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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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13
launch/find_object_2d.launch
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@ -1,9 +1,14 @@
<launch> <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 --> <!-- Nodes -->
<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen"> <node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
<remap from="image" to="image"/> <remap from="image" to="$(arg image_topic)"/>
<param name="gui" value="false" type="bool"/> <param name="gui" value="$(arg gui)" type="bool"/>
<param name="objects_path" value="~/objects" type="str"/> <param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/> <param name="settings_path" value="$(arg settings_path)" type="str"/>
</node> </node>
</launch> </launch>

9
launch/find_object_2d_gui.launch
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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>

41
launch/find_object_3d.launch
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@ -2,29 +2,34 @@
<!-- Example finding 3D poses of the objects detected --> <!-- Example finding 3D poses of the objects detected -->
<!-- $roslaunch openni_launch openni.launch depth_registration:=true --> <!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="approx_sync" default="true"/>
<arg name="pnp" default="true"/>
<arg name="tf_example" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen"> <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/> <param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/> <param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/> <param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/> <param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="object" type="str"/> <param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="true" type="bool"/> <param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
<param name="pnp" value="$(arg pnp)" type="bool"/>
<remap from="rgb/image_rect_color" to="camera/rgb/image_rect_color"/> <remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
<remap from="depth_registered/image_raw" to="camera/depth_registered/image_raw"/> <remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
<remap from="depth_registered/camera_info" to="camera/depth_registered/camera_info"/> <remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
</node> </node>
<!-- Example of tf synchronisation with the objectsStamped message --> <!-- Example of tf synchronisation with the objectsStamped message -->
<node name="tf_example" pkg="find_object_2d" type="tf_example" output="screen"> <node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
<param name="map_frame_id" value="/map" type="string"/> <param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="object_prefix" value="object" type="str"/>
</node> </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>

17
launch/find_object_3d_kinect2.launch
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@ -3,15 +3,20 @@
<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true --> <!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
<!-- Which image resolution: sd, qhd, hd --> <!-- 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"> <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/> <param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/> <param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/> <param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/> <param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="object" type="str"/> <param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/> <remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/> <remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/> <remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>

14
launch/find_object_3d_zed.launch
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@ -2,12 +2,18 @@
<!-- Example finding 3D poses of the objects detected --> <!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch zed_wrapper zed.launch --> <!-- $ 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"> <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/> <param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/> <param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/> <param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="" type="str"/> <param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="object" type="str"/> <param name="object_prefix" value="$(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="rgb/image_rect_color" to="/zed/rgb/image_rect_color"/>
<remap from="depth_registered/image_raw" to="/zed/depth/depth_registered"/> <remap from="depth_registered/image_raw" to="/zed/depth/depth_registered"/>

113
src/ros/FindObjectROS.cpp
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@ -37,11 +37,14 @@ using namespace find_object;
FindObjectROS::FindObjectROS(QObject * parent) : FindObjectROS::FindObjectROS(QObject * parent) :
FindObject(true, parent), FindObject(true, parent),
objFramePrefix_("object") objFramePrefix_("object"),
usePnP_(true)
{ {
ros::NodeHandle pnh("~"); // public ros::NodeHandle pnh("~"); // public
pnh.param("object_prefix", objFramePrefix_, objFramePrefix_); pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
pnh.param("pnp", usePnP_, usePnP_);
ROS_INFO("object_prefix = %s", objFramePrefix_.c_str()); ROS_INFO("object_prefix = %s", objFramePrefix_.c_str());
ROS_INFO("pnp = %s", usePnP_?"true":"false");
ros::NodeHandle nh; // public ros::NodeHandle nh; // public
@ -83,55 +86,101 @@ void FindObjectROS::publish(const find_object::DetectionInfo & info, const QStri
// Find center of the object // Find center of the object
QPointF center = iter->map(QPointF(objectWidth/2, objectHeight/2)); QPointF center = iter->map(QPointF(objectWidth/2, objectHeight/2));
QPointF xAxis = iter->map(QPointF(3*objectWidth/4, objectHeight/2));
QPointF yAxis = iter->map(QPointF(objectWidth/2, 3*objectHeight/4));
cv::Vec3f center3D = this->getDepth(depth, cv::Vec3f center3D = this->getDepth(depth,
center.x()+0.5f, center.y()+0.5f, center.x()+0.5f, center.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f, float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant); 1.0f/depthConstant, 1.0f/depthConstant);
cv::Vec3f axisEndX = this->getDepth(depth, cv::Vec3f axisEndX;
xAxis.x()+0.5f, xAxis.y()+0.5f, cv::Vec3f axisEndY;
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f, if(!usePnP_)
1.0f/depthConstant, 1.0f/depthConstant); {
QPointF xAxis = iter->map(QPointF(3*objectWidth/4, objectHeight/2));
axisEndX = this->getDepth(depth,
xAxis.x()+0.5f, xAxis.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant);
cv::Vec3f axisEndY = this->getDepth(depth, QPointF yAxis = iter->map(QPointF(objectWidth/2, 3*objectHeight/4));
yAxis.x()+0.5f, yAxis.y()+0.5f, axisEndY = this->getDepth(depth,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f, yAxis.x()+0.5f, yAxis.y()+0.5f,
1.0f/depthConstant, 1.0f/depthConstant); float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant);
}
if(std::isfinite(center3D.val[0]) && std::isfinite(center3D.val[1]) && std::isfinite(center3D.val[2]) && if((std::isfinite(center3D.val[2]) && usePnP_) ||
std::isfinite(axisEndX.val[0]) && std::isfinite(axisEndX.val[1]) && std::isfinite(axisEndX.val[2]) && (std::isfinite(center3D.val[0]) && std::isfinite(center3D.val[1]) && std::isfinite(center3D.val[2]) &&
std::isfinite(axisEndY.val[0]) && std::isfinite(axisEndY.val[1]) && std::isfinite(axisEndY.val[2])) std::isfinite(axisEndX.val[0]) && std::isfinite(axisEndX.val[1]) && std::isfinite(axisEndX.val[2]) &&
std::isfinite(axisEndY.val[0]) && std::isfinite(axisEndY.val[1]) && std::isfinite(axisEndY.val[2])))
{ {
tf::StampedTransform transform; tf::StampedTransform transform;
transform.setIdentity(); transform.setIdentity();
transform.child_frame_id_ = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString(); transform.child_frame_id_ = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();
transform.frame_id_ = frameId.toStdString(); transform.frame_id_ = frameId.toStdString();
transform.stamp_.fromSec(stamp); transform.stamp_.fromSec(stamp);
transform.setOrigin(tf::Vector3(center3D.val[0], center3D.val[1], center3D.val[2]));
//set rotation
tf::Vector3 xAxis(axisEndX.val[0] - center3D.val[0], axisEndX.val[1] - center3D.val[1], axisEndX.val[2] - center3D.val[2]);
xAxis.normalize();
tf::Vector3 yAxis(axisEndY.val[0] - center3D.val[0], axisEndY.val[1] - center3D.val[1], axisEndY.val[2] - center3D.val[2]);
yAxis.normalize();
tf::Vector3 zAxis = xAxis.cross(yAxis);
zAxis.normalize();
tf::Matrix3x3 rotationMatrix(
xAxis.x(), yAxis.x() ,zAxis.x(),
xAxis.y(), yAxis.y(), zAxis.y(),
xAxis.z(), yAxis.z(), zAxis.z());
tf::Quaternion q; tf::Quaternion q;
rotationMatrix.getRotation(q); if(usePnP_)
{
std::vector<cv::Point3f> objectPoints(4);
std::vector<cv::Point2f> imagePoints(4);
objectPoints[0] = cv::Point3f(-0.5, -(objectHeight/objectWidth)/2.0f,0);
objectPoints[1] = cv::Point3f(0.5,-(objectHeight/objectWidth)/2.0f,0);
objectPoints[2] = cv::Point3f(0.5,(objectHeight/objectWidth)/2.0f,0);
objectPoints[3] = cv::Point3f(-0.5,(objectHeight/objectWidth)/2.0f,0);
QPointF pt = iter->map(QPointF(0, 0));
imagePoints[0] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(objectWidth, 0));
imagePoints[1] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(objectWidth, objectHeight));
imagePoints[2] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(0, objectHeight));
imagePoints[3] = cv::Point2f(pt.x(), pt.y());
cv::Mat cameraMatrix = cv::Mat::eye(3,3,CV_64FC1);
cameraMatrix.at<double>(0,0) = 1.0f/depthConstant;
cameraMatrix.at<double>(1,1) = 1.0f/depthConstant;
cameraMatrix.at<double>(0,2) = float(depth.cols/2)-0.5f;
cameraMatrix.at<double>(1,2) = float(depth.rows/2)-0.5f;
cv::Mat distCoeffs;
cv::Mat rvec(1,3, CV_64FC1);
cv::Mat tvec(1,3, CV_64FC1);
cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
cv::Mat R;
cv::Rodrigues(rvec, R);
tf::Matrix3x3 rotationMatrix(
R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
rotationMatrix.getRotation(q);
transform.setOrigin(tf::Vector3(
tvec.at<double>(0)*(center3D.val[2]/tvec.at<double>(2)),
tvec.at<double>(1)*(center3D.val[2]/tvec.at<double>(2)),
tvec.at<double>(2)*(center3D.val[2]/tvec.at<double>(2))));
}
else
{
tf::Vector3 xAxis(axisEndX.val[0] - center3D.val[0], axisEndX.val[1] - center3D.val[1], axisEndX.val[2] - center3D.val[2]);
xAxis.normalize();
tf::Vector3 yAxis(axisEndY.val[0] - center3D.val[0], axisEndY.val[1] - center3D.val[1], axisEndY.val[2] - center3D.val[2]);
yAxis.normalize();
tf::Vector3 zAxis = xAxis.cross(yAxis);
zAxis.normalize();
tf::Matrix3x3 rotationMatrix(
xAxis.x(), yAxis.x() ,zAxis.x(),
xAxis.y(), yAxis.y(), zAxis.y(),
xAxis.z(), yAxis.z(), zAxis.z());
rotationMatrix.getRotation(q);
transform.setOrigin(tf::Vector3(center3D.val[0], center3D.val[1], center3D.val[2]));
}
// set x axis going front of the object, with z up and z left // set x axis going front of the object, with z up and z left
q *= tf::createQuaternionFromRPY(CV_PI/2.0, CV_PI/2.0, 0); q *= tf::createQuaternionFromRPY(CV_PI/2.0, CV_PI/2.0, 0);
transform.setRotation(q.normalized()); transform.setRotation(q.normalized());
ROS_WARN("%f %f %f (%f %f %f %f)", center3D.val[0], center3D.val[1], center3D.val[2],
transform.getRotation().x(), transform.getRotation().y(), transform.getRotation().z(), transform.getRotation().w());
transforms.push_back(transform); transforms.push_back(transform);
} }
else else

1
src/ros/FindObjectROS.h
View File

@ -63,6 +63,7 @@ private:
ros::Publisher pubInfo_; ros::Publisher pubInfo_;
std::string objFramePrefix_; std::string objFramePrefix_;
bool usePnP_;
tf::TransformBroadcaster tfBroadcaster_; tf::TransformBroadcaster tfBroadcaster_;
}; };

24
src/ros/tf_example_node.cpp
View File

@ -34,11 +34,10 @@ class TfExample
{ {
public: public:
TfExample() : TfExample() :
mapFrameId_("/map"),
objFramePrefix_("object") objFramePrefix_("object")
{ {
ros::NodeHandle pnh("~"); ros::NodeHandle pnh("~");
pnh.param("map_frame_id", mapFrameId_, mapFrameId_); pnh.param("target_frame_id", targetFrameId_, targetFrameId_);
pnh.param("object_prefix", objFramePrefix_, objFramePrefix_); pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
ros::NodeHandle nh; ros::NodeHandle nh;
@ -51,6 +50,11 @@ public:
{ {
if(msg->objects.data.size()) if(msg->objects.data.size())
{ {
std::string targetFrameId = targetFrameId_;
if(targetFrameId.empty())
{
targetFrameId = msg->header.frame_id;
}
char multiSubId = 'b'; char multiSubId = 'b';
int previousId = -1; int previousId = -1;
for(unsigned int i=0; i<msg->objects.data.size(); i+=12) for(unsigned int i=0; i<msg->objects.data.size(); i+=12)
@ -73,13 +77,11 @@ public:
std::string objectFrameId = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString(); std::string objectFrameId = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();
tf::StampedTransform pose; tf::StampedTransform pose;
tf::StampedTransform poseCam;
try try
{ {
// Get transformation from "object_#" frame to target frame "map" // Get transformation from "object_#" frame to target frame
// The timestamp matches the one sent over TF // The timestamp matches the one sent over TF
tfListener_.lookupTransform(mapFrameId_, objectFrameId, msg->header.stamp, pose); tfListener_.lookupTransform(targetFrameId, objectFrameId, msg->header.stamp, pose);
tfListener_.lookupTransform(msg->header.frame_id, objectFrameId, msg->header.stamp, poseCam);
} }
catch(tf::TransformException & ex) catch(tf::TransformException & ex)
{ {
@ -87,21 +89,17 @@ public:
continue; continue;
} }
// Here "pose" is the position of the object "id" in "/map" frame. // Here "pose" is the position of the object "id" in target frame.
ROS_INFO("%s [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]", ROS_INFO("%s [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
objectFrameId.c_str(), mapFrameId_.c_str(), objectFrameId.c_str(), targetFrameId.c_str(),
pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z(), pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z(),
pose.getRotation().x(), pose.getRotation().y(), pose.getRotation().z(), pose.getRotation().w()); pose.getRotation().x(), pose.getRotation().y(), pose.getRotation().z(), pose.getRotation().w());
ROS_INFO("%s [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
objectFrameId.c_str(), msg->header.frame_id.c_str(),
poseCam.getOrigin().x(), poseCam.getOrigin().y(), poseCam.getOrigin().z(),
poseCam.getRotation().x(), poseCam.getRotation().y(), poseCam.getRotation().z(), poseCam.getRotation().w());
} }
} }
} }
private: private:
std::string mapFrameId_; std::string targetFrameId_;
std::string objFramePrefix_; std::string objFramePrefix_;
ros::Subscriber subs_; ros::Subscriber subs_;
tf::TransformListener tfListener_; tf::TransformListener tfListener_;