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Commit b8fd35bb authored by Fernando Herrero's avatar Fernando Herrero
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Update launch file

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calibration/usb_cam.yaml → calibration/usb_cam_640x480.yaml
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− 1
View file @ b8fd35bb
image_width: 640
image_height: 480
camera_name: usb_cam
camera_name: head_camera
camera_matrix:
rows: 3
cols: 3
......
launch/tibi_dabo_local_bin_nodes.launch deleted 100644 → 0
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View file @ 0d92abca
<!-- -->
<launch>
<!-- load robot defined machines -->
<include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
<group ns="$(env ROBOT)">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen"
machine="visio">
<param name="window_size" value="15"/>
<param name="k" value="0.25"/>
<remap from="/$(env ROBOT)/local_th/image_in/camera_info"
to="/$(env ROBOT)/sensors/head_right/camera_info"/>
<remap from="/$(env ROBOT)/local_th/image_in/image_raw"
to="/$(env ROBOT)/sensors/head_right/image_raw"/>
</node>
<node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen"
machine="visio">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/$(env ROBOT)/camera/image_raw"
to="/$(env ROBOT)/local_th/image_out/image_raw"/>
<remap from="/$(env ROBOT)/camera/camera_info"
to="/$(env ROBOT)/local_th/image_out/camera_info"/>
</node>
</group>
</launch>
launch/tibi_dabo_local_bin_test.launch deleted 100644 → 0
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− 63
View file @ 0d92abca
<!-- -->
<launch>
<!-- load robot defined machines -->
<include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
<!-- tibi/dabo sensors -->
<!-- published topics: /$(env ROBOT)/sensors/front_laser_scan -->
<!-- /$(env ROBOT)/sensors/rear_laser_scan -->
<!-- /$(env ROBOT)/sensors/vertical_laser_scan -->
<!-- /$(env ROBOT)/sensors/head_right_image -->
<!-- /$(env ROBOT)/sensors/payload_battery_status -->
<!-- /$(env ROBOT)/sensors/joy -->
<!-- subscribed topics: -->
<!-- service clients: -->
<!-- service servers: -->
<!-- action clients: -->
<!-- action servers: -->
<include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_sensors.launch">
<arg name="front_laser" value="False" />
<arg name="rear_laser" value="False" />
<arg name="vertical_laser" value="False" />
<arg name="wiimote" value="False" />
<arg name="bumblebee_right" value="True" />
<arg name="battery" value="False" />
</include>
<!-- tibi/dabo devices -->
<!-- published topics: $(env ROBOT)/joint_states -->
<!-- $(env ROBOT)/segway/status-->
<!-- subscribed topics: $(env ROBOT)/head/joint_position -->
<!-- $(env ROBOT)/head/joint_effort -->
<!-- $(env ROBOT)/head/facial_expression -->
<!-- $(env ROBOT)/segway/cmd_vel -->
<!-- $(env ROBOT)/joint_states -->
<!-- service clients: -->
<!-- service servers: -->
<!-- action clients: -->
<!-- action servers: $(env ROBOT)/left_arm/motion_sequence -->
<!-- $(env ROBOT)/left_arm/joint_motion -->
<!-- $(env ROBOT)/right_arm/motion_sequence -->
<!-- $(env ROBOT)/right_arm/joint_motion -->
<!-- $(env ROBOT)/head/motion_sequence -->
<!-- $(env ROBOT)/head/lights_sequence -->
<!-- $(env ROBOT)/head/joint_motion -->
<include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_devices.launch">
<arg name="head" value="False" />
<arg name="left_arm" value="False" />
<arg name="right_arm" value="False" />
<arg name="platform" value="False" />
</include>
<include file="$(find iri_image_local_binarization)/launch/tibi_dabo_local_bin_nodes.launch"/>
<!-- optionally include the rviz node -->
<node name="rviz"
pkg="rviz"
type="rviz"
machine="monitor"
args="-d $(find tibi_dabo_tag_head_tracking)/config/$(env ROBOT)_head_tracking.vcg" />
</launch>
launch/usb_cam_tag.launch deleted 100644 → 0
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− 279
View file @ 0d92abca
<!-- -->
<launch>
<node name="usb_cam"
pkg ="usb_cam"
type="usb_cam_node"
respawn="false"
output="screen">
<param name="video_device" type="string" value="/dev/video0"/>
<param name="camera_frame_id" type="string" value="usb_cam"/>
<param name="io_method" type="string" value="mmap"/>
<param name="image_width" type="int" value="1920"/>
<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="framerate" type="int" value="3"/>
<param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam.yaml" />
<remap from="/usb_cam/camera_info"
to="/camera/camera_info"/>
<remap from="/usb_cam/image_raw"
to="/camera/image_raw"/>
</node>
<!-- published topics: /processed_image -->
<!-- subscribed topics: /camera/image_raw -->
<!-- /camera/camera_info -->
<!-- service clients: -->
<!-- service servers: -->
<!-- action clients: -->
<!-- action servers: -->
<!-- image crop -->
<node pkg ="nodelet"
type="nodelet"
name="image_proc_dec"
args="standalone image_proc/crop_decimate">
<param name="decimation_x" value="2" />
<param name="decimation_y" value="1" />
</node>
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<group ns="cam1">
<node name="local_th"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/cam1/local_th/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/cam1/local_th/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<!-- <node name="ar_pose"
pkg ="ar_pose"
type="ar_multi"
respawn="false"
output="screen">
<param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<remap from="/camera/image_raw"
to="/local_th/image_out/image_raw"/>
<remap from="/camera/camera_info"
to="/local_th/image_out/camera_info"/>
</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"
pkg ="tf"
type="static_transform_publisher"
args="0 0 0.0 -1.57 0 -1.57 world camera 1" />-->
<!-- <node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find ar_pose)/config/tag.vcg"/>-->
</launch>
launch/usb_cam_test.launch 0 → 100644
+ 52
− 0
View file @ b8fd35bb
<!-- -->
<launch>
<arg name="crop" default="1"/>
<node name="usb_cam"
pkg ="usb_cam"
type="usb_cam_node"
respawn="false"
output="screen">
<param name="video_device" type="string" value="/dev/video0"/>
<param name="camera_frame_id" type="string" value="usb_cam"/>
<param name="io_method" type="string" value="mmap"/>
<param name="image_width" type="int" value="640"/>
<param name="image_height" type="int" value="480"/>
<param name="framerate" type="int" value="5"/>
<param name="pixel_format" type="string" value="yuyv"/>
<param name="framerate" type="int" value="3"/>
<param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam_640x480.yaml" />
<remap from="/usb_cam/camera_info"
to="/camera/camera_info"/>
<remap from="/usb_cam/image_raw"
to="/camera/image_raw"/>
</node>
<!-- image crop -->
<!-- published topics: /processed_image -->
<!-- subscribed topics: /camera/image_raw -->
<!-- /camera/camera_info -->
<node pkg ="nodelet"
type="nodelet"
name="image_proc_dec"
args="standalone image_proc/crop_decimate">
<param name="decimation_x" value="$(arg crop)" />
<param name="decimation_y" value="$(arg crop)" />
</node>
<node name="image_local_binarization"
pkg="iri_image_local_binarization"
type="iri_image_local_binarization"
output="screen">
<param name="window_size" value="15"/>
<remap from="/image_local_binarization/image_in/camera_info"
to="/camera_out/camera_info"/>
<remap from="/image_local_binarization/image_in/image_raw"
to="/camera_out/image_raw"/>
</node>
<node name="rqt_image_view" pkg="rqt_image_view" type="rqt_image_view" args="/image_local_binarization/image_out/image_raw/compressed"/>
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
</launch>
src/image_local_binarization_alg_node.cpp
+ 1
− 1
View file @ b8fd35bb
......@@ -4,7 +4,7 @@ ImageLocalBinarizationAlgNode::ImageLocalBinarizationAlgNode(void) :
algorithm_base::IriBaseAlgorithm<ImageLocalBinarizationAlgorithm>(),it(this->public_node_handle_)
{
//init class attributes if necessary
this->loop_rate_ = 1;//in [Hz]
this->setRate(1);//in [Hz]
// [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
......
src/image_local_binarization_alg_nodelet.cpp
+ 3
− 2
View file @ b8fd35bb
......@@ -4,7 +4,7 @@ ImageLocalBinarizationAlgNodelet::ImageLocalBinarizationAlgNodelet(ros::NodeHand
algorithm_base::IriBaseAlgorithm<ImageLocalBinarizationAlgorithm>(),it(private_nh)
{
//init class attributes if necessary
this->loop_rate_ = 1;//in [Hz]
this->setRate(1);//in [Hz]
// [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
......@@ -156,5 +156,6 @@ ImageLocalBinNodelet::~ImageLocalBinNodelet()
}
// parameters are: package, class name, class type, base class type
PLUGINLIB_DECLARE_CLASS(iri_image_local_binarization, ImageLocalBinNodelet, ImageLocalBinNodelet, nodelet::Nodelet);
//PLUGINLIB_DECLARE_CLASS(iri_image_local_binarization, ImageLocalBinNodelet, ImageLocalBinNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(ImageLocalBinNodelet, nodelet::Nodelet);
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