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Add TrackMarkerNode to image_proc (#930)
Converts sensors_msgs/Image into geometry_msg/PoseStamped using OpenCV Aruco marker detection.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| // Copyright 2024 Open Navigation LLC | ||
| // All rights reserved. | ||
| // | ||
| // Software License Agreement (BSD License 2.0) | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions | ||
| // are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // * Redistributions in binary form must reproduce the above | ||
| // copyright notice, this list of conditions and the following | ||
| // disclaimer in the documentation and/or other materials provided | ||
| // with the distribution. | ||
| // * Neither the name of {copyright_holder} nor the names of its | ||
| // contributors may be used to endorse or promote products derived | ||
| // from this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
|
|
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| #ifndef IMAGE_PROC__TRACK_MARKER_HPP_ | ||
| #define IMAGE_PROC__TRACK_MARKER_HPP_ | ||
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| #include <memory> | ||
| #include <mutex> | ||
| #include <string> | ||
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| #include <geometry_msgs/msg/pose_stamped.hpp> | ||
| #include <image_transport/image_transport.hpp> | ||
| #include <opencv2/aruco.hpp> | ||
| #include <sensor_msgs/msg/camera_info.hpp> | ||
| #include <sensor_msgs/msg/image.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| namespace image_proc | ||
| { | ||
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| class TrackMarkerNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit TrackMarkerNode(const rclcpp::NodeOptions &); | ||
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| private: | ||
| image_transport::CameraSubscriber sub_camera_; | ||
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| int queue_size_; | ||
| int marker_id_; | ||
| double marker_size_; | ||
| std::string image_topic_; | ||
| rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_; | ||
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| cv::Ptr<cv::aruco::DetectorParameters> detector_params_; | ||
| cv::Ptr<cv::aruco::Dictionary> dictionary_; | ||
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| void imageCb( | ||
| const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, | ||
| const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg); | ||
| }; | ||
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| } // namespace image_proc | ||
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| #endif // IMAGE_PROC__TRACK_MARKER_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| // Copyright 2024 Open Navigation LLC | ||
| // All rights reserved. | ||
| // | ||
| // Software License Agreement (BSD License 2.0) | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions | ||
| // are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // * Redistributions in binary form must reproduce the above | ||
| // copyright notice, this list of conditions and the following | ||
| // disclaimer in the documentation and/or other materials provided | ||
| // with the distribution. | ||
| // * Neither the name of {copyright_holder} nor the names of its | ||
| // contributors may be used to endorse or promote products derived | ||
| // from this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
|
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| #include <cstddef> | ||
| #include <functional> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include <cv_bridge/cv_bridge.hpp> | ||
| #include <image_proc/track_marker.hpp> | ||
| #include <image_proc/utils.hpp> | ||
| #include <image_transport/image_transport.hpp> | ||
| #include <opencv2/core/quaternion.hpp> | ||
| #include <rclcpp/qos.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| namespace image_proc | ||
| { | ||
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| TrackMarkerNode::TrackMarkerNode(const rclcpp::NodeOptions & options) | ||
| : rclcpp::Node("TrackMarkerNode", options) | ||
| { | ||
| // TransportHints does not actually declare the parameter | ||
| this->declare_parameter<std::string>("image_transport", "raw"); | ||
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| // For compressed topics to remap appropriately, we need to pass a | ||
| // fully expanded and remapped topic name to image_transport | ||
| auto node_base = this->get_node_base_interface(); | ||
| image_topic_ = node_base->resolve_topic_or_service_name("image", false); | ||
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| // Declare parameters before we setup any publishers or subscribers | ||
| marker_id_ = this->declare_parameter("marker_id", 0); | ||
| marker_size_ = this->declare_parameter("marker_size", 0.05); | ||
| // Default dictionary is cv::aruco::DICT_6X6_250 | ||
| int dict_id = this->declare_parameter("dictionary", 10); | ||
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| detector_params_ = cv::aruco::DetectorParameters::create(); | ||
| dictionary_ = cv::aruco::getPredefinedDictionary(dict_id); | ||
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| // Setup lazy subscriber using publisher connection callback | ||
| rclcpp::PublisherOptions pub_options; | ||
| pub_options.event_callbacks.matched_callback = | ||
| [this](rclcpp::MatchedInfo &) | ||
| { | ||
| if (pub_->get_subscription_count() == 0) { | ||
| sub_camera_.shutdown(); | ||
| } else if (!sub_camera_) { | ||
| // Create subscriber with QoS matched to subscribed topic publisher | ||
| auto qos_profile = getTopicQosProfile(this, image_topic_); | ||
| image_transport::TransportHints hints(this); | ||
| sub_camera_ = image_transport::create_camera_subscription( | ||
| this, image_topic_, std::bind( | ||
| &TrackMarkerNode::imageCb, | ||
| this, std::placeholders::_1, std::placeholders::_2), | ||
| hints.getTransport(), qos_profile); | ||
| } | ||
| }; | ||
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| // Allow overriding QoS settings (history, depth, reliability) | ||
| pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); | ||
|
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| // Create publisher | ||
| pub_ = this->create_publisher<geometry_msgs::msg::PoseStamped>( | ||
| "tracked_pose", 10, pub_options); | ||
| } | ||
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| void TrackMarkerNode::imageCb( | ||
| const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, | ||
| const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg) | ||
| { | ||
| cv_bridge::CvImageConstPtr cv_ptr; | ||
| try { | ||
| cv_ptr = cv_bridge::toCvShare(image_msg); | ||
| } catch (cv_bridge::Exception & e) { | ||
| RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what()); | ||
| return; | ||
| } | ||
|
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| std::vector<int> marker_ids; | ||
| std::vector<std::vector<cv::Point2f>> marker_corners; | ||
| cv::aruco::detectMarkers(cv_ptr->image, dictionary_, marker_corners, marker_ids); | ||
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| for (size_t i = 0; i < marker_ids.size(); ++i) { | ||
| if (marker_ids[i] == marker_id_) { | ||
| // This is our desired marker | ||
| std::vector<std::vector<cv::Point2f>> corners; | ||
| corners.push_back(marker_corners[i]); | ||
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| // Copy the matrices since they are const and OpenCV functions are not | ||
| auto k = info_msg->k; | ||
| auto d = info_msg->d; | ||
|
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| // Get the camera info | ||
| cv::Mat intrinsics(3, 3, CV_64FC1, reinterpret_cast<void *>(k.data())); | ||
| cv::Mat dist_coeffs(info_msg->d.size(), 1, CV_64FC1, reinterpret_cast<void *>(d.data())); | ||
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| // Estimate pose | ||
| std::vector<cv::Vec3d> rvecs, tvecs; | ||
| cv::aruco::estimatePoseSingleMarkers( | ||
| corners, marker_size_, intrinsics, dist_coeffs, rvecs, tvecs); | ||
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| // Publish pose of marker | ||
| geometry_msgs::msg::PoseStamped pose; | ||
| pose.header = image_msg->header; | ||
| // Fill in pose | ||
| pose.pose.position.x = tvecs[0][0]; | ||
| pose.pose.position.y = tvecs[0][1]; | ||
| pose.pose.position.z = tvecs[0][2]; | ||
| // Convert angle-axis to quaternion | ||
| cv::Quatd q = cv::Quatd::createFromRvec(rvecs[0]); | ||
| pose.pose.orientation.x = q.x; | ||
| pose.pose.orientation.y = q.y; | ||
| pose.pose.orientation.z = q.z; | ||
| pose.pose.orientation.w = q.w; | ||
| pub_->publish(pose); | ||
| } | ||
| } | ||
| } | ||
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| } // namespace image_proc | ||
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| #include "rclcpp_components/register_node_macro.hpp" | ||
|
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| // Register the component with class_loader. | ||
| // This acts as a sort of entry point, allowing the component to be discoverable when its library | ||
| // is being loaded into a running process. | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(image_proc::TrackMarkerNode) |