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Created vision node

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Pimpest
2026-04-10 18:57:32 +02:00
parent 2c0aae45d6
commit dd30e776c1
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toid_vision/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(toid_vision)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
set(PACKAGE_DEPS
rclcpp
sensor_msgs
message_filters
cv_bridge
OpenCV
tf2
tf2_ros
tf2_geometry_msgs
)
foreach(PACKAGE ${PACKAGE_DEPS})
find_package(${PACKAGE} REQUIRED)
endforeach()
find_package(OpenCV 4 REQUIRED
COMPONENTS
opencv_core
opencv_aruco
opencv_imgproc
opencv_imgcodecs
)
set(SOURCES
src/toid_vision.cpp
src/vision.cpp
)
add_executable(toid_vision ${SOURCES})
target_include_directories(
toid_vision
PRIVATE
include
)
ament_target_dependencies(toid_vision ${PACKAGE_DEPS})
install(TARGETS toid_vision DESTINATION lib/${PROJECT_NAME})
target_compile_features(
toid_vision PUBLIC
c_std_99
cxx_std_17
)
ament_package()

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toid_vision/include/toid_vision/toid_vision.hpp Normal file
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#pragma once
#include <string>
#include <vector>
#include "message_filters/subscriber.hpp"
#include "message_filters/sync_policies/approximate_time.hpp"
#include "message_filters/time_synchronizer.hpp"
#include "opencv2/aruco.hpp"
#include "opencv2/objdetect.hpp"
#include "opencv2/opencv.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/compressed_image.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "std_msgs/msg/string.hpp"
#include "tf2/LinearMath/Quaternion.hpp"
#include "tf2/LinearMath/Transform.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
namespace toid
{
class NutDetector : public rclcpp::Node
{
using SyncPolicy = message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::CompressedImage, sensor_msgs::msg::CameraInfo>;
public:
NutDetector(rclcpp::NodeOptions &options);
public:
void compressed_topic_callback(
const sensor_msgs::msg::CompressedImage::ConstSharedPtr & msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info);
void process_image(
cv::Mat & decodedImage, const std_msgs::msg::Header & header,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info);
void extract_markers(cv::Mat & image);
void get_pose(cv::Vec3d & tvec, cv::Vec3d & rvec, geometry_msgs::msg::Pose & out_pose);
message_filters::Subscriber<sensor_msgs::msg::CompressedImage> compressed_img_sub_;
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cam_info_sub_;
std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_pub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr flip_pub_;
std::vector<std::vector<cv::Point2f>> markerCorners_;
std::vector<int> markerIds_;
std::vector<std::pair<std::vector<cv::Point2f>, int>> markers_;
std::string camera_frame_id_ = "camera";
bool is_blue_;
cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
message_filters::Subscriber<sensor_msgs::msg::Image> img_sub_;
};
} // namespace toid

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toid_vision/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>toid_vision</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="82343504+pimpest@users.noreply.github.com">pimpest</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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toid_vision/src/toid_vision.cpp Normal file
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#include "toid_vision/toid_vision.hpp"
#include <string>
#include <vector>
namespace toid
{
NutDetector::NutDetector(rclcpp::NodeOptions & options)
: Node("compressed_image_subscriber", options)
{
detectorParams_ = cv::aruco::DetectorParameters::create();
dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_100);
bool use_compressed = true;
this->declare_parameter("use_compressed", rclcpp::ParameterValue(true));
this->get_parameter("use_compressed", use_compressed);
this->declare_parameter("camera_frame_id", rclcpp::ParameterValue("camera"));
this->get_parameter("camera_frame_id", camera_frame_id_);
this->declare_parameter("is_blue", rclcpp::ParameterValue(true));
this->get_parameter("is_blue", is_blue_);
compressed_img_sub_.subscribe(this, "/camera/image_raw/compressed");
cam_info_sub_.subscribe(this, "/camera/camera_info");
sync_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(
SyncPolicy(2), compressed_img_sub_, cam_info_sub_);
using namespace std::placeholders;
sync_->registerCallback(std::bind(&NutDetector::compressed_topic_callback, this, _1, _2));
RCLCPP_INFO(this->get_logger(), "NutDetector activated... scanning for DEEZ NUTZ");
pose_pub_ =
this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(1));
flip_pub_ =
this->create_publisher<std_msgs::msg::String>("/to_flip", rclcpp::QoS(1));
}
void NutDetector::compressed_topic_callback(
const sensor_msgs::msg::CompressedImage::ConstSharedPtr & msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info)
{
try {
cv::Mat rawData(1, msg->data.size(), CV_8UC1, (void *)msg->data.data());
cv::Mat decodedImage = cv::imdecode(rawData, cv::IMREAD_COLOR);
if (decodedImage.empty()) {
RCLCPP_ERROR(this->get_logger(), "Could not decode image!");
return;
}
process_image(decodedImage, msg->header, cam_info);
} catch (const std::exception & e) {
RCLCPP_ERROR(this->get_logger(), "Error processing image: %s", e.what());
}
}
void NutDetector::process_image(
cv::Mat & decodedImage, const std_msgs::msg::Header & header,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info)
{
markers_.clear();
extract_markers(decodedImage);
if (markers_.empty()) {
return;
}
std::vector<cv::Vec3d> rvecs, tvecs;
cv::Mat k = cv::Mat(3, 3, CV_64F, (void *)cam_info->k.data());
cv::aruco::estimatePoseSingleMarkers(markerCorners_, 0.03, k, cam_info->d, rvecs, tvecs);
size_t prev = 0;
std::string colors = "";
for (size_t i = 0; i < markerIds_.size(); i++) {
const int idx = markers_[i].second;
if (markerIds_[idx] != 47 && markerIds_[idx] != 36) {
continue;
}
RCLCPP_DEBUG(
this->get_logger(), "Marker %ld at %lf %lf", i, markerCorners_[idx][0].x,
markerCorners_[idx][0].y);
RCLCPP_DEBUG(
this->get_logger(), "World coords: %lf %lf %lf", tvecs[idx][0], tvecs[idx][1], tvecs[idx][2]);
float dx = tvecs[idx][0] - tvecs[prev][0];
float dy = tvecs[idx][1] - tvecs[prev][1];
float dz = tvecs[idx][2] - tvecs[prev][2];
float dist = std::sqrt(dx * dx + dy * dy + dz * dz);
RCLCPP_DEBUG(this->get_logger(), "Dist from prev: %lf", dist);
if (dist > 0.07) {
continue;
}
prev = idx;
colors += (markerIds_[idx] == 36) ? "b" : "y";
if (colors.size() > 3) {
break;
}
}
if (colors.size() == 4) {
RCLCPP_DEBUG(this->get_logger(), "Last seen orientation: %s", colors.c_str());
for(int i = 0; i<4; i++) {
if(colors[i] == 'b') {
colors[i] = (is_blue_)? '0' : '1';
} else {
colors[i] = (is_blue_)? '1' : '0';
}
}
RCLCPP_DEBUG(this->get_logger(), "Last seen orientation: %s", colors.c_str());
std_msgs::msg::String m;
m.data = colors;
flip_pub_->publish(m);
}
geometry_msgs::msg::PoseStamped pose;
get_pose(tvecs[markers_[0].second], rvecs[markers_[0].second], pose.pose);
pose.header.frame_id = camera_frame_id_;
pose.header.stamp = header.stamp;
pose_pub_->publish(pose);
}
void NutDetector::extract_markers(cv::Mat & image)
{
cv::aruco::detectMarkers(image, dictionary_, markerCorners_, markerIds_, detectorParams_);
// cv::aruco::drawDetectedMarkers(image, markerCorners_, markerIds_);
markers_.reserve(markerIds_.size());
markers_.resize(markerIds_.size());
for (size_t i = 0; i < markerIds_.size(); i++) {
markers_[i].first = markerCorners_[i];
markers_[i].second = i;
}
std::sort(
markers_.begin(), markers_.end(),
[](std::pair<std::vector<cv::Point2f>, int> & a, std::pair<std::vector<cv::Point2f>, int> & b) {
return a.first[0].y > b.first[0].y;
});
}
void NutDetector::get_pose(cv::Vec3d & tvec, cv::Vec3d & rvec, geometry_msgs::msg::Pose & out_pose)
{
cv::Mat R;
cv::Rodrigues(rvec, R);
tf2::Matrix3x3 tf2_rot{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)};
tf2::Quaternion q;
tf2_rot.getRotation(q);
tf2::convert(q, out_pose.orientation);
out_pose.position.x = tvec[0];
out_pose.position.y = tvec[1];
out_pose.position.z = tvec[2];
}
} // namespace toid

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#include "toid_vision/toid_vision.hpp"
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
rclcpp::spin(std::make_shared<toid::NutDetector>(options));
rclcpp::shutdown();
return 0;
}