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Commit 67b8283f authored by Fernando Herrero's avatar Fernando Herrero
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iri_image_local_binarization: 

 - updated test launch usb_cam_tag.
 - added test cal.yaml
 - Decreased subs/publishers buffers from 10 to 1
parent cab1856a
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calibration/cal.yaml 0 → 100644
+ 20
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View file @ 67b8283f
image_width: 1920
image_height: 1080
camera_name: narrow_stereo
camera_matrix:
rows: 3
cols: 3
data: [1443.836053, 0, 700.72761, 0, 1462.939972, 473.741164, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0.153747, -0.347937, -0.01007, 0.029807, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [1460.615234, 0, 728.385954, 0, 0, 1515.619141, 465.957632, 0, 0, 0, 1, 0]
launch/usb_cam_tag.launch
+ 203
− 11
View file @ 67b8283f
...@@ -11,6 +11,7 @@ ...@@ -11,6 +11,7 @@
<param name="io_method" type="string" value="mmap"/> <param name="io_method" type="string" value="mmap"/>
<param name="image_width" type="int" value="1920"/> <param name="image_width" type="int" value="1920"/>
<param name="image_height" type="int" value="1080"/> <param name="image_height" type="int" value="1080"/>
<param name="framerate" type="int" value="5"/>
<param name="pixel_format" type="string" value="yuyv"/> <param name="pixel_format" type="string" value="yuyv"/>
<param name="framerate" type="int" value="3"/> <param name="framerate" type="int" value="3"/>
<param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam.yaml" /> <param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam.yaml" />
...@@ -48,13 +49,18 @@ ...@@ -48,13 +49,18 @@
to="/camera_out/image_raw"/> to="/camera_out/image_raw"/>
</node> </node>
<node name="image_th"
pkg="image_view" <group ns="cam1">
type="image_view" <node name="local_th"
output="screen"> pkg="iri_image_local_binarization"
<remap from="/image" type="iri_image_local_binarization"
to="/local_th/image_out/image_raw"/> output="screen">
</node> <param name="window_size" value="15"/>
<remap from="/cam1/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam1/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="ar_pose" <!-- <node name="ar_pose"
pkg ="ar_pose" pkg ="ar_pose"
...@@ -70,15 +76,201 @@ ...@@ -70,15 +76,201 @@
to="/local_th/image_out/camera_info"/> to="/local_th/image_out/camera_info"/>
</node>--> </node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam1/camera/image_raw"
to="/cam1/local_th/image_out/image_raw"/>
<remap from="/cam1/camera/camera_info"
to="/cam1/local_th/image_out/camera_info"/>
</node>
</group>
<group ns="cam2">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam2/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam2/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="image_th"
pkg="image_view"
type="image_view"
output="screen">
<remap from="/cam2/image"
to="/cam2/local_th/image_out/image_raw"/>
</node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam2/camera/image_raw"
to="/cam2/local_th/image_out/image_raw"/>
<remap from="/cam2/camera/camera_info"
to="/cam2/local_th/image_out/camera_info"/>
</node>
</group>
<group ns="cam3">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam3/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam3/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="image_th"
pkg="image_view"
type="image_view"
output="screen">
<remap from="/cam3/image"
to="/cam3/local_th/image_out/image_raw"/>
</node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam3/camera/image_raw"
to="/cam3/local_th/image_out/image_raw"/>
<remap from="/cam3/camera/camera_info"
to="/cam3/local_th/image_out/camera_info"/>
</node>
</group>
<group ns="cam4">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam4/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam4/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="image_th"
pkg="image_view"
type="image_view"
output="screen">
<remap from="/cam4/image"
to="/cam4/local_th/image_out/image_raw"/>
</node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam4/camera/image_raw"
to="/cam4/local_th/image_out/image_raw"/>
<remap from="/cam4/camera/camera_info"
to="/cam4/local_th/image_out/camera_info"/>
</node>
</group>
<group ns="cam5">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam5/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam5/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="image_th"
pkg="image_view"
type="image_view"
output="screen">
<remap from="/cam5/image"
to="/cam5/local_th/image_out/image_raw"/>
</node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam5/camera/image_raw"
to="/cam5/local_th/image_out/image_raw"/>
<remap from="/cam5/camera/camera_info"
to="/cam5/local_th/image_out/camera_info"/>
</node>
</group>
<group ns="cam6">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam6/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam6/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="image_th"
pkg="image_view"
type="image_view"
output="screen">
<remap from="/cam6/image"
to="/cam6/local_th/image_out/image_raw"/>
</node>-->
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/cam6/camera/image_raw"
to="/cam6/local_th/image_out/image_raw"/>
<remap from="/cam6/camera/camera_info"
to="/cam6/local_th/image_out/camera_info"/>
</node>
</group>
<!-- <node name="world2camera" <!-- <node name="world2camera"
pkg ="tf" pkg ="tf"
type="static_transform_publisher" type="static_transform_publisher"
args="0 0 0.0 -1.57 0 -1.57 world camera 1" />--> args="0 0 0.0 -1.57 0 -1.57 world camera 1" />-->
<node name="dynamic_reconfigure"
pkg ="dynamic_reconfigure"
type="reconfigure_gui"/>
<!-- <node name="rviz" <!-- <node name="rviz"
pkg="rviz" pkg="rviz"
type="rviz" type="rviz"
......
src/image_local_binarization_alg_node.cpp
+ 2
− 2
View file @ 67b8283f
...@@ -7,11 +7,11 @@ ImageLocalBinarizationAlgNode::ImageLocalBinarizationAlgNode(void) : ...@@ -7,11 +7,11 @@ ImageLocalBinarizationAlgNode::ImageLocalBinarizationAlgNode(void) :
this->loop_rate_ = 1;//in [Hz] this->loop_rate_ = 1;//in [Hz]
// [init publishers] // [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 10); this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
this->histogram_publisher_ = this->it.advertise("hystogram", 1); this->histogram_publisher_ = this->it.advertise("hystogram", 1);
// [init subscribers] // [init subscribers]
this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", 10, &ImageLocalBinarizationAlgNode::image_in_callback,this); this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", 1, &ImageLocalBinarizationAlgNode::image_in_callback,this);
pthread_mutex_init(&this->image_in_mutex_,NULL); pthread_mutex_init(&this->image_in_mutex_,NULL);
......
src/image_local_binarization_alg_nodelet.cpp
+ 2
− 2
View file @ 67b8283f
...@@ -7,11 +7,11 @@ ImageLocalBinarizationAlgNodelet::ImageLocalBinarizationAlgNodelet(ros::NodeHand ...@@ -7,11 +7,11 @@ ImageLocalBinarizationAlgNodelet::ImageLocalBinarizationAlgNodelet(ros::NodeHand
this->loop_rate_ = 1;//in [Hz] this->loop_rate_ = 1;//in [Hz]
// [init publishers] // [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 10); this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
this->histogram_publisher_ = this->it.advertise("hystogram", 1); this->histogram_publisher_ = this->it.advertise("hystogram", 1);
// [init subscribers] // [init subscribers]
this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", 10, &ImageLocalBinarizationAlgNodelet::image_in_callback,this); this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", 1, &ImageLocalBinarizationAlgNodelet::image_in_callback,this);
pthread_mutex_init(&this->image_in_mutex_,NULL); pthread_mutex_init(&this->image_in_mutex_,NULL);
this->image_out_=cv_bridge::CvImagePtr(new cv_bridge::CvImage); this->image_out_=cv_bridge::CvImagePtr(new cv_bridge::CvImage);
......
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