149 lines
4.4 KiB
C++
149 lines
4.4 KiB
C++
#include <ros/ros.h>
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#include <vector>
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#include <iostream>
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#include <sstream>
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#include <tf/transform_broadcaster.h>
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#include <image_transport/image_transport.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/video/tracking.hpp>
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#include <aruco/aruco.h>
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#include <teleoperation/utils.hpp>
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/*
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* This is the ROS Node for detecting the ArUco markers.
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*
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* Node: aruco_detector
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*
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* It subscribes to a webcam, detects the markers, transforms them
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* into the correct coordinate frame (z-up) and publishes on TF
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* relatively to the odom frame
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*
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*/
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static const std::string ARUCO_WINDOW = "Aruco window";
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class ImageConverter {
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ros::NodeHandle nh_;
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tf::TransformBroadcaster aruco_pub;
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image_transport::ImageTransport it_;
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image_transport::Subscriber image_sub_;
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public:
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ImageConverter() :
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it_(nh_)
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{
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// Subscribe to input video feed
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image_sub_ = it_.subscribe("/usb_cam/image_raw", 1,
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&ImageConverter::imageCb, this);
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// Create output windows
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cv::namedWindow(ARUCO_WINDOW);
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ROS_INFO("ARUCO: UP");
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}
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~ImageConverter() {
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// Clean Up
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cv::destroyWindow(ARUCO_WINDOW);
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}
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void imageCb(const sensor_msgs::ImageConstPtr& msg) {
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// This function gets called when an image arrives
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cv_bridge::CvImageConstPtr cv_ptr;
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try
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{
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// Create OpenCV, share memory with original message
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cv_ptr = cv_bridge::toCvShare(msg,
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sensor_msgs::image_encodings::BGR8);
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}
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catch (cv_bridge::Exception& e)
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{
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ROS_ERROR("cv_bridge exception: %s", e.what());
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return;
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}
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// Define parameters of markers and camera
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cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
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690., 0.0, 320,
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0.0, 690., 225,
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0.0, 0.0, 1.0);
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cv::Mat distortion = (cv::Mat_<double>(4, 1) <<
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-0.05,
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0,
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0,
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-0.0015);
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aruco::CameraParameters cam(cam_mat, distortion, cv_ptr->image.size());
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aruco::MarkerDetector detector;
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std::vector<aruco::Marker> markers;
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float m_size = 0.15;
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detector.detect(cv_ptr->image, markers, cam, m_size);
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// Draw all aruco into the window and publish on tf
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cv::Mat aruco_demo = cv_ptr->image.clone();
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for (int i = 0; i < markers.size(); i++) {
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markers[i].draw(aruco_demo, cv::Scalar(0, 0, 255), 2);
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cv::Mat rot_cv;
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cv::Rodrigues(markers[i].Rvec, rot_cv);
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// Transform the coordinates of the aruco markers so that they
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// are in the Z-up, X-forward frame
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tf::Matrix3x3 rot(
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rot_cv.at<float>(0, 0),
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rot_cv.at<float>(0, 1),
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rot_cv.at<float>(0, 2),
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rot_cv.at<float>(1, 0),
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rot_cv.at<float>(1, 1),
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rot_cv.at<float>(1, 2),
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rot_cv.at<float>(2, 0),
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rot_cv.at<float>(2, 1),
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rot_cv.at<float>(2, 2)
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);
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tf::Vector3 trans(
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markers[i].Tvec.at<float>(0),
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markers[i].Tvec.at<float>(1),
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markers[i].Tvec.at<float>(2)
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);
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tf::Matrix3x3 hmat(
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0, 0, -1,
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1, 0, 0,
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0, -1, 0
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);
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tf::Matrix3x3 another(
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0, 0, -1,
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1, 0, 0,
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0, -1, 0
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);
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rot = hmat * rot * another; // This transforms the coords
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trans = hmat * trans;
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tf::Transform aruco_tf(rot, trans);
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std::string id = "Aruco_";
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id += stuff_to_str(markers[i].id);
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id += "_frame";
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// Publish the transform
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this->aruco_pub.sendTransform(tf::StampedTransform(
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aruco_tf, ros::Time::now(), "odom",
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id.c_str()));
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}
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cv::imshow(ARUCO_WINDOW, aruco_demo);
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cv::waitKey(2);
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}
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};
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int main(int argc, char** argv) {
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ros::init(argc, argv, "aruco_detector");
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ROS_INFO("ARUCO: STARTING");
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ImageConverter ic;
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ros::spin();
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return 0;
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}
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