
        cv_bridge::CvImagePtr cv_ptr;
        try
        {
            cv_ptr = cv_bridge::toCvCopy(original_image, enc::TYPE_16UC1);
        }
        catch (cv_bridge::Exception& e)
        {
            ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());
            return;
        }
        cam_model.fromCameraInfo(info);
        Mat depth_image = cv_ptr->image;

        float x = 0;
        float y = 360;
        float wall_height = 0;
        geometry_msgs::PointStamped xy_point_stamped, pipe_point_stamped;
        walls_detection::Walls walls_all_message;
        for(int i = 100; i<600; i+=110){
            wall_height = 0;
            y = 360;
            x = i;
            unsigned short wall_depth;
            while(wall_height < 0.05 && y > 0){
                    cv::Point2d uv_point(x,y);
                    unsigned short wall_depth;
                    wall_depth = depth_image.at<unsigned short>(y, x);
                    cv::Point3d xy_point;
                    xy_point = cam_model.projectPixelTo3dRay(uv_point);
                    xy_point = xy_point * wall_depth;

                    xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
                    xy_point_stamped.header.stamp = ros::Time::now();

                    xy_point_stamped.point.x = 0.001*xy_point.x;
                    xy_point_stamped.point.y = 0.001*xy_point.y;
                    xy_point_stamped.point.z = 0.001*xy_point.z;

                    try {
                            tf_listener->waitForTransform("/pipe_link", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
                            tf_listener->transformPoint("/pipe_link", xy_point_stamped, pipe_point_stamped);
                    }
                    catch (tf::TransformException ex) {
                            ROS_ERROR("%s",ex.what());
                    }

                wall_height = pipe_point_stamped.point.z;
                y = y - 120;
            }
            std::cout<<"Sciana nr "<< i <<" - x: "<< pipe_point_stamped.point.x <<", y: "<< pipe_point_stamped.point.y <<", z: "<< pipe_point_stamped.point.z <<"\n";
            if(wall_height < 0.05){
                std::cout << "Nie ma sciany\n";
                pipe_point_stamped.point.x = 0;
                pipe_point_stamped.point.y = 0;
                pipe_point_stamped.point.z = 0;
            }
            switch(i){
                case 100:
                walls_all_message.wall1 = pipe_point_stamped;
                break;

                case 210:
                walls_all_message.wall2 = pipe_point_stamped;
                break;

                case 320:
                walls_all_message.wall3 = pipe_point_stamped;
                break;

                case 430:
                walls_all_message.wall4 = pipe_point_stamped;
                break;

                case 540:
                walls_all_message.wall5 = pipe_point_stamped;
                break;

            }

	}
    walls_all.publish(walls_all_message);
    }
}

void depthCallback(const sensor_msgs::ImageConstPtr& original_image, const sensor_msgs::CameraInfoConstPtr& info)
{
    if(is_robot_running==0 && balls_written==1 && ball_chosen==0){
        cv_bridge::CvImagePtr cv_ptr;
        try
        {
            cv_ptr = cv_bridge::toCvCopy(original_image, sensor_msgs::image_encodings::TYPE_16UC1);
        }
        catch (cv_bridge::Exception& e)
        {
            ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());
            return;
        }

        cam_model.fromCameraInfo(info);
        Mat depth_image = cv_ptr->image;

        if(balls_written == 1){
            for( size_t i = 0; i < circles_all.size(); i++ ){
                if (pilki[i]!=0){
                    cv::Point2d uv_point(circles_all[i][0], circles_all[i][1]);
                    unsigned short ball_depth;
                    ball_depth = depth_image.at<unsigned short>(circles_all[i][1], circles_all[i][0])+20;
                    cv::Point3d xy_point;
                    xy_point = cam_model.projectPixelTo3dRay(uv_point);
                    xy_point = xy_point * ball_depth;

                    geometry_msgs::PointStamped xy_point_stamped, odom_point_stamped;

                    xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
                    xy_point_stamped.header.stamp = ros::Time::now();

                    xy_point_stamped.point.x = 0.001*xy_point.x;
                    xy_point_stamped.point.y = 0.001*xy_point.y;
                    xy_point_stamped.point.z = 0.001*xy_point.z;

                    try {
                        tf_listener->waitForTransform("/base_link", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
                        tf_listener->transformPoint("/base_link", xy_point_stamped, odom_point_stamped);
                    }
                    catch (tf::TransformException ex) {
                        ROS_ERROR("%s",ex.what());
                    }

                    if(odom_point_stamped.point.z > 0.05 || odom_point_stamped.point.z < 0.001){
			std::cout << "Srodek pilki na wysokosci: " << odom_point_stamped.point.z << ".\n"; 
                        std::cout << "Skondensowane pilki: to nie pilka, jest za wysoko albo za nisko! \n";
                        pilki[i]=0;
                    }
                }
            }

            depth_written = 1;
            std::cout << "Policzylem wysokosc dla skondensowanych pilek \n";
            int closest_ball = choose_closest_ball();

            if(closest_ball == -1){
                std::cout << "NIE WYBRANO ZADNEJ PILKI \n";
                send_no_balls();
            }

            if(closest_ball != -1){
                int wybrana_x = circles_all[closest_ball][0];
                int wybrana_y = circles_all[closest_ball][1];
                int wybrana_z = circles_all[closest_ball][2];

                ball_chosen = 1;
                std::cout << "Wybrana jedna pilka \n";

                last_circle[0] = wybrana_x;
                last_circle[1] = wybrana_y;
                last_circle[2] = wybrana_z;

                wybrana.x = last_circle[0];
                wybrana.y = last_circle[1];
                wybrana.z = last_circle[2];

                draw_balls = 1;

                cv::Point2d uv_point(wybrana.x, wybrana.y);
                unsigned short ball_depth;

                ball_depth = depth_image.at<unsigned short>(wybrana.y,wybrana.x)+20;

                geometry_msgs::Point message_selected;
                cv::Point3d xy_point;
                xy_point = cam_model.projectPixelTo3dRay(uv_point);
                xy_point = xy_point * ball_depth;

                geometry_msgs::PointStamped xy_point_stamped, odom_point_stamped;

                xy_point_stamped.header.frame_id = "/camera_rgb_optical_frame";
                xy_point_stamped.header.stamp = ros::Time::now();

                xy_point_stamped.point.x = 0.001*xy_point.x;
                xy_point_stamped.point.y = 0.001*xy_point.y;
                xy_point_stamped.point.z = 0.001*xy_point.z;

                try {
                    tf_listener->waitForTransform("/odom", "/camera_rgb_optical_frame", ros::Time::now(), ros::Duration(10.0) );
//.........这里部分代码省略.........

	void locator()
	{
		namedWindow("Tracking");
		int hMin, hMax, sMin, sMax, vMin, vMax,area_min;
		hMin = 0;
		//hMax = 124; // night values/???
		hMax = 255;
		//sMin = 95;
		sMin = 126;
		sMax = 255;
		//vMin = 139;
		vMin = 173;
		vMax = 255;
		area_min = 100;
		Mat smoothed, hsvImg, t_img;
		createTrackbar("blob min area","Tracking" ,&area_min ,1000);
		createTrackbar("Hue Min", "Tracking", &hMin, 255);
		createTrackbar("Hue Max", "Tracking", &hMax, 255);
		createTrackbar("Sat Min", "Tracking", &sMin, 255);
		createTrackbar("Sat Max", "Tracking", &sMax, 255);
		createTrackbar("Val Min", "Tracking", &vMin, 255);
		createTrackbar("Val MaX", "Tracking", &vMax, 255);
		while(ros::ok())
		{
			Mat source = imageB;
			Mat copy = imageB.clone();
			GaussianBlur(source, smoothed, Size(9,9), 4);
			cvtColor(smoothed, hsvImg, CV_BGR2HSV);
			inRange(hsvImg, Scalar(hMin, sMin, vMin), Scalar(hMax, sMax, vMax), t_img);

			CBlobResult blob;
			IplImage i_img = t_img;
			blob = CBlobResult(&i_img,NULL,0);
			int num_blobs = blob.GetNumBlobs();

			blob.Filter(blob, B_INCLUDE, CBlobGetArea(), B_INSIDE, area_min, blob_area_absolute_max_);
			num_blobs = blob.GetNumBlobs();

			std::string reference_frame = "/virtual_table"; // Table frame at ball_radius above the actual table plane

			tf::StampedTransform transform;
			tf_.waitForTransform(reference_frame, model.tfFrame(), ros::Time(0), ros::Duration(0.5));
			tf_.lookupTransform(reference_frame, model.tfFrame(), ros::Time(0), transform);

			for(int i =0;i<num_blobs;i++)
			{
				CBlob* bl = blob.GetBlob(i);
				Point2d uv(CBlobGetXCenter()(*bl), CBlobGetYCenter()(*bl));
				//Use the width as the height
				uv.y = bl->MinY() + (bl->MaxX() - bl->MinX()) * 0.5;
				circle(copy,uv,50,Scalar(255,0,0),5);

				cv::Point3d xyz;
				model.projectPixelTo3dRay(uv, xyz);
		
				// Intersect ray with plane in virtual table frame
				//Origin of camera frame wrt virtual table frame
				tf::Point P0 = transform.getOrigin();
				//Point at end of unit ray wrt virtual table frame
				tf::Point P1 = transform * tf::Point(xyz.x, xyz.y, xyz.z);
				// Origin of virtual table frame
				tf::Point V0 = tf::Point(0.0,0.0,0.0);
				// normal to the table plane
				tf::Vector3 n(0, 0, 1);
				// finding scaling value
				double scale = (n.dot(V0-P0))/(n.dot(P1-P0));
				tf::Point ball_pos = P0 + (P1-P0)*scale;
				cout <<ball_pos.x() << " " << ball_pos.y() << " " << ball_pos.z() <<endl;
			}
			imshow(WINDOW, copy);
			waitKey(3);

			imshow("edited", t_img);
			waitKey(3);

			ros::spinOnce();
		}
	}