initial commit

src/aruco_detector.cpp

@@ -0,0 +1,107 @@
+#include <ros/ros.h>
+#include <vector>
+#include <iostream>
+#include <tf/transform_broadcaster.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/video/tracking.hpp>
+#include <aruco/aruco.h>
+
+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_<double>(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_<double>(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<aruco::Marker> 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<float>(0);
+            float y = markers[i].Tvec.at<float>(1);
+            float z = markers[i].Tvec.at<float>(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;
+}

src/aruco_effector.cpp

@@ -0,0 +1,47 @@
+#include <ros/ros.h>
+#include <vector>
+#include <iostream>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/video/tracking.hpp>
+#include <aruco/aruco.h>
+
+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;
+}