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Added PnP approach (now default) to compute 3D transform (requiring only single valid depth point instead of 3). Added arguments to launch files for convenience. Removed fake map/odom frames from find_object_3d.launch (so that it can be more easily included in other launch files).

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This commit is contained in:
matlabbe
2019-08-10 15:31:12 -04:00
parent f43bc943f8
commit bde868d1cc
8 changed files with 146 additions and 86 deletions
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launch/find_object_2d.launch
+9 -4
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@@ -1,9 +1,14 @@
<launch>
<arg name="gui" default="true"/>
<arg name="image_topic" default="image"/>
<arg name="objects_path" default="~/objects"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<!-- Nodes -->
<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
<remap from="image" to="image"/>
<param name="gui" value="false" type="bool"/>
<param name="objects_path" value="~/objects" type="str"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
<remap from="image" to="$(arg image_topic)"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
</node>
</launch>
launch/find_object_2d_gui.launch
-9
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@@ -1,9 +0,0 @@
<launch>
<!-- Nodes -->
<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
<remap from="image" to="image"/>
<param name="gui" value="true" type="bool"/>
<param name="objects_path" value="~/objects" type="str"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
</node>
</launch>
launch/find_object_3d.launch
+23 -18
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@@ -2,29 +2,34 @@
<!-- Example finding 3D poses of the objects detected -->
<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="approx_sync" default="true"/>
<arg name="pnp" default="true"/>
<arg name="tf_example" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/>
<param name="object_prefix" value="object" type="str"/>
<param name="approx_sync" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
<param name="pnp" value="$(arg pnp)" type="bool"/>
<remap from="rgb/image_rect_color" to="camera/rgb/image_rect_color"/>
<remap from="depth_registered/image_raw" to="camera/depth_registered/image_raw"/>
<remap from="depth_registered/camera_info" to="camera/depth_registered/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
<remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
<remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- Example of tf synchronisation with the objectsStamped message -->
<node name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
<param name="map_frame_id" value="/map" type="string"/>
<param name="object_prefix" value="object" type="str"/>
<node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
</node>
<!-- fake some tf frames for the example /map -> /odom -> /base_link -> /camera_link -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.1 0.0 0.3 0.0 0.0 0.0 /base_link /camera_link 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_to_base_tf"
args="1.0 0.0 0.1 1.5707 0.0 0.0 /odom /base_link 100" />
<node pkg="tf" type="static_transform_publisher" name="map_to_odom_tf"
args="0.0 0.5 0.0 0.7853 0.0 0.0 /map /odom 100" />
</launch>
launch/find_object_3d_kinect2.launch
+11 -6
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@@ -3,15 +3,20 @@
<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
<!-- Which image resolution: sd, qhd, hd -->
<arg name="resolution" default="qhd" />
<arg name="resolution" default="qhd" />
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/>
<param name="object_prefix" value="object" type="str"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
launch/find_object_3d_zed.launch
+10 -4
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@@ -2,12 +2,18 @@
<!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch zed_wrapper zed.launch -->
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/>
<param name="object_prefix" value="object" type="str"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="/zed/rgb/image_rect_color"/>
<remap from="depth_registered/image_raw" to="/zed/depth/depth_registered"/>