├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── calibrate_homography ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── calculate_homography.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── calculate_homography.cpp.o │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── cmake.check_cache │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ └── test_homography.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── test_homography.cpp.o │ ├── Makefile │ ├── calculate_homography │ ├── cmake_install.cmake │ └── test_homography ├── calculate_homography.cpp ├── calibration_points.yml ├── calibration_points.yml~ ├── homography-old.xml ├── homography.xml ├── parameters.yml ├── parameters.yml~ ├── resize.bash ├── segmentation-output.jpg └── test_homography.cpp ├── costmap_plugins.xml ├── images └── nodes.png ├── include └── deep_nav_layers │ └── segmentation_layer.h ├── package.xml └── src └── segmentation_layer.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(deep_nav_layers) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | costmap_2d 12 | dynamic_reconfigure 13 | roscpp 14 | cv_bridge 15 | ) 16 | 17 | find_package(OpenCV REQUIRED) 18 | 19 | ## System dependencies are found with CMake's conventions 20 | # find_package(Boost REQUIRED COMPONENTS system) 21 | 22 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 23 | # generate_dynamic_reconfigure_options( 24 | # cfg/DynReconf1.cfg 25 | # cfg/DynReconf2.cfg 26 | # ) 27 | 28 | ################################### 29 | ## catkin specific configuration ## 30 | ################################### 31 | ## The catkin_package macro generates cmake config files for your package 32 | ## Declare things to be passed to dependent projects 33 | ## INCLUDE_DIRS: uncomment this if you package contains header files 34 | ## LIBRARIES: libraries you create in this project that dependent projects also need 35 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 36 | ## DEPENDS: system dependencies of this project that dependent projects also need 37 | catkin_package( 38 | INCLUDE_DIRS include 39 | # LIBRARIES deep_nav 40 | CATKIN_DEPENDS costmap_2d dynamic_reconfigure 41 | # DEPENDS system_lib 42 | ) 43 | 44 | ########### 45 | ## Build ## 46 | ########### 47 | 48 | ## Specify additional locations of header files 49 | ## Your package locations should be listed before other locations 50 | include_directories( 51 | include 52 | ${catkin_INCLUDE_DIRS} 53 | ${OpenCV_INCLUDE_DIRS} 54 | ) 55 | 56 | ## Declare a C++ library 57 | add_library(${PROJECT_NAME} 58 | src/segmentation_layer.cpp 59 | ) 60 | 61 | ## Add cmake target dependencies of the library 62 | ## as an example, code may need to be generated before libraries 63 | ## either from message generation or dynamic reconfigure 64 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 65 | 66 | ## Declare a C++ executable 67 | ## With catkin_make all packages are built within a single CMake context 68 | ## The recommended prefix ensures that target names across packages don't collide 69 | # add_executable(${PROJECT_NAME}_node src/deep_nav_node.cpp) 70 | 71 | ## Rename C++ executable without prefix 72 | ## The above recommended prefix causes long target names, the following renames the 73 | ## target back to the shorter version for ease of user use 74 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 75 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 76 | 77 | ## Add cmake target dependencies of the executable 78 | ## same as for the library above 79 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 80 | 81 | ## Specify libraries to link a library or executable target against 82 | target_link_libraries(${PROJECT_NAME} 83 | ${catkin_LIBRARIES} 84 | ${OpenCV_LIBRARIES} 85 | ) 86 | 87 | ############# 88 | ## Install ## 89 | ############# 90 | 91 | # all install targets should use catkin DESTINATION variables 92 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 93 | 94 | ## Mark executable scripts (Python etc.) for installation 95 | ## in contrast to setup.py, you can choose the destination 96 | # install(PROGRAMS 97 | # scripts/my_python_script 98 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 99 | # ) 100 | 101 | ## Mark executables and/or libraries for installation 102 | #install(TARGETS ${PROJECT_NAME} 103 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 104 | # ) 105 | 106 | ## Mark cpp header files for installation 107 | #install(DIRECTORY include/${PROJECT_NAME}/ 108 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 109 | # FILES_MATCHING PATTERN "*.h" 110 | # PATTERN ".svn" EXCLUDE 111 | #) 112 | 113 | ## Mark other files for installation (e.g. launch and bag files, etc.) 114 | # install(FILES 115 | # # myfile1 116 | # # myfile2 117 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 118 | # ) 119 | 120 | install(FILES costmap_plugins.xml 121 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 122 | ) 123 | 124 | install(TARGETS ${PROJECT_NAME} 125 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 126 | ) 127 | 128 | set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX) 129 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved. 2 | 3 | Redistribution and use in source and binary forms, with or without 4 | modification, are permitted provided that the following conditions 5 | are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of NVIDIA CORPORATION nor the names of its 12 | contributors may be used to endorse or promote products derived 13 | from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY 16 | EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 18 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 19 | CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 20 | EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 21 | PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY 23 | OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 24 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # deep_nav_layers 2 | A series of plug-ins to the ROS navigation stack to incorporate deep learning inputs. 3 | 4 | This work provides a promising look at the potential to leverage both the power of robotics and deep learning alongside each other. This technique has several real-world applications such as detecting stairs, potholes or other hazards to robots in unstructured environments. 5 | 6 | 7 | ![ROS Pipeline for deep_nav_layers](https://github.com/NVIDIA-AI-IOT/deep_nav_layers/blob/master/images/nodes.png?raw=true) 8 | 9 | Required Package: 10 | - ROS Kinetic 11 | - [NVIDIA-AI-IOT/caffe_ros](https://github.com/NVIDIA-AI-IOT/caffe_ros) 12 | 13 | Following are the steps: 14 | 15 | - On Terminal #1 16 | ```bash ~/jetson-UGV/tools/sim-mode.bash``` 17 | 18 | - On Terminal #2 19 | ```roslaunch jackal_navigation chameleon_nav.launch from_bag:=true``` 20 | 21 | - On Terminal #3 22 | ```rosrun rviz rviz -d ~/jetson-UGV/ros/jackal_viz/navigation.rviz``` 23 | 24 | - On Terminal #1 25 | ```rosbag play /ssd/lastDay.bag --clock``` 26 | -------------------------------------------------------------------------------- /calibrate_homography/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | set (CMAKE_CXX_STANDARD 14) 3 | 4 | project( calibrate_homography ) 5 | find_package( OpenCV REQUIRED ) 6 | include_directories( ${OpenCV_INCLUDE_DIRS} ) 7 | add_executable( calculate_homography calculate_homography.cpp ) 8 | add_executable( test_homography test_homography.cpp ) 9 | target_link_libraries( calculate_homography ${OpenCV_LIBS} ) 10 | target_link_libraries( test_homography ${OpenCV_LIBS} ) 11 | -------------------------------------------------------------------------------- /calibrate_homography/build/CMakeCache.txt: -------------------------------------------------------------------------------- 1 | # This is the CMakeCache file. 2 | # For build in directory: /home/nvidia/deep_nav_layers/calibrate_homography/build 3 | # It was generated by CMake: /usr/bin/cmake 4 | # You can edit this file to change values found and used by cmake. 5 | # If you do not want to change any of the values, simply exit the editor. 6 | # If you do want to 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DEC(_SGI_COMPILER_VERSION % 10) 250 | # else 251 | /* _COMPILER_VERSION = VRP */ 252 | # define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) 253 | # define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) 254 | # define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) 255 | # endif 256 | 257 | 258 | /* These compilers are either not known or too old to define an 259 | identification macro. Try to identify the platform and guess that 260 | it is the native compiler. */ 261 | #elif defined(__sgi) 262 | # define COMPILER_ID "MIPSpro" 263 | 264 | #elif defined(__hpux) || defined(__hpua) 265 | # define COMPILER_ID "HP" 266 | 267 | #else /* unknown compiler */ 268 | # define COMPILER_ID "" 269 | #endif 270 | 271 | /* Construct the string literal in pieces to prevent the source from 272 | getting matched. Store it in a pointer rather than an array 273 | because some compilers will just produce instructions to fill the 274 | array rather than assigning a pointer to a static array. */ 275 | char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; 276 | #ifdef SIMULATE_ID 277 | char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; 278 | #endif 279 | 280 | #ifdef __QNXNTO__ 281 | char const* qnxnto = "INFO" ":" "qnxnto[]"; 282 | #endif 283 | 284 | #if defined(__CRAYXE) || defined(__CRAYXC) 285 | char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; 286 | #endif 287 | 288 | #define STRINGIFY_HELPER(X) #X 289 | #define STRINGIFY(X) STRINGIFY_HELPER(X) 290 | 291 | /* Identify known platforms by name. */ 292 | #if defined(__linux) || defined(__linux__) || defined(linux) 293 | # define PLATFORM_ID "Linux" 294 | 295 | #elif defined(__CYGWIN__) 296 | # define PLATFORM_ID "Cygwin" 297 | 298 | #elif defined(__MINGW32__) 299 | # define PLATFORM_ID "MinGW" 300 | 301 | #elif defined(__APPLE__) 302 | # define PLATFORM_ID "Darwin" 303 | 304 | #elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) 305 | # define PLATFORM_ID "Windows" 306 | 307 | #elif defined(__FreeBSD__) || defined(__FreeBSD) 308 | # define PLATFORM_ID "FreeBSD" 309 | 310 | #elif defined(__NetBSD__) || defined(__NetBSD) 311 | # define PLATFORM_ID "NetBSD" 312 | 313 | #elif defined(__OpenBSD__) || defined(__OPENBSD) 314 | # define PLATFORM_ID "OpenBSD" 315 | 316 | #elif defined(__sun) || defined(sun) 317 | # define PLATFORM_ID "SunOS" 318 | 319 | #elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) 320 | # define PLATFORM_ID "AIX" 321 | 322 | #elif defined(__sgi) || defined(__sgi__) || defined(_SGI) 323 | # define PLATFORM_ID "IRIX" 324 | 325 | #elif defined(__hpux) || defined(__hpux__) 326 | # define PLATFORM_ID "HP-UX" 327 | 328 | #elif defined(__HAIKU__) 329 | # define PLATFORM_ID "Haiku" 330 | 331 | #elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) 332 | # define PLATFORM_ID "BeOS" 333 | 334 | #elif defined(__QNX__) || defined(__QNXNTO__) 335 | # define PLATFORM_ID "QNX" 336 | 337 | #elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) 338 | # define PLATFORM_ID "Tru64" 339 | 340 | #elif defined(__riscos) || defined(__riscos__) 341 | # define PLATFORM_ID "RISCos" 342 | 343 | #elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) 344 | # define PLATFORM_ID "SINIX" 345 | 346 | #elif defined(__UNIX_SV__) 347 | # define PLATFORM_ID "UNIX_SV" 348 | 349 | #elif defined(__bsdos__) 350 | # define PLATFORM_ID "BSDOS" 351 | 352 | #elif defined(_MPRAS) || defined(MPRAS) 353 | # define PLATFORM_ID "MP-RAS" 354 | 355 | #elif defined(__osf) || defined(__osf__) 356 | # define PLATFORM_ID "OSF1" 357 | 358 | #elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) 359 | # define PLATFORM_ID "SCO_SV" 360 | 361 | #elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) 362 | # define PLATFORM_ID "ULTRIX" 363 | 364 | #elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) 365 | # define PLATFORM_ID "Xenix" 366 | 367 | #elif defined(__WATCOMC__) 368 | # if defined(__LINUX__) 369 | # define PLATFORM_ID "Linux" 370 | 371 | # elif defined(__DOS__) 372 | # define PLATFORM_ID "DOS" 373 | 374 | # elif defined(__OS2__) 375 | # define PLATFORM_ID "OS2" 376 | 377 | # elif defined(__WINDOWS__) 378 | # define PLATFORM_ID "Windows3x" 379 | 380 | # else /* unknown platform */ 381 | # define PLATFORM_ID "" 382 | # endif 383 | 384 | #else /* unknown platform */ 385 | # define PLATFORM_ID "" 386 | 387 | #endif 388 | 389 | /* For windows compilers MSVC and Intel we can determine 390 | the architecture of the compiler being used. This is because 391 | the compilers do not have flags that can change the architecture, 392 | but rather depend on which compiler is being used 393 | */ 394 | #if defined(_WIN32) && defined(_MSC_VER) 395 | # if defined(_M_IA64) 396 | # define ARCHITECTURE_ID "IA64" 397 | 398 | # elif defined(_M_X64) || defined(_M_AMD64) 399 | # define ARCHITECTURE_ID "x64" 400 | 401 | # elif defined(_M_IX86) 402 | # define ARCHITECTURE_ID "X86" 403 | 404 | # elif defined(_M_ARM) 405 | # if _M_ARM == 4 406 | # define ARCHITECTURE_ID "ARMV4I" 407 | # elif _M_ARM == 5 408 | # define ARCHITECTURE_ID "ARMV5I" 409 | # else 410 | # define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) 411 | # endif 412 | 413 | # elif defined(_M_MIPS) 414 | # define ARCHITECTURE_ID "MIPS" 415 | 416 | # elif defined(_M_SH) 417 | # define ARCHITECTURE_ID "SHx" 418 | 419 | # else /* unknown architecture */ 420 | # define ARCHITECTURE_ID "" 421 | # endif 422 | 423 | #elif defined(__WATCOMC__) 424 | # if defined(_M_I86) 425 | # define ARCHITECTURE_ID "I86" 426 | 427 | # elif defined(_M_IX86) 428 | # define ARCHITECTURE_ID "X86" 429 | 430 | # else /* unknown architecture */ 431 | # define ARCHITECTURE_ID "" 432 | # endif 433 | 434 | #else 435 | # define ARCHITECTURE_ID "" 436 | #endif 437 | 438 | /* Convert integer to decimal digit literals. */ 439 | #define DEC(n) \ 440 | ('0' + (((n) / 10000000)%10)), \ 441 | ('0' + (((n) / 1000000)%10)), \ 442 | ('0' + (((n) / 100000)%10)), \ 443 | ('0' + (((n) / 10000)%10)), \ 444 | ('0' + (((n) / 1000)%10)), \ 445 | ('0' + (((n) / 100)%10)), \ 446 | ('0' + (((n) / 10)%10)), \ 447 | ('0' + ((n) % 10)) 448 | 449 | /* Convert integer to hex digit literals. */ 450 | #define HEX(n) \ 451 | ('0' + ((n)>>28 & 0xF)), \ 452 | ('0' + ((n)>>24 & 0xF)), \ 453 | ('0' + ((n)>>20 & 0xF)), \ 454 | ('0' + ((n)>>16 & 0xF)), \ 455 | ('0' + ((n)>>12 & 0xF)), \ 456 | ('0' + ((n)>>8 & 0xF)), \ 457 | ('0' + ((n)>>4 & 0xF)), \ 458 | ('0' + ((n) & 0xF)) 459 | 460 | /* Construct a string literal encoding the version number components. */ 461 | #ifdef COMPILER_VERSION_MAJOR 462 | char const info_version[] = { 463 | 'I', 'N', 'F', 'O', ':', 464 | 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', 465 | COMPILER_VERSION_MAJOR, 466 | # ifdef COMPILER_VERSION_MINOR 467 | '.', COMPILER_VERSION_MINOR, 468 | # ifdef COMPILER_VERSION_PATCH 469 | '.', COMPILER_VERSION_PATCH, 470 | # ifdef COMPILER_VERSION_TWEAK 471 | '.', COMPILER_VERSION_TWEAK, 472 | # endif 473 | # endif 474 | # endif 475 | ']','\0'}; 476 | #endif 477 | 478 | /* Construct a string literal encoding the version number components. */ 479 | #ifdef SIMULATE_VERSION_MAJOR 480 | char const info_simulate_version[] = { 481 | 'I', 'N', 'F', 'O', ':', 482 | 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', 483 | SIMULATE_VERSION_MAJOR, 484 | # ifdef SIMULATE_VERSION_MINOR 485 | '.', SIMULATE_VERSION_MINOR, 486 | # ifdef SIMULATE_VERSION_PATCH 487 | '.', SIMULATE_VERSION_PATCH, 488 | # ifdef SIMULATE_VERSION_TWEAK 489 | '.', SIMULATE_VERSION_TWEAK, 490 | # endif 491 | # endif 492 | # endif 493 | ']','\0'}; 494 | #endif 495 | 496 | /* Construct the string literal in pieces to prevent the source from 497 | getting matched. Store it in a pointer rather than an array 498 | because some compilers will just produce instructions to fill the 499 | array rather than assigning a pointer to a static array. */ 500 | char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; 501 | char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; 502 | 503 | 504 | 505 | 506 | const char* info_language_dialect_default = "INFO" ":" "dialect_default[" 507 | #if !defined(__STDC_VERSION__) 508 | "90" 509 | #elif __STDC_VERSION__ >= 201000L 510 | "11" 511 | #elif __STDC_VERSION__ >= 199901L 512 | "99" 513 | #else 514 | #endif 515 | "]"; 516 | 517 | /*--------------------------------------------------------------------------*/ 518 | 519 | #ifdef ID_VOID_MAIN 520 | void main() {} 521 | #else 522 | int main(int argc, char* argv[]) 523 | { 524 | int require = 0; 525 | require += info_compiler[argc]; 526 | require += info_platform[argc]; 527 | require += info_arch[argc]; 528 | #ifdef COMPILER_VERSION_MAJOR 529 | require += info_version[argc]; 530 | #endif 531 | #ifdef SIMULATE_ID 532 | require += info_simulate[argc]; 533 | #endif 534 | #ifdef SIMULATE_VERSION_MAJOR 535 | require += info_simulate_version[argc]; 536 | #endif 537 | #if defined(__CRAYXE) || defined(__CRAYXC) 538 | require += info_cray[argc]; 539 | #endif 540 | require += info_language_dialect_default[argc]; 541 | (void)argv; 542 | return require; 543 | } 544 | #endif 545 | -------------------------------------------------------------------------------- /calibrate_homography/build/CMakeFiles/3.5.1/CompilerIdC/a.out: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVIDIA-AI-IOT/deep_nav_layers/f75d8229afa41e5a6ce347d2abf672cdaf60f402/calibrate_homography/build/CMakeFiles/3.5.1/CompilerIdC/a.out -------------------------------------------------------------------------------- /calibrate_homography/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp: -------------------------------------------------------------------------------- 1 | /* This source file must have a .cpp extension so that all C++ compilers 2 | recognize the extension without flags. Borland does not know .cxx for 3 | example. */ 4 | #ifndef __cplusplus 5 | # error "A C compiler has been selected for C++." 6 | #endif 7 | 8 | 9 | /* Version number components: V=Version, R=Revision, P=Patch 10 | Version date components: YYYY=Year, MM=Month, DD=Day */ 11 | 12 | #if defined(__COMO__) 13 | # define COMPILER_ID "Comeau" 14 | /* __COMO_VERSION__ = VRR */ 15 | # define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) 16 | # define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) 17 | 18 | #elif defined(__INTEL_COMPILER) || defined(__ICC) 19 | # define COMPILER_ID "Intel" 20 | # if defined(_MSC_VER) 21 | # define SIMULATE_ID "MSVC" 22 | # endif 23 | /* __INTEL_COMPILER = VRP */ 24 | # define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) 25 | # define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) 26 | # if defined(__INTEL_COMPILER_UPDATE) 27 | # define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) 28 | # else 29 | # define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) 30 | # endif 31 | # if defined(__INTEL_COMPILER_BUILD_DATE) 32 | /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ 33 | # define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) 34 | # endif 35 | # if defined(_MSC_VER) 36 | /* _MSC_VER = VVRR */ 37 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 38 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 39 | # endif 40 | 41 | #elif defined(__PATHCC__) 42 | # define COMPILER_ID "PathScale" 43 | # define COMPILER_VERSION_MAJOR DEC(__PATHCC__) 44 | # define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) 45 | # if defined(__PATHCC_PATCHLEVEL__) 46 | # define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) 47 | # endif 48 | 49 | #elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) 50 | # define COMPILER_ID "Embarcadero" 51 | # define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) 52 | # define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) 53 | # define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) 54 | 55 | #elif defined(__BORLANDC__) 56 | # define COMPILER_ID "Borland" 57 | /* __BORLANDC__ = 0xVRR */ 58 | # define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) 59 | # define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) 60 | 61 | #elif defined(__WATCOMC__) && __WATCOMC__ < 1200 62 | # define COMPILER_ID "Watcom" 63 | /* __WATCOMC__ = VVRR */ 64 | # define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) 65 | # define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) 66 | # if (__WATCOMC__ % 10) > 0 67 | # define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) 68 | # endif 69 | 70 | #elif defined(__WATCOMC__) 71 | # define COMPILER_ID "OpenWatcom" 72 | /* __WATCOMC__ = VVRP + 1100 */ 73 | # define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) 74 | # define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) 75 | # if (__WATCOMC__ % 10) > 0 76 | # define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) 77 | # endif 78 | 79 | #elif defined(__SUNPRO_CC) 80 | # define COMPILER_ID "SunPro" 81 | # if __SUNPRO_CC >= 0x5100 82 | /* __SUNPRO_CC = 0xVRRP */ 83 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) 84 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) 85 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 86 | # else 87 | /* __SUNPRO_CC = 0xVRP */ 88 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) 89 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) 90 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 91 | # endif 92 | 93 | #elif defined(__HP_aCC) 94 | # define COMPILER_ID "HP" 95 | /* __HP_aCC = VVRRPP */ 96 | # define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) 97 | # define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) 98 | # define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) 99 | 100 | #elif defined(__DECCXX) 101 | # define COMPILER_ID "Compaq" 102 | /* __DECCXX_VER = VVRRTPPPP */ 103 | # define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) 104 | # define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) 105 | # define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) 106 | 107 | #elif defined(__IBMCPP__) && defined(__COMPILER_VER__) 108 | # define COMPILER_ID "zOS" 109 | /* __IBMCPP__ = VRP */ 110 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 111 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 112 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 113 | 114 | #elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 115 | # define COMPILER_ID "XL" 116 | /* __IBMCPP__ = VRP */ 117 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 118 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 119 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 120 | 121 | #elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 122 | # define COMPILER_ID "VisualAge" 123 | /* __IBMCPP__ = VRP */ 124 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 125 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 126 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 127 | 128 | #elif defined(__PGI) 129 | # define COMPILER_ID "PGI" 130 | # define COMPILER_VERSION_MAJOR DEC(__PGIC__) 131 | # define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) 132 | # if defined(__PGIC_PATCHLEVEL__) 133 | # define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) 134 | # endif 135 | 136 | #elif defined(_CRAYC) 137 | # define COMPILER_ID "Cray" 138 | # define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) 139 | # define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) 140 | 141 | #elif defined(__TI_COMPILER_VERSION__) 142 | # define COMPILER_ID "TI" 143 | /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ 144 | # define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) 145 | # define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) 146 | # define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) 147 | 148 | #elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) 149 | # define COMPILER_ID "Fujitsu" 150 | 151 | #elif defined(__SCO_VERSION__) 152 | # define COMPILER_ID "SCO" 153 | 154 | #elif defined(__clang__) && defined(__apple_build_version__) 155 | # define COMPILER_ID "AppleClang" 156 | # if defined(_MSC_VER) 157 | # define SIMULATE_ID "MSVC" 158 | # endif 159 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 160 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 161 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 162 | # if defined(_MSC_VER) 163 | /* _MSC_VER = VVRR */ 164 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 165 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 166 | # endif 167 | # define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) 168 | 169 | #elif defined(__clang__) 170 | # define COMPILER_ID "Clang" 171 | # if defined(_MSC_VER) 172 | # define SIMULATE_ID "MSVC" 173 | # endif 174 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 175 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 176 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 177 | # if defined(_MSC_VER) 178 | /* _MSC_VER = VVRR */ 179 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 180 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 181 | # endif 182 | 183 | #elif defined(__GNUC__) 184 | # define COMPILER_ID "GNU" 185 | # define COMPILER_VERSION_MAJOR DEC(__GNUC__) 186 | # if defined(__GNUC_MINOR__) 187 | # define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) 188 | # endif 189 | # if defined(__GNUC_PATCHLEVEL__) 190 | # define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) 191 | # endif 192 | 193 | #elif defined(_MSC_VER) 194 | # define COMPILER_ID "MSVC" 195 | /* _MSC_VER = VVRR */ 196 | # define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) 197 | # define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) 198 | # if defined(_MSC_FULL_VER) 199 | # if _MSC_VER >= 1400 200 | /* _MSC_FULL_VER = VVRRPPPPP */ 201 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) 202 | # else 203 | /* _MSC_FULL_VER = VVRRPPPP */ 204 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) 205 | # endif 206 | # endif 207 | # if defined(_MSC_BUILD) 208 | # define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) 209 | # endif 210 | 211 | #elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) 212 | # define COMPILER_ID "ADSP" 213 | #if defined(__VISUALDSPVERSION__) 214 | /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ 215 | # define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) 216 | # define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) 217 | # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) 218 | #endif 219 | 220 | #elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) 221 | # define COMPILER_ID "IAR" 222 | 223 | #elif defined(__ARMCC_VERSION) 224 | # define COMPILER_ID "ARMCC" 225 | #if __ARMCC_VERSION >= 1000000 226 | /* __ARMCC_VERSION = VRRPPPP */ 227 | # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) 228 | # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) 229 | # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) 230 | #else 231 | /* __ARMCC_VERSION = VRPPPP */ 232 | # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) 233 | # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) 234 | # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) 235 | #endif 236 | 237 | 238 | #elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) 239 | # define COMPILER_ID "MIPSpro" 240 | # if defined(_SGI_COMPILER_VERSION) 241 | /* _SGI_COMPILER_VERSION = VRP */ 242 | # define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) 243 | # define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) 244 | # define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) 245 | # else 246 | /* _COMPILER_VERSION = VRP */ 247 | # define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) 248 | # define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) 249 | # define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) 250 | # endif 251 | 252 | 253 | /* These compilers are either not known or too old to define an 254 | identification macro. Try to identify the platform and guess that 255 | it is the native compiler. */ 256 | #elif defined(__sgi) 257 | # define COMPILER_ID "MIPSpro" 258 | 259 | #elif defined(__hpux) || defined(__hpua) 260 | # define COMPILER_ID "HP" 261 | 262 | #else /* unknown compiler */ 263 | # define COMPILER_ID "" 264 | #endif 265 | 266 | /* Construct the string literal in pieces to prevent the source from 267 | getting matched. 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45 | -------------------------------------------------------------------------------- /calibrate_homography/build/test_homography: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVIDIA-AI-IOT/deep_nav_layers/f75d8229afa41e5a6ce347d2abf672cdaf60f402/calibrate_homography/build/test_homography -------------------------------------------------------------------------------- /calibrate_homography/calculate_homography.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved. 2 | // Full license terms provided in LICENSE.md file. 3 | 4 | #include 5 | #include 6 | 7 | using namespace std; 8 | using namespace cv; 9 | 10 | class HomographyCalculator 11 | { 12 | private: 13 | int image_height, image_width; 14 | int seg_height, seg_width; 15 | int costmap_height, costmap_width; 16 | float m_per_pixel; 17 | string homography_file_path; 18 | 19 | public: 20 | /* 21 | HomographyCalculator: load all the appropriate parameters 22 | */ 23 | HomographyCalculator(const char *parameters_file_path) 24 | { 25 | FileStorage fs = FileStorage(parameters_file_path, FileStorage::READ); 26 | fs["image_height"] >> image_height; 27 | fs["image_width"] >> image_width; 28 | fs["seg_height"] >> seg_height; 29 | fs["seg_width"] >> seg_width; 30 | fs["costmap_height"] >> costmap_height; 31 | fs["costmap_width"] >> costmap_width; 32 | fs["m_per_pixel"] >> m_per_pixel; 33 | fs["homography_file_path"] >> homography_file_path; 34 | } 35 | 36 | /* 37 | inputImageToSegmentation: transform points from input image into segmentation output 38 | img_pts - coordinates in the input image 39 | seg_pts - points representing the same coordinates in the segmentation output 40 | */ 41 | void inputImageToSegmentation(const vector &img_pts, vector &seg_pts) 42 | { 43 | for (vector::const_iterator it = img_pts.begin(); it != img_pts.end(); ++it) { 44 | Point2f pt = *it; 45 | float new_x = (pt.x * seg_width)/image_width; // shrink x 46 | float new_y = (pt.y * seg_height)/image_height; // shrink y 47 | seg_pts.push_back(Point2f(new_x, new_y)); 48 | } 49 | } 50 | 51 | /* 52 | coordToCostmap: transform points from real world coordinates to pixels on costmap 53 | coord_pts - coordinates of rectangle as distances from robot in meters 54 | costmap_pts - pixel locations of points, with robot at the center of the image 55 | */ 56 | void coordToCostmap(const vector &coord_pts, vector &costmap_pts) 57 | { 58 | // place the origin at the center of the image 59 | // (note that the bottom half is blank, but may be filled with future rotations) 60 | Point2f origin = Point2f(costmap_width/2, costmap_height/2); 61 | for (vector::const_iterator it = coord_pts.begin(); it != coord_pts.end(); ++it) { 62 | Point2f pt = *it; 63 | float new_x = origin.x + pt.x/m_per_pixel; 64 | float new_y = origin.y - pt.y/m_per_pixel; // since greater pixel value means down 65 | 66 | assert(new_x < costmap_width && new_y < costmap_height); // check point is valid 67 | 68 | costmap_pts.push_back(Point2f(new_x, new_y)); 69 | } 70 | } 71 | 72 | /* readPoints: a helper function to convert {x: , y: } points into Point2f 73 | raw_pts - original FileNode list of points 74 | final_pts - a reference to the vector of Point2f to be filled 75 | */ 76 | void readPoints(const FileNode &raw_pts, vector &final_pts) 77 | { 78 | for (FileNodeIterator it = raw_pts.begin(); it != raw_pts.end(); ++it) 79 | { 80 | Point2f new_point = Point2f((*it)["x"], (*it)["y"]); 81 | final_pts.push_back(new_point); 82 | } 83 | } 84 | 85 | /* writeHomography: calculates the homography between the set of points given and writes 86 | it to a file (as given by the class variable homography_file_path) 87 | seg_pts - the points in the segmentation output 88 | costmap_pts - the corresponding points in the costmap 89 | */ 90 | void writeHomography(const vector &seg_pts, const vector &costmap_pts) 91 | { 92 | Mat h = findHomography(seg_pts, costmap_pts); 93 | cout << "Calculated homography: " << h << endl; 94 | 95 | FileStorage fs(homography_file_path, FileStorage::WRITE); 96 | fs << "homography" << h; 97 | fs.release(); 98 | cout << "Wrote to file: " << homography_file_path << endl; 99 | } 100 | 101 | }; 102 | 103 | /* 104 | main: calculate the homography matrix and write it a file 105 | */ 106 | int main(int argc, char** argv) 107 | { 108 | // load the calculator with the appropriate values 109 | HomographyCalculator h_calc = HomographyCalculator("../parameters.yml"); 110 | 111 | // read in the points (note that the points could come from anywhere) 112 | FileStorage fs = FileStorage("../calibration_points.yml", FileStorage::READ); 113 | 114 | // transform the points based on parameters 115 | vector img_pts, seg_pts; 116 | h_calc.readPoints(fs["img_pts"], img_pts); 117 | h_calc.inputImageToSegmentation(img_pts, seg_pts); 118 | 119 | // transform the points based on parameters 120 | vector coord_pts, costmap_pts; 121 | h_calc.readPoints(fs["coord_pts"], coord_pts); 122 | h_calc.coordToCostmap(coord_pts, costmap_pts); 123 | // calculate the final homography 124 | h_calc.writeHomography(seg_pts, costmap_pts); 125 | 126 | return 0; 127 | } 128 | -------------------------------------------------------------------------------- /calibrate_homography/calibration_points.yml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # The coordinates of a rectangle in the input image 4 | # NOTE: the order of the points much match in each vector (though more can be added) 5 | img_pts: 6 | - { x:993., y:114.} 7 | - { x:993., y:154.} 8 | - { x:993., y:209.} 9 | - { x:993., y:318.} 10 | - { x:331., y:201.} 11 | - { x:647., y:205.} 12 | - { x:1344.,y:202.} 13 | - { x:1678.,y:194.} 14 | 15 | # The coordinates of the same rectangle in meters (with the camera at the origin) 16 | coord_pts: 17 | - { x:0.0e+00, y:1.5e+00} 18 | - { x:0.0e+00, y:1.2e+00} 19 | - { x:0.0e+00, y:9.0e-01} 20 | - { x:0.0e+00, y:6.0e-01} 21 | - { x:-1.0e+00, y:9.0e-01} 22 | - { x:-5.0e-01, y:9.0e-01} 23 | - { x:5.0e-01, y:9.0e-01} 24 | - { x:1.0e+00, y:9.0e-01} 25 | 26 | -------------------------------------------------------------------------------- /calibrate_homography/calibration_points.yml~: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # The coordinates of a rectangle in the input image 4 | # NOTE: the order of the points much match in each vector (though more can be added) 5 | img_pts: 6 | - { x:694., y:180.} # top left 7 | - { x:1338., y:189.} # top right 8 | - { x:1611., y:397.} # bottom right 9 | - { x:358., y:372.} # bottom left 10 | 11 | # The coordinates of the same rectangle in meters (with the camera at the origin) 12 | coord_pts: 13 | - { x:-3.04800004e-01, y:1.82879996e+00} # top left 14 | - { x:3.04800004e-01, y:1.82879996e+00} # top right 15 | - { x:3.04800004e-01, y:9.14399981e-01} # bottom right 16 | - { x:-3.04800004e-01, y:9.14399981e-01} # bottom left 17 | -------------------------------------------------------------------------------- /calibrate_homography/homography-old.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 3 5 | 3 6 |
d
7 | 8 | 3.3146265909647479e+00 1.4328493048380923e+02 9 | -2.1235693343646471e+01 -1.0417974509412222e+00 10 | 1.4352055294234603e+02 -1.2170557731398411e+02 11 | -7.9092832403282274e-03 1.4214689000458258e+00 1. 12 | 13 | -------------------------------------------------------------------------------- /calibrate_homography/homography.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 3 5 | 3 6 |
d
7 | 8 | 4.1564408365612377e+02 7.9099284874719697e+03 9 | -9.8174384948428014e+03 5.4726360567942756e+01 10 | 7.8560404887767290e+03 -5.7353282777637714e+03 11 | 6.0525387474374526e-01 7.9094938999368992e+01 1. 12 | 13 | -------------------------------------------------------------------------------- /calibrate_homography/parameters.yml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # width and height of the original image in pixels 4 | image_height: 540 5 | image_width: 1920 6 | 7 | # width and height in pixels of segmentation network output 8 | # (when given the above input) 9 | seg_height: 11 10 | seg_width: 54 11 | 12 | # the width and height of the image representing a top-down view of the real world 13 | costmap_height: 200 14 | costmap_width: 200 15 | 16 | # the number of meters per pixel (currently 0.05) 17 | m_per_pixel: 5.00e-02 18 | 19 | # file path indicating where to write the file 20 | homography_file_path: "/home/nvidia/deep_nav_layers/calibrate_homography/homography.xml" 21 | 22 | # file path pointing to sample segmentation data 23 | seg_data_path: "/home/nvidia/deep_nav_layers/calibrate_homography/segmentation-output.jpg" -------------------------------------------------------------------------------- /calibrate_homography/parameters.yml~: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # width and height of the original image in pixels 4 | image_height: 540 5 | image_width: 1920 6 | 7 | # width and height in pixels of segmentation network output 8 | # (when given the above input) 9 | seg_height: 11 10 | seg_width: 54 11 | 12 | # the width and height of the image representing a top-down view of the real world 13 | costmap_height: 200 14 | costmap_width: 200 15 | 16 | # the number of meters per pixel (currently 0.05) 17 | m_per_pixel: 5.0000000745058060e-02 18 | 19 | # file path indicating where to write the file 20 | homography_file_path: "/home/nvidia/jetson-UGV/homography.xml" 21 | -------------------------------------------------------------------------------- /calibrate_homography/resize.bash: -------------------------------------------------------------------------------- 1 | #!bin/bash 2 | mkdir resized 3 | for f in *.jpg 4 | do 5 | convert $f -resize $1x$2! resized/$f 6 | done 7 | -------------------------------------------------------------------------------- /calibrate_homography/segmentation-output.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVIDIA-AI-IOT/deep_nav_layers/f75d8229afa41e5a6ce347d2abf672cdaf60f402/calibrate_homography/segmentation-output.jpg -------------------------------------------------------------------------------- /calibrate_homography/test_homography.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved. 2 | // Full license terms provided in LICENSE.md file. 3 | 4 | #include 5 | 6 | using namespace std; 7 | using namespace cv; 8 | 9 | class HomographyTester 10 | { 11 | private: 12 | int costmap_height, costmap_width; 13 | Mat homography; 14 | Mat seg_data; 15 | 16 | public: 17 | /* 18 | HomographyTester: load all the parameters and images 19 | */ 20 | HomographyTester(const char *parameters_file_path) 21 | { 22 | FileStorage fs = FileStorage(parameters_file_path, FileStorage::READ); 23 | fs["costmap_height"] >> costmap_height; 24 | fs["costmap_width"] >> costmap_width; 25 | string homography_file_path; 26 | fs["homography_file_path"] >> homography_file_path; 27 | loadHomography(homography_file_path); 28 | 29 | string seg_data_path; 30 | fs["seg_data_path"] >> seg_data_path; 31 | seg_data = imread(seg_data_path, CV_LOAD_IMAGE_COLOR); 32 | cout << "Loaded segmentation data from " << seg_data_path << endl; 33 | } 34 | 35 | /* 36 | loadHomography: read the homography into memory 37 | homography_file_path - the path to read from 38 | */ 39 | void loadHomography(const string &homography_file_path) 40 | { 41 | FileStorage fs(homography_file_path, FileStorage::READ); 42 | fs["homography"] >> homography; 43 | cout << "Loaded homography from " << homography_file_path << endl; 44 | fs.release(); 45 | } 46 | 47 | /* 48 | showResults(): show the effect of the homography on the sample data 49 | */ 50 | void showResults() 51 | { 52 | // show original 53 | imshow("Original Segmentation Data", seg_data); 54 | 55 | Mat warped; 56 | // apply homography 57 | warpPerspective(seg_data, warped, homography, Size(costmap_height, costmap_width)); 58 | 59 | // resize warped image for easier viewing 60 | Mat scaled_warped; 61 | resize(warped, scaled_warped, Size(), 5, 5); 62 | 63 | imshow("Warped Segmentation Data", warped); 64 | imshow("Warped Segmentation Data (scaled)", scaled_warped); 65 | } 66 | 67 | }; 68 | 69 | int main(int argc, char **argv) 70 | { 71 | // load the calculator with the appropriate values 72 | HomographyTester h_test = HomographyTester("../parameters.yml"); 73 | 74 | h_test.showResults(); 75 | waitKey(0); 76 | 77 | return 0; 78 | } 79 | -------------------------------------------------------------------------------- /costmap_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | Uses segmentation data to add obstacles to the costmap 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /images/nodes.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVIDIA-AI-IOT/deep_nav_layers/f75d8229afa41e5a6ce347d2abf672cdaf60f402/images/nodes.png -------------------------------------------------------------------------------- /include/deep_nav_layers/segmentation_layer.h: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved. 2 | // Full license terms provided in LICENSE.md file. 3 | 4 | #ifndef SEGMENTATION_LAYER_H_ 5 | #define SEGMENTATION_LAYER_H_ 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | 14 | namespace segmentation_layer 15 | { 16 | 17 | class SegmentationLayer : public costmap_2d::Layer, public costmap_2d::Costmap2D 18 | { 19 | public: 20 | SegmentationLayer(); 21 | 22 | virtual void onInitialize(); 23 | virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x, double* max_y); 24 | virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); 25 | bool isDiscretized() 26 | { 27 | return true; 28 | } 29 | virtual void matchSize(); 30 | 31 | private: 32 | std::set obstacle_ids; 33 | std::set path_ids; 34 | float x_range; 35 | float y_range; 36 | float m_per_pixel; 37 | int costmap_height; 38 | int costmap_width; 39 | bool new_data; 40 | cv::Mat warped; 41 | cv::Mat cropped; 42 | cv::Mat h; 43 | ros::Subscriber seg_sub_; 44 | void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level); 45 | dynamic_reconfigure::Server *dsrv_; 46 | void segNetCb(const sensor_msgs::Image::ConstPtr &msg); 47 | void parseHomographyConstants(const std::string &homography_folder); 48 | void parseIntSet(const std::string &raw_list, std::set &int_set); 49 | }; 50 | } 51 | #endif 52 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | deep_nav_layers 4 | 0.1.0 5 | The deep_nav_layers package, a series of plug-ins to incorporate deep learning into the ROS navigation stack. 6 | 7 | Rachel Gardner 8 | BSD 9 | 10 | http://wiki.ros.org/deep_nav_layers 11 | 12 | Rachel Gardner 13 | 14 | catkin 15 | costmap_2d 16 | dynamic_reconfigure 17 | roscpp 18 | cv_bridge 19 | cv_bridge 20 | costmap_2d 21 | dynamic_reconfigure 22 | roscpp 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/segmentation_layer.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved. 2 | // Full license terms provided in LICENSE.md file. 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | PLUGINLIB_EXPORT_CLASS(segmentation_layer::SegmentationLayer, costmap_2d::Layer) 9 | 10 | using costmap_2d::LETHAL_OBSTACLE; 11 | using costmap_2d::NO_INFORMATION; 12 | using costmap_2d::FREE_SPACE; 13 | 14 | namespace segmentation_layer 15 | { 16 | 17 | SegmentationLayer::SegmentationLayer() {} 18 | 19 | void SegmentationLayer::onInitialize() 20 | { 21 | std::string segmentation_data; 22 | std::string homography_folder; 23 | std::string obstacle_ids_str; 24 | std::string path_ids_str; 25 | 26 | 27 | ros::NodeHandle nh("~/" + name_); 28 | nh.param("segmentation_data", segmentation_data, "/segnet/network/output"); 29 | nh.param("homography_folder", homography_folder, "/home/nvidia/deep_nav_layers/calibrate_homography"); 30 | nh.param("obstacle_ids_str", obstacle_ids_str, "14 15"); // zero-indexed IDs to be marked as an obstacle 31 | nh.param("path_ids_str", path_ids_str, "3"); // zero-indexed ID to clear obstacles 32 | nh.param("x_range", x_range, 1.0); // meters to the left/right of the bot to modify costmap 33 | nh.param("y_range", y_range, 1.0); // meters in front of the bot to modify costmap 34 | 35 | parseIntSet(obstacle_ids_str, obstacle_ids); 36 | parseIntSet(path_ids_str, path_ids); 37 | 38 | parseHomographyConstants(homography_folder); 39 | 40 | current_ = true; 41 | new_data = false; 42 | default_value_ = NO_INFORMATION; 43 | matchSize(); 44 | 45 | dsrv_ = new dynamic_reconfigure::Server(nh); 46 | dynamic_reconfigure::Server::CallbackType cb = boost::bind( 47 | &SegmentationLayer::reconfigureCB, this, _1, _2); 48 | dsrv_->setCallback(cb); 49 | 50 | seg_sub_ = nh.subscribe(segmentation_data, 1, &SegmentationLayer::segNetCb, this); 51 | 52 | cv::FileStorage fs(homography_folder + "/homography.xml", cv::FileStorage::READ); 53 | fs["homography"] >> h; 54 | std::cout << "Loaded homography: " << h << std::endl; 55 | fs.release(); 56 | } 57 | 58 | void SegmentationLayer::parseHomographyConstants(const std::string &homography_folder) 59 | { 60 | cv::FileStorage fs = cv::FileStorage(homography_folder + "/parameters.yml", cv::FileStorage::READ); 61 | costmap_height = fs["costmap_height"]; 62 | costmap_width = fs["costmap_width"]; 63 | m_per_pixel = fs["m_per_pixel"]; 64 | } 65 | 66 | 67 | void SegmentationLayer::parseIntSet(const std::string &raw_list, std::set &int_set) 68 | { 69 | std::stringstream ss(raw_list); 70 | 71 | int i; 72 | while (ss >> i) 73 | { 74 | int_set.insert(i); 75 | 76 | if (ss.peek() == ' ') 77 | ss.ignore(); 78 | } 79 | } 80 | 81 | void SegmentationLayer::segNetCb(const sensor_msgs::Image::ConstPtr &msg) 82 | { 83 | cv_bridge::CvImagePtr cv_ptr; 84 | try 85 | { 86 | cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8); 87 | } 88 | catch (cv_bridge::Exception& e) 89 | { 90 | ROS_ERROR("cv_bridge exception: %s", e.what()); 91 | return; 92 | } 93 | 94 | cv::warpPerspective(cv_ptr->image, warped, h, cv::Size(costmap_width, costmap_height)); 95 | 96 | int x_range_pixels = x_range/m_per_pixel; 97 | int y_range_pixels = y_range/m_per_pixel; 98 | // crop projection to only go a user defined number of meters in x and y direction 99 | cv::Rect ROI = cv::Rect(warped.cols/2 - x_range_pixels, warped.rows/2 - y_range_pixels, x_range_pixels*2, y_range_pixels*2); 100 | cropped = cv::Mat(warped, ROI); // note that this is just a reference 101 | new_data = true; 102 | } 103 | 104 | void SegmentationLayer::matchSize() 105 | { 106 | Costmap2D* master = layered_costmap_->getCostmap(); 107 | resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(), 108 | master->getOriginX(), master->getOriginY()); 109 | } 110 | 111 | // allows the plugin to dynamically change the configuration of the costmap 112 | void SegmentationLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level) 113 | { 114 | enabled_ = config.enabled; 115 | } 116 | 117 | // determines the area of the costmap that is potentially going to be changed 118 | void SegmentationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, 119 | double* min_y, double* max_x, double* max_y) 120 | { 121 | if (!enabled_) 122 | return; 123 | 124 | if (!new_data) 125 | return; 126 | 127 | // convert to degrees and adjust starting point 128 | double angle = (robot_yaw*180)/M_PI - 90; 129 | 130 | cv::Mat rotation_matrix = cv::getRotationMatrix2D(cv::Point2f(cropped.cols/2, cropped.rows/2), angle, 1); 131 | cv::Mat overlay; 132 | 133 | cv::warpAffine(cropped, overlay, rotation_matrix, cropped.size()); 134 | cv::Point2f origin = cv::Point2f(overlay.cols/2, overlay.rows/2); 135 | 136 | for(int y=0; y(cv::Point(x,y)); 139 | if (obstacle_ids.find(value) != obstacle_ids.end()) { 140 | 141 | // shift over point so origin of image is at (0,0) 142 | double mark_x = robot_x + (x - origin.x)*m_per_pixel; 143 | double mark_y = robot_y + (origin.y - y)*m_per_pixel; 144 | 145 | unsigned int mx, my; 146 | if(worldToMap(mark_x, mark_y, mx, my)){ 147 | setCost(mx, my, LETHAL_OBSTACLE); 148 | } 149 | } 150 | if (path_ids.find(value) != path_ids.end()) { 151 | double mark_x = robot_x + (x - origin.x)*m_per_pixel; 152 | double mark_y = robot_y + (origin.y - y)*m_per_pixel; 153 | unsigned int mx, my; 154 | if(worldToMap(mark_x, mark_y, mx, my)){ 155 | setCost(mx, my, FREE_SPACE); 156 | } 157 | } 158 | } 159 | } 160 | 161 | // REVIEW: potentially make this configurable, or calculated? 162 | *min_x = -20; // 20 meters, max size 163 | *min_y = -20; 164 | *max_x = 20; 165 | *max_y = 20; 166 | 167 | new_data = false; 168 | } 169 | 170 | // actually update the costs within the bounds 171 | void SegmentationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, 172 | int max_j) 173 | { 174 | if (!enabled_) 175 | return; 176 | 177 | for (int j = min_j; j < max_j; j++) 178 | { 179 | for (int i = min_i; i < max_i; i++) 180 | { 181 | int index = getIndex(i, j); 182 | if (costmap_[index] == NO_INFORMATION) 183 | continue; 184 | master_grid.setCost(i, j, costmap_[index]); 185 | } 186 | } 187 | } 188 | 189 | } // end namespace 190 | --------------------------------------------------------------------------------