commit becede0124fd5e6a2dc361b250fd329d778d7560 Author: Pavel Lutskov Date: Thu Jan 17 11:30:41 2019 +0100 initial commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4d61f1b --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +# Vim stuff +.*.sw* diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..f7a67ff --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 2.8.3) +project(teleoperation) + +## Add support for C++11, supported in ROS Kinetic and newer +add_definitions(-std=c++11) +# set(aruco_LIB /usr/local/lib/libaruco.so) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + tf + aruco +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES project_aruco +# CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/project_aruco.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/project_aruco_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(aruco_detector src/aruco_detector.cpp) +add_executable(aruco_effector src/aruco_effector.cpp) +target_link_libraries(aruco_detector ${catkin_LIBRARIES} ${aruco_LIB}) +target_link_libraries(aruco_effector ${catkin_LIBRARIES} ${aruco_LIB}) +# add_dependencies(aruco tutorial_4_generate_messages_cpp) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_project_aruco.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..d562f18 --- /dev/null +++ b/package.xml @@ -0,0 +1,62 @@ + + + teleoperation + 0.0.0 + The semester project package + + + + + hrs_e + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + aruco + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + aruco + + + + + + + + diff --git a/src/aruco_detector.cpp b/src/aruco_detector.cpp new file mode 100644 index 0000000..7564bed --- /dev/null +++ b/src/aruco_detector.cpp @@ -0,0 +1,107 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +static const std::string OPENCV_WINDOW = "Original image"; +static const std::string ARUCO_WINDOW = "Aruco window"; + +class ImageConverter { + + ros::NodeHandle nh_; + tf::TransformBroadcaster aruco_pub; + image_transport::ImageTransport it_; + image_transport::Subscriber image_sub_; + + public: + + ImageConverter() : + it_(nh_) + { + // Subscrive to input video feed + image_sub_ = it_.subscribe("/nao_robot/camera/front/image_raw", 1, + &ImageConverter::imageCb, this); + + // Create output windows + cv::namedWindow(OPENCV_WINDOW); + cv::namedWindow(ARUCO_WINDOW); + } + + ~ImageConverter() { + // Clean Up + cv::destroyWindow(OPENCV_WINDOW); + cv::destroyWindow(ARUCO_WINDOW); + } + + void imageCb(const sensor_msgs::ImageConstPtr& msg) { + cv_bridge::CvImageConstPtr cv_ptr; + ROS_INFO("IN IMAGE CB"); + try + { + // Create OpenCV, share memory with original message + cv_ptr = cv_bridge::toCvShare(msg, + sensor_msgs::image_encodings::BGR8); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + + // Output Original Image (bcs y not) + cv::imshow(OPENCV_WINDOW, cv_ptr->image); + ROS_INFO("OUTPUT STUFF"); + + // Do Aruco + cv::Mat cam_mat = (cv::Mat_(3, 3) << + 274.139508945831, 0.0, 141.184472810944, + 0.0, 275.741846757374, 106.693773654172, + 0.0, 0.0, 1.0); + cv::Mat distortion = (cv::Mat_(4, 1) << + -0.0870160932911717, + 0.128210165050533, + 0.003379500659424, + -0.00106205540818586); + aruco::CameraParameters cam(cam_mat, distortion, cv_ptr->image.size()); + aruco::MarkerDetector detector; + std::vector markers; + float m_size = 0.15; + detector.detect(cv_ptr->image, markers, cam, m_size); + + // Draw and print aruco + cv::Mat aruco_demo = cv_ptr->image.clone(); + for (int i = 0; i < markers.size(); i++) { + markers[i].draw(aruco_demo, cv::Scalar(0, 0, 255), 2); + float x = markers[i].Tvec.at(0); + float y = markers[i].Tvec.at(1); + float z = markers[i].Tvec.at(2); + std::string id = "Aruco_"; + id += std::to_string(markers[i].id); + id += "_frame"; + tf::Transform aruco_tf; + aruco_tf.setIdentity(); + aruco_tf.setOrigin(tf::Vector3(x, y, z)); + this->aruco_pub.sendTransform(tf::StampedTransform( + aruco_tf, ros::Time::now(), "CameraTop_optical_frame", + id.c_str())); + } + cv::imshow(ARUCO_WINDOW, aruco_demo); + + + cv::waitKey(2); + } +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "aruco_detector"); + ImageConverter ic; + ros::spin(); + return 0; +} diff --git a/src/aruco_effector.cpp b/src/aruco_effector.cpp new file mode 100644 index 0000000..7b2daf2 --- /dev/null +++ b/src/aruco_effector.cpp @@ -0,0 +1,47 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +int main(int argc, char** argv) { + ros::init(argc, argv, "aruco_effector"); + ros::NodeHandle node; + + tf::TransformListener tflisten; + ros::Rate rate(1.0); + while (node.ok()) { + tf::StampedTransform l_transform, r_transform; + try { + tflisten.lookupTransform("Aruco_1_frame", "Aruco_0_frame", + ros::Time(0), l_transform); + ROS_INFO("LEFT FRAME"); + std::cout << l_transform.getOrigin().x() << std::endl; + std::cout << l_transform.getOrigin().y() << std::endl; + std::cout << l_transform.getOrigin().z() << std::endl; + } + catch (tf::TransformException &ex) { + // ROS_ERROR("%s", ex.what()); + } + try { + tflisten.lookupTransform("Aruco_2_frame", "Aruco_0_frame", + ros::Time(0), r_transform); + ROS_INFO("RIGHT FRAME"); + std::cout << r_transform.getOrigin().x() << std::endl; + std::cout << r_transform.getOrigin().y() << std::endl; + std::cout << r_transform.getOrigin().z() << std::endl; + } + catch (tf::TransformException &ex) { + // ROS_ERROR("%s", ex.what()); + } + rate.sleep(); + } + return 0; +}