├── .github └── workflows │ └── basic-build-ci.yaml ├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── camera_calibration ├── CHANGELOG.rst ├── button.jpg ├── doc │ ├── api.rst │ ├── components.rst │ ├── conf.py │ ├── images │ │ ├── cal0006.png │ │ ├── cal0007.png │ │ ├── cal0008.png │ │ ├── cal0009.png │ │ ├── cal0011.png │ │ ├── cal0012.png │ │ ├── check-108.png │ │ ├── mono_0.png │ │ ├── mono_1.png │ │ ├── mono_2.png │ │ ├── stereo_0.png │ │ ├── stereo_1.png │ │ ├── stereo_2.png │ │ ├── stereo_3.png │ │ └── stereo_4.png │ ├── index.rst │ ├── tutorial_mono.rst │ └── tutorial_stereo.rst ├── mainpage.dox ├── package.xml ├── pytest.ini ├── resource │ └── camera_calibration ├── rosdoc2.yaml ├── setup.cfg ├── setup.py ├── src │ └── camera_calibration │ │ ├── __init__.py │ │ ├── calibrator.py │ │ ├── camera_calibrator.py │ │ ├── camera_checker.py │ │ ├── mono_calibrator.py │ │ ├── nodes │ │ ├── __init__.py │ │ ├── cameracalibrator.py │ │ ├── cameracheck.py │ │ └── tarfile_calibration.py │ │ └── stereo_calibrator.py └── test │ ├── test_directed.py │ └── test_multiple_boards.py ├── depth_image_proc ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ ├── images │ │ ├── depth.png │ │ ├── depth_reg.png │ │ ├── disparity.png │ │ ├── rgb.jpg │ │ ├── rviz_xyz.png │ │ └── rviz_xyzrgb.png │ ├── index.rst │ └── tutorials.rst ├── include │ └── depth_image_proc │ │ ├── conversions.hpp │ │ ├── depth_traits.hpp │ │ ├── point_cloud_xyz.hpp │ │ ├── point_cloud_xyz_radial.hpp │ │ ├── point_cloud_xyzi.hpp │ │ ├── point_cloud_xyzi_radial.hpp │ │ ├── point_cloud_xyzrgb.hpp │ │ ├── point_cloud_xyzrgb_radial.hpp │ │ └── visibility.h ├── launch │ ├── convert_metric.launch.py │ ├── crop_foremost.launch.py │ ├── disparity.launch.py │ ├── point_cloud_xyz.launch.py │ ├── point_cloud_xyz_radial.launch.py │ ├── point_cloud_xyzi.launch.py │ ├── point_cloud_xyzi_radial.launch.py │ ├── point_cloud_xyzrgb.launch.py │ ├── point_cloud_xyzrgb_radial.launch.py │ ├── register.launch.py │ └── rviz │ │ ├── convert_metric.rviz │ │ ├── crop_formost.rviz │ │ ├── disparity.rviz │ │ ├── point_cloud_xyz.rviz │ │ ├── point_cloud_xyz_radial.rviz │ │ ├── point_cloud_xyzi.rviz │ │ ├── point_cloud_xyzrgb.rviz │ │ └── register.rviz ├── package.xml └── src │ ├── conversions.cpp │ ├── convert_metric.cpp │ ├── crop_foremost.cpp │ ├── disparity.cpp │ ├── point_cloud_xyz.cpp │ ├── point_cloud_xyz_radial.cpp │ ├── point_cloud_xyzi.cpp │ ├── point_cloud_xyzi_radial.cpp │ ├── point_cloud_xyzrgb.cpp │ ├── point_cloud_xyzrgb_radial.cpp │ └── register.cpp ├── image_pipeline ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── camera_info.rst │ ├── changelog.rst │ ├── conf.py │ ├── images │ │ ├── CameraCoords.png │ │ └── CameraInfo.png │ ├── index.rst │ └── tutorials.rst ├── package.xml └── rosdoc2.yaml ├── image_proc ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ ├── images │ │ ├── left_raw.png │ │ └── left_rect_color.png │ ├── index.rst │ └── tutorials.rst ├── include │ └── image_proc │ │ ├── crop_decimate.hpp │ │ ├── crop_non_zero.hpp │ │ ├── debayer.hpp │ │ ├── edge_aware.hpp │ │ ├── processor.hpp │ │ ├── rectify.hpp │ │ ├── resize.hpp │ │ ├── track_marker.hpp │ │ └── utils.hpp ├── launch │ └── image_proc.launch.py ├── package.xml ├── src │ ├── crop_decimate.cpp │ ├── crop_non_zero.cpp │ ├── debayer.cpp │ ├── edge_aware.cpp │ ├── image_proc │ │ └── processor.cpp │ ├── rectify.cpp │ ├── resize.cpp │ └── track_marker.cpp └── test │ ├── resources │ ├── calibration_file.ini │ └── logo.png │ ├── rostest.cpp │ └── test_rectify.cpp ├── image_publisher ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ └── index.rst ├── include │ └── image_publisher │ │ ├── image_publisher.hpp │ │ └── visibility.h ├── launch │ ├── image_publisher_component_file.launch.py │ ├── image_publisher_file.launch.py │ ├── image_publisher_mono.launch.py │ ├── image_publisher_stereo.launch.py │ └── splash.png ├── package.xml └── src │ ├── image_publisher.cpp │ └── image_publisher_node.cpp ├── image_rotate ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ ├── images │ │ └── image_rotate.jpg │ └── index.rst ├── include │ └── image_rotate │ │ ├── image_flip.hpp │ │ ├── image_rotate_node.hpp │ │ └── visibility.h ├── launch │ ├── image_flip.launch.py │ └── image_rotate.launch.py ├── mainpage.dox ├── package.xml └── src │ ├── image_flip.cpp │ ├── image_rotate.cpp │ └── image_rotate_node.cpp ├── image_view ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ └── index.rst ├── include │ └── image_view │ │ ├── disparity_view_node.hpp │ │ ├── extract_images_node.hpp │ │ ├── image_saver_node.hpp │ │ ├── image_view_node.hpp │ │ ├── stereo_view_node.hpp │ │ └── video_recorder_node.hpp ├── mainpage.dox ├── package.xml ├── rosdoc.yaml ├── scripts │ └── extract_images_sync └── src │ ├── disparity_view.cpp │ ├── disparity_view_node.cpp │ ├── extract_images.cpp │ ├── extract_images_node.cpp │ ├── image_saver.cpp │ ├── image_saver_node.cpp │ ├── image_view.cpp │ ├── image_view_node.cpp │ ├── stereo_view.cpp │ ├── stereo_view_node.cpp │ ├── utils.hpp │ ├── video_recorder.cpp │ └── video_recorder_node.cpp ├── stereo_image_proc ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── components.rst │ ├── conf.py │ ├── configuration.rst │ ├── images │ │ ├── disparity.jpg │ │ ├── raw.png │ │ ├── rectified.png │ │ ├── stereo_frames.png │ │ └── stereo_image_proc.png │ ├── index.rst │ └── tutorials.rst ├── include │ └── stereo_image_proc │ │ └── stereo_processor.hpp ├── launch │ └── stereo_image_proc.launch.py ├── package.xml ├── src │ └── stereo_image_proc │ │ ├── disparity_node.cpp │ │ ├── point_cloud_node.cpp │ │ └── stereo_processor.cpp └── test │ ├── data │ ├── README.md │ ├── aloe-L.png │ ├── aloe-R.png │ └── aloe-disp.png │ ├── fixtures │ ├── disparity_image_publisher.py │ └── stereo_image_publisher.py │ ├── test_disparity_node.py │ └── test_point_cloud_node.py ├── tools └── ros2_dependencies.repos ├── tracetools_image_pipeline ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile ├── README.md ├── include │ └── tracetools_image_pipeline │ │ ├── config.h.in │ │ ├── tp_call.h │ │ ├── tracetools.h │ │ ├── utils.hpp │ │ └── visibility_control.hpp ├── package.xml └── src │ ├── status.c │ ├── tp_call.c │ ├── tracetools.c │ └── utils.cpp └── wiki_files ├── dcam-driver.svg ├── image_proc.svg ├── image_proc_dual.svg ├── rospack_nosubdirs ├── stereo_image_proc.svg ├── stereo_image_proc_stereo.svg ├── stereocam-driver.svg └── stoc.svg /.github/workflows/basic-build-ci.yaml: -------------------------------------------------------------------------------- 1 | name: Basic Build Workflow 2 | 3 | on: 4 | push: 5 | branches: [rolling] 6 | pull_request: 7 | types: [opened, reopened, synchronize] 8 | 9 | jobs: 10 | build-rolling: 11 | runs-on: ubuntu-latest 12 | strategy: 13 | fail-fast: false 14 | container: 15 | image: osrf/ros2:devel 16 | steps: 17 | - name: Checkout repo 18 | uses: actions/checkout@v4 19 | - name: Create Workspace 20 | run: | 21 | mkdir src_tmp 22 | mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/ 23 | mv src_tmp/ src/ 24 | - name: Install Prerequisites 25 | run: | 26 | bash -c 'source /opt/ros/rolling/setup.bash; \ 27 | apt-get update && apt-get upgrade -y && rosdep update; \ 28 | rosdep install --from-paths src --ignore-src --rosdistro=rolling -y' 29 | - name: Build Workspace 30 | run: | 31 | bash -c 'source /opt/ros/rolling/setup.bash; \ 32 | colcon build' 33 | - name: Run Tests 34 | run: | 35 | bash -c 'source /opt/ros/rolling/setup.bash; \ 36 | colcon test; \ 37 | colcon test-result --verbose' 38 | build-rolling-testing: 39 | runs-on: ubuntu-latest 40 | strategy: 41 | fail-fast: false 42 | container: 43 | image: osrf/ros2:testing 44 | steps: 45 | - name: Checkout repo 46 | uses: actions/checkout@v4 47 | - name: Create Workspace 48 | run: | 49 | mkdir src_tmp 50 | mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/ 51 | mv src_tmp/ src/ 52 | - name: Install Prerequisites 53 | run: | 54 | apt update -qq 55 | apt install -qq -y lsb-release wget curl gnupg2 git 56 | curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros2-testing-archive-keyring.gpg 57 | echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null 58 | apt-get update && apt-get upgrade -q -y 59 | bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ 60 | apt-get update && apt-get upgrade -y && rosdep update; \ 61 | rosdep install --from-paths src --ignore-src -y' 62 | - name: Build Workspace 63 | run: | 64 | bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ 65 | colcon build' 66 | - name: Run Tests 67 | run: | 68 | bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ 69 | colcon test; \ 70 | colcon test-result --verbose' 71 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *pyc 2 | .vscode/ 3 | */doc/generated 4 | build 5 | install 6 | log -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | Any contribution that you make to this repository will 2 | be under the BSD license 2.0, as dictated by that 3 | [license](https://opensource.org/licenses/BSD-3-Clause). 4 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | image_pipeline 2 | ============== 3 | 4 | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rdev__image_pipeline__ubuntu_noble_amd64)](https://build.ros2.org/job/Rdev__image_pipeline__ubuntu_noble_amd64/) 5 | 6 | This package fills the gap between getting raw images from a camera driver and higher-level vision processing. 7 | 8 | Documentation is hosted in the ROS 2 API docs. 9 | The [image_pipeline](http://docs.ros.org/en/rolling/p/image_pipeline/) 10 | documentation includes an overview, 11 | [details on camera_info](http://docs.ros.org/en/rolling/p/image_pipeline/camera_info.html), 12 | and links to the documentation for each individual package. 13 | 14 | Not every aspect has been ported to the new ROS 2 API documentation yet, so 15 | there is still additional (partially outdated) information 16 | in [the ROS wiki entry](http://wiki.ros.org/image_pipeline). 17 | 18 | If you are using an Nvidia Jetson platform, consider using modules from [Isaac Image Proc](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline) - a collection of hardware accelerated `image_proc` features for the Jetsons. 19 | -------------------------------------------------------------------------------- /camera_calibration/button.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/button.jpg -------------------------------------------------------------------------------- /camera_calibration/doc/api.rst: -------------------------------------------------------------------------------- 1 | API Documentation 2 | ================= 3 | 4 | .. autoclass:: camera_calibration.mono_calibrator.MonoCalibrator 5 | :members: 6 | 7 | .. autoclass:: camera_calibration.stereo_calibrator.StereoCalibrator 8 | :members: 9 | -------------------------------------------------------------------------------- /camera_calibration/doc/components.rst: -------------------------------------------------------------------------------- 1 | Nodes 2 | ===== 3 | 4 | This package includes a number of ROS 2 components that can be assembled 5 | into image processing pipelines. 6 | See the tutorial :ref:`Launch image_proc Components`. 7 | 8 | Alternatively, each component can be run as a standalone node. 9 | 10 | camera_calibrator 11 | ----------------- 12 | ``cameracalibrator`` subscribes to ROS raw image topics, and presents a 13 | calibration window. It can run in both monocular and stereo modes. 14 | The calibration window shows the current images from the cameras, 15 | highlighting the checkerboard. When the user presses the **CALIBRATE** 16 | button, the node computes the camera calibration parameters. When the 17 | user clicks **COMMIT**, the node uploads these new calibration parameters 18 | to the camera driver using a service call. 19 | 20 | Subscribed Topics 21 | ^^^^^^^^^^^^^^^^^ 22 | * **image** (sensor_msgs/Image): Raw image topic, for monocular cameras. 23 | * **left** (sensor_msgs/Image): Raw left image topic, for stereo cameras. 24 | * **right** (sensor_msgs/Image): Raw right image topic, for stereo cameras. 25 | 26 | Services Called 27 | ^^^^^^^^^^^^^^^ 28 | * **camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera 29 | info for a monocular camera. 30 | * **left_camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera 31 | info for the left camera of a stereo pair. 32 | * **right_camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera 33 | info for the right camera of a stereo pair. 34 | 35 | camera_check 36 | ------------ 37 | ``cameracheck`` subscribes to ROS rectified image topics and their associated 38 | camera_info, and prints out an error estimate. It can run in both monocular 39 | and stereo modes. The program expects to see a standard checkerboard target. 40 | 41 | Subscribed Topics 42 | ^^^^^^^^^^^^^^^^^ 43 | * **monocular/image** (sensor_msgs/Image): Rectified image topic, for 44 | monocular camera. 45 | * **monocular/camera_info** (sensor_msgs/CameraInfo): Camera info for 46 | the monocular camera. 47 | * **stereo/left/image** (sensor_msgs/Image): Rectified left image topic, 48 | for stereo cameras. 49 | * **stereo/right/image** (sensor_msgs/Image): Rectified right image topic, 50 | for stereo cameras. 51 | * **stereo/camera_info** (sensor_msgs/CameraInfo): Camera info for the 52 | stereo pair. 53 | -------------------------------------------------------------------------------- /camera_calibration/doc/images/cal0006.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/doc/images/cal0006.png 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/doc/images/stereo_4.png -------------------------------------------------------------------------------- /camera_calibration/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b The camera_calibration package contains tools for calibrating monocular and stereo cameras. 6 | 7 | \section codeapi Code API 8 | 9 | camera_calibration does not have a code API. 10 | 11 | \section rosapi ROS API 12 | 13 | List of nodes: 14 | - \b calibrationnode 15 | 16 | 17 | 18 |
19 | 20 | \subsection node_name calibrationnode 21 | 22 | calibrationnode subscribes to ROS raw image topics, and presents a 23 | calibration window. It can run in both monocular and stereo modes. 24 | The calibration window shows the current images from the cameras, 25 | highlighting the checkerboard. When the user presses the "CALIBRATE" 26 | button, the node computes the camera calibration parameters. When the 27 | user clicks "UPLOAD", the node uploads these new calibration parameters 28 | to the camera driver using a service call. 29 | 30 | \subsubsection Usage 31 | \verbatim 32 | $ node_type1 [standard ROS args] 33 | \endverbatim 34 | 35 | \par Example 36 | 37 | \verbatim 38 | $ rosrun camera_calibration cal.py right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right 39 | \endverbatim 40 | 41 | 42 | \subsubsection topics ROS topics 43 | 44 | Subscribes to: 45 | - \b "left": [sensor_msgs/Image] left raw image topic, for stereo cameras 46 | - \b "right": [sensor_msgs/Image] left raw image topic, for stereo cameras 47 | - \b "image": [sensor_msgs/Image] raw image topic, for monocular cameras 48 | 49 | Makes service calls to: 50 | 51 | \subsubsection services ROS services 52 | - \b "foo_service": [std_srvs/FooType] description of foo_service 53 | - \b "camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the camera for monocular 54 | - \b "left_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera 55 | - \b "right_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera 56 | 57 | 58 | 59 | */ 60 | -------------------------------------------------------------------------------- /camera_calibration/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | camera_calibration 5 | 7.0.0 6 | 7 | camera_calibration allows easy calibration of monocular or stereo 8 | cameras using a checkerboard calibration target. 9 | 10 | 11 | Vincent Rabaud 12 | Joshua Whitley 13 | Jacob Perron 14 | Michael Ferguson 15 | 16 | BSD 17 | https://index.ros.org/p/camera_calibration/ 18 | https://github.com/ros-perception/image_pipeline/issues 19 | https://github.com/ros-perception/image_pipeline 20 | James Bowman 21 | Patrick Mihelich 22 | 23 | cv_bridge 24 | image_geometry 25 | message_filters 26 | python3-opencv 27 | rclpy 28 | std_srvs 29 | sensor_msgs 30 | python3-semver 31 | 32 | ament_copyright 33 | ament_flake8 34 | ament_pep257 35 | python3-pytest 36 | python3-requests 37 | 38 | 39 | ament_python 40 | rosdoc2.yaml 41 | 42 | 43 | -------------------------------------------------------------------------------- /camera_calibration/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | junit_family=xunit2 3 | -------------------------------------------------------------------------------- /camera_calibration/resource/camera_calibration: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/resource/camera_calibration -------------------------------------------------------------------------------- /camera_calibration/rosdoc2.yaml: -------------------------------------------------------------------------------- 1 | ## Default configuration, generated by rosdoc2. 2 | 3 | ## This 'attic section' self-documents this file's type and version. 4 | type: 'rosdoc2 config' 5 | version: 1 6 | 7 | --- 8 | 9 | settings: 10 | ## If this is true, a standard index page is generated in the output directory. 11 | ## It uses the package information from the 'package.xml' to show details 12 | ## about the package, creates a table of contents for the various builders 13 | ## that were run, and may contain links to things like build farm jobs for 14 | ## this package or links to other versions of this package. 15 | 16 | ## If false, you can still include content that would have been in the index 17 | ## into one of your '.rst' files from your Sphinx project, using the 18 | ## '.. include::' directive in Sphinx. 19 | ## For example, you could include it in a custom 'index.rst' so you can have 20 | ## the standard information followed by custom content. 21 | 22 | ## TODO(wjwwood): provide a concrete example of this (relative path?) 23 | 24 | ## If this is not specified explicitly, it defaults to 'true'. 25 | generate_package_index: true 26 | 27 | ## This setting is relevant mostly if the standard Python package layout cannot 28 | ## be assumed for 'sphinx-apidoc' invocation. The user can provide the path 29 | ## (relative to the 'package.xml' file) where the Python modules defined by this 30 | ## package are located. 31 | python_source: 'src/camera_calibration' 32 | 33 | ## This setting, if true, attempts to run `doxygen` and the `breathe`/`exhale` 34 | ## extensions to `sphinx` regardless of build type. This is most useful if the 35 | ## user would like to generate C/C++ API documentation for a package that is not 36 | ## of the `ament_cmake/cmake` build type. 37 | always_run_doxygen: false 38 | 39 | ## This setting, if true, attempts to run `sphinx-apidoc` regardless of build 40 | ## type. This is most useful if the user would like to generate Python API 41 | ## documentation for a package that is not of the `ament_python` build type. 42 | always_run_sphinx_apidoc: false 43 | 44 | # This setting, if provided, will override the build_type of this package 45 | # for documentation purposes only. If not provided, documentation will be 46 | # generated assuming the build_type in package.xml. 47 | # override_build_type: 'ament_python' 48 | builders: 49 | ## Each stanza represents a separate build step, performed by a specific 'builder'. 50 | ## The key of each stanza is the builder to use; this must be one of the 51 | ## available builders. 52 | ## The value of each stanza is a dictionary of settings for the builder that 53 | ## outputs to that directory. 54 | ## Required keys in the settings dictionary are: 55 | ## * 'output_dir' - determines output subdirectory for builder instance 56 | ## relative to --output-directory 57 | ## * 'name' - used when referencing the built docs from the index. 58 | 59 | - doxygen: { 60 | name: 'camera_calibration Public C/C++ API', 61 | output_dir: 'generated/doxygen' 62 | } 63 | - sphinx: { 64 | name: 'camera_calibration', 65 | ## This path is relative to output staging. 66 | doxygen_xml_directory: 'generated/doxygen/xml', 67 | output_dir: '' 68 | } 69 | -------------------------------------------------------------------------------- /camera_calibration/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/camera_calibration 3 | [install] 4 | install_scripts=$base/lib/camera_calibration 5 | -------------------------------------------------------------------------------- /camera_calibration/setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | from setuptools import setup, find_packages 3 | 4 | PACKAGE_NAME = "camera_calibration" 5 | 6 | setup( 7 | name=PACKAGE_NAME, 8 | version='7.0.0', 9 | packages=["camera_calibration", "camera_calibration.nodes"], 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', 12 | ['resource/' + PACKAGE_NAME]), 13 | ('share/' + PACKAGE_NAME, ['package.xml']), 14 | ], 15 | py_modules=[], 16 | package_dir={'': 'src'}, 17 | install_requires=[ 18 | 'setuptools', 19 | ], 20 | zip_safe=True, 21 | author='James Bowman, Patrick Mihelich', 22 | maintainer='Vincent Rabaud, Steven Macenski, Joshua Whitley', 23 | maintainer_email='vincent.rabaud@gmail.com, stevenmacenski@gmail.com, whitleysoftwareservices@gmail.com', 24 | keywords=['ROS2'], 25 | description='Camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target .', 26 | license='BSD', 27 | tests_require=[ 28 | 'pytest', 29 | 'requests' 30 | ], 31 | entry_points={ 32 | 'console_scripts': [ 33 | 'cameracalibrator = camera_calibration.nodes.cameracalibrator:main', 34 | 'cameracheck = camera_calibration.nodes.cameracheck:main', 35 | 'tarfile_calibration = camera_calibration.nodes.tarfile_calibration:main', 36 | ], 37 | }, 38 | ) 39 | -------------------------------------------------------------------------------- /camera_calibration/src/camera_calibration/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/__init__.py -------------------------------------------------------------------------------- /camera_calibration/src/camera_calibration/nodes/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/nodes/__init__.py -------------------------------------------------------------------------------- /camera_calibration/src/camera_calibration/nodes/cameracheck.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # 3 | # Software License Agreement (BSD License) 4 | # 5 | # Copyright (c) 2009, Willow Garage, Inc. 6 | # All rights reserved. 7 | # 8 | # Redistribution and use in source and binary forms, with or without 9 | # modification, are permitted provided that the following conditions 10 | # are met: 11 | # 12 | # * Redistributions of source code must retain the above copyright 13 | # notice, this list of conditions and the following disclaimer. 14 | # * Redistributions in binary form must reproduce the above 15 | # copyright notice, this list of conditions and the following 16 | # disclaimer in the documentation and/or other materials provided 17 | # with the distribution. 18 | # * Neither the name of the Willow Garage nor the names of its 19 | # contributors may be used to endorse or promote products derived 20 | # from this software without specific prior written permission. 21 | # 22 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 23 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 24 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 25 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 26 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 27 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 28 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 29 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 30 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 31 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 32 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 33 | # POSSIBILITY OF SUCH DAMAGE. 34 | 35 | import rclpy 36 | from camera_calibration.camera_checker import CameraCheckerNode 37 | 38 | 39 | def main(): 40 | from optparse import OptionParser 41 | parser = OptionParser() 42 | parser.add_option("-s", "--size", default="8x6", 43 | help="specify chessboard size as nxm [default: %default]") 44 | parser.add_option("-q", "--square", default=".108", 45 | help="specify chessboard square size in meters [default: %default]") 46 | parser.add_option( 47 | "--approximate", type="float", default=0.0, 48 | help="allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras") 49 | 50 | options, _ = parser.parse_args(rclpy.utilities.remove_ros_args()) 51 | rclpy.init() 52 | 53 | size = tuple([int(c) for c in options.size.split('x')]) 54 | dim = float(options.square) 55 | approximate = float(options.approximate) 56 | node = CameraCheckerNode("cameracheck", size, dim, approximate) 57 | rclpy.spin(node) 58 | 59 | 60 | if __name__ == "__main__": 61 | main() 62 | -------------------------------------------------------------------------------- /depth_image_proc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(depth_image_proc) 3 | 4 | # Default to C++14 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | find_package(ament_cmake_auto REQUIRED) 14 | ament_auto_find_build_dependencies() 15 | 16 | find_package(Eigen3 QUIET) 17 | if(NOT EIGEN3_FOUND) 18 | find_package(Eigen REQUIRED) 19 | set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) 20 | include_directories(include ${EIGEN3_INCLUDE_DIRS}) 21 | endif() 22 | 23 | find_package(OpenCV REQUIRED) 24 | 25 | ament_auto_add_library(${PROJECT_NAME} SHARED 26 | src/conversions.cpp 27 | src/convert_metric.cpp 28 | src/crop_foremost.cpp 29 | src/disparity.cpp 30 | src/point_cloud_xyz.cpp 31 | src/point_cloud_xyzrgb.cpp 32 | src/point_cloud_xyzi.cpp 33 | src/point_cloud_xyz_radial.cpp 34 | src/point_cloud_xyzi_radial.cpp 35 | src/point_cloud_xyzrgb_radial.cpp 36 | src/register.cpp 37 | ) 38 | 39 | # Register individual components and also build standalone nodes for each 40 | rclcpp_components_register_node(${PROJECT_NAME} 41 | PLUGIN "depth_image_proc::ConvertMetricNode" 42 | EXECUTABLE convert_metric_node 43 | ) 44 | rclcpp_components_register_node(${PROJECT_NAME} 45 | PLUGIN "depth_image_proc::CropForemostNode" 46 | EXECUTABLE crop_foremost_node 47 | ) 48 | rclcpp_components_register_node(${PROJECT_NAME} 49 | PLUGIN "depth_image_proc::DisparityNode" 50 | EXECUTABLE disparity_node 51 | ) 52 | rclcpp_components_register_node(${PROJECT_NAME} 53 | PLUGIN "depth_image_proc::PointCloudXyzNode" 54 | EXECUTABLE point_cloud_xyz_node 55 | ) 56 | rclcpp_components_register_node(${PROJECT_NAME} 57 | PLUGIN "depth_image_proc::PointCloudXyzrgbNode" 58 | EXECUTABLE point_cloud_xyzrgb_node 59 | ) 60 | rclcpp_components_register_node(${PROJECT_NAME} 61 | PLUGIN "depth_image_proc::PointCloudXyziNode" 62 | EXECUTABLE point_cloud_xyzi_node 63 | ) 64 | rclcpp_components_register_node(${PROJECT_NAME} 65 | PLUGIN "depth_image_proc::PointCloudXyzRadialNode" 66 | EXECUTABLE point_cloud_xyz_radial_node 67 | ) 68 | rclcpp_components_register_node(${PROJECT_NAME} 69 | PLUGIN "depth_image_proc::PointCloudXyziRadialNode" 70 | EXECUTABLE point_cloud_xyzi_radial_node 71 | ) 72 | rclcpp_components_register_node(${PROJECT_NAME} 73 | PLUGIN "depth_image_proc::PointCloudXyziRadialNode" 74 | EXECUTABLE point_cloud_xyzrgb_radial_node 75 | ) 76 | rclcpp_components_register_node(${PROJECT_NAME} 77 | PLUGIN "depth_image_proc::RegisterNode" 78 | EXECUTABLE register_node 79 | ) 80 | 81 | target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES}) 82 | 83 | if(BUILD_TESTING) 84 | find_package(ament_lint_auto REQUIRED) 85 | ament_lint_auto_find_test_dependencies() 86 | endif() 87 | 88 | ament_auto_package(INSTALL_TO_SHARE launch) 89 | -------------------------------------------------------------------------------- /depth_image_proc/doc/images/depth.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/depth_image_proc/doc/images/depth.png -------------------------------------------------------------------------------- /depth_image_proc/doc/images/depth_reg.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/depth_image_proc/doc/images/depth_reg.png -------------------------------------------------------------------------------- /depth_image_proc/doc/images/disparity.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/depth_image_proc/doc/images/disparity.png -------------------------------------------------------------------------------- /depth_image_proc/doc/images/rgb.jpg: 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-------------------------------------------------------------------------------- /depth_image_proc/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | ``depth_image_proc`` provides basic processing for depth images, much as 5 | ``image_proc`` does for traditional 2D images. The two packages are 6 | complementary; for example, you can (and should!) rectify your depth 7 | image before converting it to a point cloud. 8 | 9 | A variety of camera technologies can produce depth images: 10 | 11 | * The Kinect and related devices 12 | * Traditional stereo cameras 13 | * Time-of-flight cameras 14 | 15 | See REP 118 for details on depth image representation. The REP recommends 16 | that, wherever possible, producers and consumers of depth data use depth 17 | images (of type sensor_msgs/Image) instead of sensor_msgs/DisparityImage. 18 | 19 | All ROS 2 components (besides ``ConvertMetricNode``) in this package support 20 | both standard floating point depth images and OpenNI-specific uint16 depth 21 | images. Thus when working with OpenNI cameras (e.g. the Kinect), you can 22 | save a few CPU cycles by using the uint16 raw topics instead of the float 23 | topics. 24 | 25 | For an example of ``depth_image_proc`` in practice, examine the contents of 26 | ``openni2_launch``. 27 | 28 | .. toctree:: 29 | :maxdepth: 2 30 | 31 | self 32 | components 33 | tutorials 34 | image_proc 35 | 36 | Indices and tables 37 | ================== 38 | 39 | * :ref:`genindex` 40 | * :ref:`search` 41 | -------------------------------------------------------------------------------- /depth_image_proc/doc/tutorials.rst: -------------------------------------------------------------------------------- 1 | Tutorials 2 | ========= 3 | 4 | .. _Launch depth_image_proc Components: 5 | 6 | Launching depth_image_proc Components 7 | ------------------------------------- 8 | While each of the components is available as a ROS 2 node, the 9 | recommended way to build pipelines is using the components as 10 | this will save overhead by not having to serialize messages 11 | between components. 12 | 13 | .. code-block:: python 14 | 15 | from launch import LaunchDescription 16 | from launch_ros.actions import ComposableNodeContainer 17 | from launch_ros.descriptions import ComposableNode 18 | 19 | def generate_launch_description(): 20 | 21 | container = ComposableNodeContainer( 22 | name='depth_image_proc_container', 23 | package='rclcpp_components', 24 | executable='component_container', 25 | composable_node_descriptions=[ 26 | ComposableNode( 27 | package='depth_image_proc', 28 | plugin='depth_image_proc::PointCloudXyzrgbNode', 29 | name='point_cloud_xyzrgb_node', 30 | remappings=[ 31 | ('rgb/image_rect_color', 'rgb/image'), 32 | ('depth_registered/image_rect', 'depth_registered/image'), 33 | ('points', 'depth_registered/points'), 34 | ], 35 | ), 36 | ] 37 | ) 38 | 39 | return LaunchDescription([container]) 40 | 41 | Using Compressed Image Transport 42 | -------------------------------- 43 | All of the components and nodes in ``depth_image_proc`` support 44 | ``image_transport``. This allows a subscriber to specify the transport to 45 | be used. By default, this is ``raw``, which means an uncompressed 46 | ``sensor_msgs/Image``. When transmitting images over limited bandwidth 47 | networks, such as WiFi, it can be helpful to use ``compressed`` format. 48 | 49 | For the depth images, use the ``depth_image_transport`` parameter. For 50 | setting the transport for intensity or rgb images, the ``image_transport`` 51 | parameter is used: 52 | 53 | .. code-block:: bash 54 | 55 | $ ros2 run depth_image_proc point_cloud_xyz_node --ros-args -p depth_image_transport:=compressed 56 | 57 | Remapping camera_info Topics 58 | ---------------------------- 59 | See `tutorial in image_pipline `_. 60 | 61 | Using QoS Overrides 62 | ------------------- 63 | See `tutorial in image_pipline `_. 64 | -------------------------------------------------------------------------------- /depth_image_proc/include/depth_image_proc/depth_traits.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef DEPTH_IMAGE_PROC__DEPTH_TRAITS_HPP_ 34 | #define DEPTH_IMAGE_PROC__DEPTH_TRAITS_HPP_ 35 | 36 | #include 37 | #include 38 | #include 39 | #include 40 | 41 | namespace depth_image_proc 42 | { 43 | 44 | // Encapsulate differences between processing float and uint16_t depths 45 | template 46 | struct DepthTraits {}; 47 | 48 | template<> 49 | struct DepthTraits 50 | { 51 | static inline bool valid(uint16_t depth) {return depth != 0;} 52 | static inline float toMeters(uint16_t depth) {return depth * 0.001f;} // originally mm 53 | static inline uint16_t fromMeters(float depth) {return (depth * 1000.0f) + 0.5f;} 54 | // Do nothing - already zero-filled 55 | static inline void initializeBuffer(std::vector & buffer) {(void) buffer;} 56 | }; 57 | 58 | template<> 59 | struct DepthTraits 60 | { 61 | static inline bool valid(float depth) {return std::isfinite(depth);} 62 | static inline float toMeters(float depth) {return depth;} 63 | static inline float fromMeters(float depth) {return depth;} 64 | 65 | static inline void initializeBuffer(std::vector & buffer) 66 | { 67 | float * start = reinterpret_cast(&buffer[0]); 68 | float * end = reinterpret_cast(&buffer[0] + buffer.size()); 69 | std::fill(start, end, std::numeric_limits::quiet_NaN()); 70 | } 71 | }; 72 | 73 | } // namespace depth_image_proc 74 | 75 | #endif // DEPTH_IMAGE_PROC__DEPTH_TRAITS_HPP_ 76 | -------------------------------------------------------------------------------- /depth_image_proc/include/depth_image_proc/point_cloud_xyz.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_ 34 | #define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_ 35 | 36 | #include 37 | 38 | #include "depth_image_proc/visibility.h" 39 | #include "image_geometry/pinhole_camera_model.hpp" 40 | 41 | #include 42 | #include 43 | #include 44 | #include 45 | #include 46 | #include 47 | #include 48 | 49 | #include 50 | 51 | namespace depth_image_proc 52 | { 53 | 54 | namespace enc = sensor_msgs::image_encodings; 55 | 56 | class PointCloudXyzNode : public rclcpp::Node 57 | { 58 | public: 59 | DEPTH_IMAGE_PROC_PUBLIC PointCloudXyzNode(const rclcpp::NodeOptions & options); 60 | 61 | private: 62 | using PointCloud2 = sensor_msgs::msg::PointCloud2; 63 | using Image = sensor_msgs::msg::Image; 64 | using CameraInfo = sensor_msgs::msg::CameraInfo; 65 | 66 | // Subscriptions 67 | image_transport::CameraSubscriber sub_depth_; 68 | int queue_size_; 69 | 70 | // Parameters 71 | double invalid_depth_; 72 | 73 | // Publications 74 | std::mutex connect_mutex_; 75 | rclcpp::Publisher::SharedPtr pub_point_cloud_; 76 | 77 | image_geometry::PinholeCameraModel model_; 78 | 79 | void depthCb( 80 | const Image::ConstSharedPtr & depth_msg, 81 | const CameraInfo::ConstSharedPtr & info_msg); 82 | }; 83 | 84 | } // namespace depth_image_proc 85 | 86 | #endif // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_ 87 | -------------------------------------------------------------------------------- /depth_image_proc/include/depth_image_proc/point_cloud_xyz_radial.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_RADIAL_HPP_ 34 | #define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_RADIAL_HPP_ 35 | 36 | #include 37 | #include 38 | #include 39 | 40 | #include "depth_image_proc/visibility.h" 41 | #include "image_geometry/pinhole_camera_model.hpp" 42 | 43 | #include 44 | #include 45 | #include 46 | #include 47 | #include 48 | #include 49 | 50 | namespace depth_image_proc 51 | { 52 | 53 | class PointCloudXyzRadialNode : public rclcpp::Node 54 | { 55 | public: 56 | DEPTH_IMAGE_PROC_PUBLIC PointCloudXyzRadialNode(const rclcpp::NodeOptions & options); 57 | 58 | private: 59 | // Subscriptions 60 | image_transport::CameraSubscriber sub_depth_; 61 | int queue_size_; 62 | 63 | // Publications 64 | std::mutex connect_mutex_; 65 | using PointCloud = sensor_msgs::msg::PointCloud2; 66 | rclcpp::Publisher::SharedPtr pub_point_cloud_; 67 | 68 | std::vector D_; 69 | std::array K_; 70 | 71 | uint32_t width_; 72 | uint32_t height_; 73 | 74 | cv::Mat transform_; 75 | 76 | void depthCb( 77 | const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg, 78 | const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg); 79 | }; 80 | 81 | } // namespace depth_image_proc 82 | 83 | #endif // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_RADIAL_HPP_ 84 | -------------------------------------------------------------------------------- /depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_HPP_ 34 | #define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_HPP_ 35 | 36 | #include 37 | #include 38 | 39 | #include "depth_image_proc/visibility.h" 40 | #include "image_geometry/pinhole_camera_model.hpp" 41 | #include "message_filters/subscriber.hpp" 42 | #include "message_filters/sync_policies/approximate_time.hpp" 43 | #include "message_filters/synchronizer.hpp" 44 | 45 | #include 46 | #include 47 | #include 48 | #include 49 | #include 50 | 51 | namespace depth_image_proc 52 | { 53 | 54 | namespace enc = sensor_msgs::image_encodings; 55 | 56 | class PointCloudXyziNode : public rclcpp::Node 57 | { 58 | public: 59 | DEPTH_IMAGE_PROC_PUBLIC PointCloudXyziNode(const rclcpp::NodeOptions & options); 60 | 61 | private: 62 | using Image = sensor_msgs::msg::Image; 63 | using CameraInfo = sensor_msgs::msg::CameraInfo; 64 | using PointCloud = sensor_msgs::msg::PointCloud2; 65 | 66 | // Subscriptions 67 | image_transport::SubscriberFilter sub_depth_, sub_intensity_; 68 | message_filters::Subscriber sub_info_; 69 | using SyncPolicy = 70 | message_filters::sync_policies::ApproximateTime; 71 | using Synchronizer = message_filters::Synchronizer; 72 | std::shared_ptr sync_; 73 | 74 | // parameters 75 | float invalid_depth_; 76 | 77 | // Publications 78 | std::mutex connect_mutex_; 79 | rclcpp::Publisher::SharedPtr pub_point_cloud_; 80 | 81 | image_geometry::PinholeCameraModel model_; 82 | 83 | void imageCb( 84 | const Image::ConstSharedPtr & depth_msg, 85 | const Image::ConstSharedPtr & intensity_msg, 86 | const CameraInfo::ConstSharedPtr & info_msg); 87 | }; 88 | 89 | } // namespace depth_image_proc 90 | 91 | #endif // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_HPP_ 92 | -------------------------------------------------------------------------------- /depth_image_proc/include/depth_image_proc/visibility.h: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | #ifndef DEPTH_IMAGE_PROC__VISIBILITY_H_ 33 | #define DEPTH_IMAGE_PROC__VISIBILITY_H_ 34 | 35 | #ifdef __cplusplus 36 | extern "C" 37 | { 38 | #endif 39 | 40 | // This logic was borrowed (then namespaced) from the examples on the gcc wiki: 41 | // https://gcc.gnu.org/wiki/Visibility 42 | 43 | #if defined _WIN32 || defined __CYGWIN__ 44 | 45 | #ifdef __GNUC__ 46 | #define DEPTH_IMAGE_PROC_EXPORT __attribute__ ((dllexport)) 47 | #define DEPTH_IMAGE_PROC_IMPORT __attribute__ ((dllimport)) 48 | #else 49 | #define DEPTH_IMAGE_PROC_EXPORT __declspec(dllexport) 50 | #define DEPTH_IMAGE_PROC_IMPORT __declspec(dllimport) 51 | #endif 52 | 53 | #ifdef DEPTH_IMAGE_PROC_DLL 54 | #define DEPTH_IMAGE_PROC_PUBLIC DEPTH_IMAGE_PROC_EXPORT 55 | #else 56 | #define DEPTH_IMAGE_PROC_PUBLIC DEPTH_IMAGE_PROC_IMPORT 57 | #endif 58 | 59 | #define DEPTH_IMAGE_PROC_PUBLIC_TYPE DEPTH_IMAGE_PROC_PUBLIC 60 | 61 | #define DEPTH_IMAGE_PROC_LOCAL 62 | 63 | #else 64 | 65 | #define DEPTH_IMAGE_PROC_EXPORT __attribute__ ((visibility("default"))) 66 | #define DEPTH_IMAGE_PROC_IMPORT 67 | 68 | #if __GNUC__ >= 4 69 | #define DEPTH_IMAGE_PROC_PUBLIC __attribute__ ((visibility("default"))) 70 | #define DEPTH_IMAGE_PROC_LOCAL __attribute__ ((visibility("hidden"))) 71 | #else 72 | #define DEPTH_IMAGE_PROC_PUBLIC 73 | #define DEPTH_IMAGE_PROC_LOCAL 74 | #endif 75 | 76 | #define DEPTH_IMAGE_PROC_PUBLIC_TYPE 77 | #endif 78 | 79 | #ifdef __cplusplus 80 | } 81 | #endif 82 | 83 | #endif // DEPTH_IMAGE_PROC__VISIBILITY_H_ 84 | -------------------------------------------------------------------------------- /depth_image_proc/launch/convert_metric.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | 38 | import launch_ros.actions 39 | import launch_ros.descriptions 40 | 41 | 42 | def generate_launch_description(): 43 | default_rviz = os.path.join(get_package_share_directory('depth_image_proc'), 44 | 'launch', 'rviz/convert_metric.rviz') 45 | return LaunchDescription([ 46 | # install realsense from https://github.com/intel/ros2_intel_realsense 47 | launch_ros.actions.Node( 48 | package='realsense2_camera', 49 | executable='realsense2_camera_node', 50 | namespace='', 51 | output='screen'), 52 | 53 | # launch plugin through rclcpp_components container 54 | launch_ros.actions.ComposableNodeContainer( 55 | name='container', 56 | namespace='', 57 | package='rclcpp_components', 58 | executable='component_container', 59 | composable_node_descriptions=[ 60 | # Driver itself 61 | launch_ros.descriptions.ComposableNode( 62 | package='depth_image_proc', 63 | plugin='depth_image_proc::ConvertMetricNode', 64 | name='convert_metric_node', 65 | remappings=[('image_raw', '/camera/depth/image_rect_raw'), 66 | ('image', '/camera/depth/converted_image')] 67 | ), 68 | ], 69 | output='screen', 70 | ), 71 | 72 | # rviz 73 | launch_ros.actions.Node( 74 | package='rviz2', executable='rviz2', output='screen', 75 | arguments=['--display-config', default_rviz]), 76 | ]) 77 | -------------------------------------------------------------------------------- /depth_image_proc/launch/crop_foremost.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | 38 | import launch_ros.actions 39 | import launch_ros.descriptions 40 | 41 | 42 | def generate_launch_description(): 43 | default_rviz = os.path.join(get_package_share_directory('depth_image_proc'), 44 | 'launch', 'rviz/crop_formost.rviz') 45 | return LaunchDescription([ 46 | # install realsense from https://github.com/intel/ros2_intel_realsense 47 | launch_ros.actions.Node( 48 | package='realsense2_camera', 49 | executable='realsense2_camera_node', 50 | namespace='', 51 | output='screen'), 52 | 53 | launch_ros.actions.ComposableNodeContainer( 54 | name='container', 55 | namespace='', 56 | package='rclcpp_components', 57 | executable='component_container', 58 | composable_node_descriptions=[ 59 | # Driver itself 60 | launch_ros.descriptions.ComposableNode( 61 | package='depth_image_proc', 62 | plugin='depth_image_proc::CropForemostNode', 63 | name='crop_foremost_node', 64 | remappings=[('image_raw', '/camera/depth/image_rect_raw'), 65 | ('image', '/camera/depth/converted_image')] 66 | ), 67 | ], 68 | output='screen', 69 | ), 70 | 71 | # rviz 72 | launch_ros.actions.Node( 73 | package='rviz2', executable='rviz2', output='screen', 74 | arguments=['--display-config', default_rviz]), 75 | ]) 76 | -------------------------------------------------------------------------------- /depth_image_proc/launch/point_cloud_xyz.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | 38 | import launch_ros.actions 39 | import launch_ros.descriptions 40 | 41 | 42 | def generate_launch_description(): 43 | default_rviz = os.path.join(get_package_share_directory('depth_image_proc'), 44 | 'launch', 'rviz/point_cloud_xyz.rviz') 45 | return LaunchDescription([ 46 | # install realsense from https://github.com/intel/ros2_intel_realsense 47 | launch_ros.actions.Node( 48 | package='realsense2_camera', 49 | executable='realsense2_camera_node', 50 | namespace='', 51 | output='screen'), 52 | 53 | # launch plugin through rclcpp_components container 54 | launch_ros.actions.ComposableNodeContainer( 55 | name='container', 56 | namespace='', 57 | package='rclcpp_components', 58 | executable='component_container', 59 | composable_node_descriptions=[ 60 | # Driver itself 61 | launch_ros.descriptions.ComposableNode( 62 | package='depth_image_proc', 63 | plugin='depth_image_proc::PointCloudXyzNode', 64 | name='point_cloud_xyz_node', 65 | remappings=[('image_rect', '/camera/depth/image_rect_raw'), 66 | ('image', '/camera/depth/converted_image')] 67 | ), 68 | ], 69 | output='screen', 70 | ), 71 | 72 | # rviz 73 | launch_ros.actions.Node( 74 | package='rviz2', executable='rviz2', output='screen', 75 | arguments=['--display-config', default_rviz]), 76 | ]) 77 | -------------------------------------------------------------------------------- /depth_image_proc/launch/point_cloud_xyz_radial.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | 38 | import launch_ros.actions 39 | import launch_ros.descriptions 40 | 41 | 42 | def generate_launch_description(): 43 | default_rviz = os.path.join(get_package_share_directory('depth_image_proc'), 44 | 'launch', 'rviz/point_cloud_xyz_radial.rviz') 45 | return LaunchDescription([ 46 | # install realsense from https://github.com/intel/ros2_intel_realsense 47 | launch_ros.actions.Node( 48 | package='realsense2_camera', 49 | executable='realsense2_camera_node', 50 | namespace='', 51 | output='screen'), 52 | 53 | # launch plugin through rclcpp_components container 54 | launch_ros.actions.ComposableNodeContainer( 55 | name='container', 56 | namespace='', 57 | package='rclcpp_components', 58 | executable='component_container', 59 | composable_node_descriptions=[ 60 | # Driver itself 61 | launch_ros.descriptions.ComposableNode( 62 | package='depth_image_proc', 63 | plugin='depth_image_proc::PointCloudXyzRadialNode', 64 | name='point_cloud_xyz_radial_node', 65 | remappings=[('depth/image_raw', '/camera/depth/image_rect_raw'), 66 | ('image', '/camera/depth/converted_image')] 67 | ), 68 | ], 69 | output='screen', 70 | ), 71 | 72 | # rviz 73 | launch_ros.actions.Node( 74 | package='rviz2', executable='rviz2', output='screen', 75 | arguments=['--display-config', default_rviz]), 76 | ]) 77 | -------------------------------------------------------------------------------- /depth_image_proc/launch/point_cloud_xyzrgb.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | 38 | import launch_ros.actions 39 | import launch_ros.descriptions 40 | 41 | 42 | def generate_launch_description(): 43 | default_rviz = os.path.join(get_package_share_directory('depth_image_proc'), 44 | 'launch', 'rviz/point_cloud_xyzrgb.rviz') 45 | return LaunchDescription([ 46 | # install realsense from https://github.com/intel/ros2_intel_realsense 47 | launch_ros.actions.Node( 48 | package='realsense2_camera', 49 | executable='realsense2_camera_node', 50 | namespace='', 51 | parameters=[{'align_depth.enable': True},], 52 | output='screen'), 53 | 54 | # launch plugin through rclcpp_components container 55 | launch_ros.actions.ComposableNodeContainer( 56 | name='container', 57 | namespace='', 58 | package='rclcpp_components', 59 | executable='component_container', 60 | composable_node_descriptions=[ 61 | # Driver itself 62 | launch_ros.descriptions.ComposableNode( 63 | package='depth_image_proc', 64 | plugin='depth_image_proc::PointCloudXyzrgbNode', 65 | name='point_cloud_xyzrgb_node', 66 | remappings=[('rgb/image_rect_color', '/camera/color/image_raw'), 67 | ('depth_registered/image_rect', 68 | '/camera/aligned_depth_to_color/image_raw'), 69 | ('points', '/camera/depth_registered/points')] 70 | ), 71 | ], 72 | output='screen', 73 | ), 74 | 75 | # rviz 76 | launch_ros.actions.Node( 77 | package='rviz2', executable='rviz2', output='screen', 78 | arguments=['--display-config', default_rviz]), 79 | ]) 80 | -------------------------------------------------------------------------------- /depth_image_proc/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | depth_image_proc 5 | 7.0.0 6 | 7 | 8 | Contains components for processing depth images such as those 9 | produced by OpenNI camera. Functions include creating disparity 10 | images and point clouds, as well as registering (reprojecting) 11 | a depth image into another camera frame. 12 | 13 | 14 | 15 | Vincent Rabaud 16 | Joshua Whitley 17 | Chris Ye 18 | Jacob Perron 19 | Michael Ferguson 20 | 21 | BSD 22 | https://index.ros.org/p/depth_image_proc/ 23 | https://github.com/ros-perception/image_pipeline/issues 24 | https://github.com/ros-perception/image_pipeline 25 | Patrick Mihelich 26 | 27 | ament_cmake_auto 28 | 29 | class_loader 30 | 31 | cv_bridge 32 | image_geometry 33 | image_transport 34 | libopencv-dev 35 | image_proc 36 | message_filters 37 | rclcpp 38 | rclcpp_components 39 | sensor_msgs 40 | stereo_msgs 41 | tf2 42 | tf2_eigen 43 | tf2_ros 44 | 45 | ament_lint_auto 46 | ament_lint_common 47 | 48 | 49 | ament_cmake 50 | 51 | 52 | -------------------------------------------------------------------------------- /image_pipeline/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(image_pipeline) 3 | 4 | # Default to C++14 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | find_package(ament_cmake REQUIRED) 14 | 15 | if(BUILD_TESTING) 16 | find_package(ament_lint_auto REQUIRED) 17 | ament_lint_auto_find_test_dependencies() 18 | endif() 19 | 20 | ament_package() 21 | -------------------------------------------------------------------------------- /image_pipeline/doc/changelog.rst: -------------------------------------------------------------------------------- 1 | Changelog Notes 2 | =============== 3 | 4 | While there is an official changelog for each package, this page summarizes 5 | the major changes between distributions 6 | 7 | Changes in Jazzy Jalisco 8 | ------------------------ 9 | There are several major change between ``Iron`` and ``Jazzy``: 10 | 11 | * All components now properly support ``image_transport`` paramter, 12 | or ``depth_image_transport`` parameter if the topic is a depth image. 13 | In most places, this consists of simply adding the parameter, or making 14 | the parameter work, however two cases should be noted where the 15 | parameter was renamed: 16 | 17 | * image_view::ExtractImages: incorrectly named parameter ``transport`` 18 | was renamed to more consistent ``image_transport``. 19 | * imaeg_view::StereoView: incorrectly named parameter ``transport`` 20 | was renamed to more consistent ``image_transport``. 21 | 22 | * Improvements to QoS support: 23 | 24 | * Most components now support QoS overrides via ROS 2 parameters 25 | * The ``use_system_default_qos`` parameter has been removed from 26 | stereo_image_proc::DisparityNode and stereo_image_proc::PointCloudNode 27 | as the QoS overrides are the newer, preferred method. 28 | 29 | * All components now properly support remapping the ``camera_info`` topic 30 | for an associated ``image`` topic. For instance, if you remap ``image`` 31 | to ``my/image`` then ``my/camera_info`` will be used. Previously you 32 | would have to manually remap the ``camera_info`` topic. See also 33 | :ref:`Remapping camera_info Topics`. 34 | * The input of ``depth_image_proc/point_cloud_xyz_radial`` is renamed 35 | from ``image_raw`` to ``depth/image_raw`` for consistency. 36 | * The inputs of ``depth_image_proc/point_cloud_xyzrgb_radial`` are renamed 37 | from ``depth_registered/image_rect`` to ``depth/image_raw`` and 38 | ``rgb/image_rect_color`` to ``rgb/image_raw`` to make clear that the 39 | unrectified camera projection matrix is used, and for consistency with 40 | other radial nodes. 41 | * The boolen parameter ``full_dp`` from the DisparityNode has been deleted 42 | and a new integer parameter ``sgbm_mode`` added to enable all the 43 | variations of the stereo matching algorithm SGBM available from the 44 | OpenCV library. 45 | -------------------------------------------------------------------------------- /image_pipeline/doc/images/CameraCoords.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_pipeline/doc/images/CameraCoords.png -------------------------------------------------------------------------------- /image_pipeline/doc/images/CameraInfo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_pipeline/doc/images/CameraInfo.png -------------------------------------------------------------------------------- /image_pipeline/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | The ``image_pipeline`` stack is designed to process raw camera images 5 | into useful inputs to vision algorithms: rectified mono/color images, 6 | stereo disparity images, and stereo point clouds. Components include: 7 | 8 | * **Calibration**: Cameras must be calibrated in order to relate the 9 | images they produce to the three-dimensional world. The 10 | ``camera_calibration`` package provides tools to calibrate monocular 11 | and stereo cameras in your ROS system. The :ref:`Camera Info` page 12 | provides a detailed description of the parameters used by the 13 | pipeline. 14 | * **Monocular processing**: The raw image stream can be piped through 15 | the ``image_proc`` node to remove camera distortion. The node also 16 | performs color interpolation for Bayer pattern color cameras. 17 | * **Stereo processing**: The ``stereo_image_proc`` package performs 18 | the duties of ``image_proc`` for a pair of cameras co-calibrated 19 | for stereo vision. It also uses stereo processing to produce 20 | disparity images and point clouds. 21 | * **Depth processing**: ``depth_image_proc`` provides components 22 | for processing depth images (as produced by the Kinect, 23 | time-of-flight cameras, etc.), such as producing point clouds. 24 | * **Visualization**: The ``image_view`` package provides a lightweight 25 | alternative to ``rviz2`` for viewing an image topic. It also includes 26 | a ``stereo_view`` tool for viewing stereo pairs and disparity images. 27 | 28 | .. toctree:: 29 | :maxdepth: 2 30 | 31 | self 32 | camera_info 33 | tutorials 34 | changelog 35 | camera_calibration <../camera_calibration/index.html#http://> 36 | depth_image_proc <../depth_image_proc/index.html#http://> 37 | image_proc <../image_proc/index.html#http://> 38 | image_publisher <../image_publisher/index.html#http://> 39 | image_rotate <../image_rotate/index.html#http://> 40 | image_view <../image_view/index.html#http://> 41 | stereo_image_proc <../stereo_image_proc/index.html#http://> 42 | 43 | Indices and tables 44 | ================== 45 | 46 | * :ref:`genindex` 47 | * :ref:`search` 48 | -------------------------------------------------------------------------------- /image_pipeline/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | image_pipeline 5 | 7.0.0 6 | image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing. 7 | 8 | Vincent Rabaud 9 | Joshua Whitley 10 | Jacob Perron 11 | Michael Ferguson 12 | 13 | BSD 14 | https://index.ros.org/p/image_pipeline/ 15 | https://github.com/ros-perception/image_pipeline/issues 16 | https://github.com/ros-perception/image_pipeline 17 | Patrick Mihelich 18 | James Bowman 19 | 20 | ament_cmake 21 | 22 | 23 | camera_calibration 24 | depth_image_proc 25 | image_proc 26 | image_publisher 27 | image_rotate 28 | image_view 29 | stereo_image_proc 30 | 31 | ament_lint_auto 32 | ament_cmake_lint_cmake 33 | ament_cmake_xmllint 34 | 35 | 36 | ament_cmake 37 | rosdoc2.yaml 38 | 39 | 40 | -------------------------------------------------------------------------------- /image_pipeline/rosdoc2.yaml: -------------------------------------------------------------------------------- 1 | type: 'rosdoc2 config' 2 | version: 1 3 | 4 | --- 5 | 6 | settings: 7 | generate_package_index: false 8 | always_run_doxygen: false 9 | enable_breathe: false 10 | enable_exhale: false 11 | always_run_sphinx_apidoc: false 12 | override_build_type: 'ament_python' 13 | python_source: 'doc' 14 | 15 | builders: 16 | - sphinx: { 17 | name: 'image_pipeline', 18 | sphinx_sourcedir: 'doc', 19 | output_dir: '' 20 | } -------------------------------------------------------------------------------- /image_proc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(image_proc) 3 | 4 | # ROS2 Flags 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | find_package(ament_cmake_auto REQUIRED) 14 | ament_auto_find_build_dependencies() 15 | 16 | find_package(OpenCV REQUIRED) 17 | if(OpenCV_VERSION VERSION_LESS "3.2.0") 18 | message(FATAL "Minimum OpenCV version is 3.2.0 (found version ${OpenCV_VERSION})") 19 | endif() 20 | 21 | # image_proc library 22 | ament_auto_add_library(${PROJECT_NAME} SHARED 23 | src/${PROJECT_NAME}/processor.cpp 24 | ) 25 | target_link_libraries(${PROJECT_NAME} 26 | ${OpenCV_LIBRARIES} 27 | ) 28 | 29 | # rectify component and node 30 | ament_auto_add_library(rectify SHARED 31 | src/rectify.cpp) 32 | target_compile_definitions(rectify 33 | PRIVATE "COMPOSITION_BUILDING_DLL" 34 | ) 35 | rclcpp_components_register_node(rectify 36 | PLUGIN "image_proc::RectifyNode" 37 | EXECUTABLE rectify_node 38 | ) 39 | 40 | # debayer component and node 41 | ament_auto_add_library(debayer SHARED 42 | src/debayer.cpp 43 | src/edge_aware.cpp 44 | ) 45 | target_compile_definitions(debayer 46 | PRIVATE "COMPOSITION_BUILDING_DLL" 47 | ) 48 | rclcpp_components_register_node(debayer 49 | PLUGIN "image_proc::DebayerNode" 50 | EXECUTABLE debayer_node 51 | ) 52 | 53 | # resize component and node 54 | ament_auto_add_library(resize SHARED 55 | src/resize.cpp 56 | ) 57 | target_compile_definitions(resize 58 | PRIVATE "COMPOSITION_BUILDING_DLL" 59 | ) 60 | rclcpp_components_register_node(resize 61 | PLUGIN "image_proc::ResizeNode" 62 | EXECUTABLE resize_node 63 | ) 64 | 65 | # crop_decimate component and node 66 | ament_auto_add_library(crop_decimate SHARED 67 | src/crop_decimate.cpp 68 | ) 69 | target_compile_definitions(crop_decimate 70 | PRIVATE "COMPOSITION_BUILDING_DLL" 71 | ) 72 | rclcpp_components_register_node(crop_decimate 73 | PLUGIN "image_proc::CropDecimateNode" 74 | EXECUTABLE crop_decimate_node 75 | ) 76 | 77 | # crop_non_zero component and node 78 | ament_auto_add_library(crop_non_zero SHARED 79 | src/crop_non_zero.cpp 80 | ) 81 | target_compile_definitions(crop_non_zero 82 | PRIVATE "COMPOSITION_BUILDING_DLL" 83 | ) 84 | rclcpp_components_register_node(crop_non_zero 85 | PLUGIN "image_proc::CropNonZeroNode" 86 | EXECUTABLE crop_non_zero_node 87 | ) 88 | 89 | # track_marker component and node 90 | ament_auto_add_library(track_marker SHARED 91 | src/track_marker.cpp 92 | ) 93 | target_compile_definitions(track_marker 94 | PRIVATE "COMPOSITION_BUILDING_DLL" 95 | ) 96 | rclcpp_components_register_node(track_marker 97 | PLUGIN "image_proc::TrackMarkerNode" 98 | EXECUTABLE track_marker_node 99 | ) 100 | 101 | if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") 102 | target_link_libraries(image_proc "stdc++fs") 103 | endif() 104 | 105 | if(BUILD_TESTING) 106 | find_package(ament_lint_auto REQUIRED) 107 | ament_lint_auto_find_test_dependencies() 108 | 109 | add_definitions(-D_SRC_RESOURCES_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/resources") 110 | 111 | find_package(ament_cmake_gtest) 112 | ament_auto_add_gtest(test_rectify test/test_rectify.cpp) 113 | 114 | find_package(ament_cmake_gtest) 115 | ament_auto_add_gtest(rostest test/rostest.cpp) 116 | endif() 117 | 118 | ament_auto_package(INSTALL_TO_SHARE launch) 119 | -------------------------------------------------------------------------------- /image_proc/doc/images/left_raw.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_proc/doc/images/left_raw.png -------------------------------------------------------------------------------- /image_proc/doc/images/left_rect_color.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_proc/doc/images/left_rect_color.png -------------------------------------------------------------------------------- /image_proc/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | This package contains a number of ROS 2 components and nodes for image processing. 5 | 6 | An example of what ``image_proc`` components can do is taking an original 7 | camera image, which is Bayered and distorted, and transforming it into a 8 | rectified image, de-Bayered and undistorted (amount of black border may 9 | vary depending on calibration): 10 | 11 | |raw| |color| 12 | 13 | .. |raw| image:: images/left_raw.png 14 | :width: 49% 15 | 16 | .. |color| image:: images/left_rect_color.png 17 | :width: 49% 18 | 19 | The images above were produced using the tutorial :ref:`Using image_proc Launch File`. 20 | 21 | .. toctree:: 22 | :maxdepth: 2 23 | 24 | self 25 | components 26 | tutorials 27 | image_proc 28 | 29 | Indices and tables 30 | ================== 31 | 32 | * :ref:`genindex` 33 | * :ref:`search` 34 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/crop_decimate.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019 Willow Garage, Inc., Steve Macenski, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__CROP_DECIMATE_HPP_ 34 | #define IMAGE_PROC__CROP_DECIMATE_HPP_ 35 | 36 | #include 37 | 38 | #include "cv_bridge/cv_bridge.hpp" 39 | 40 | #include 41 | #include 42 | #include 43 | #include 44 | 45 | namespace image_proc 46 | { 47 | 48 | enum class CropDecimateModes 49 | { 50 | CropDecimate_NN = 0, 51 | CropDecimate_Linear = 1, 52 | CropDecimate_Cubic = 2, 53 | CropDecimate_Area = 3, 54 | CropDecimate_Lanczos4 = 4 55 | }; 56 | 57 | using cv_bridge::CvImage; 58 | using cv_bridge::CvImageConstPtr; 59 | using cv_bridge::toCvShare; 60 | 61 | class CropDecimateNode : public rclcpp::Node 62 | { 63 | public: 64 | explicit CropDecimateNode(const rclcpp::NodeOptions &); 65 | 66 | private: 67 | image_transport::CameraSubscriber sub_; 68 | image_transport::CameraPublisher pub_; 69 | int queue_size_; 70 | std::string target_frame_id_; 71 | int decimation_x_, decimation_y_, offset_x_, offset_y_, width_, height_; 72 | std::string image_topic_; 73 | CropDecimateModes interpolation_; 74 | 75 | void imageCb( 76 | const sensor_msgs::msg::Image::ConstSharedPtr image_msg, 77 | const sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg); 78 | }; 79 | 80 | } // namespace image_proc 81 | 82 | #endif // IMAGE_PROC__CROP_DECIMATE_HPP_ 83 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/crop_non_zero.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019 Willow Garage, Inc., Steve Macenski, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__CROP_NON_ZERO_HPP_ 34 | #define IMAGE_PROC__CROP_NON_ZERO_HPP_ 35 | 36 | #include 37 | #include 38 | 39 | #include 40 | #include 41 | #include 42 | 43 | namespace image_proc 44 | { 45 | 46 | class CropNonZeroNode : public rclcpp::Node 47 | { 48 | public: 49 | explicit CropNonZeroNode(const rclcpp::NodeOptions &); 50 | 51 | private: 52 | std::string image_topic_; 53 | 54 | // Subscriptions 55 | image_transport::Subscriber sub_raw_; 56 | 57 | // Publications 58 | std::mutex connect_mutex_; 59 | 60 | image_transport::Publisher pub_; 61 | 62 | void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg); 63 | }; 64 | } // namespace image_proc 65 | #endif // IMAGE_PROC__CROP_NON_ZERO_HPP_ 66 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/debayer.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019, Willow Garage, Inc., Andreas Klintberg, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__DEBAYER_HPP_ 34 | #define IMAGE_PROC__DEBAYER_HPP_ 35 | 36 | #include 37 | #include 38 | #include 39 | #include 40 | 41 | namespace image_proc 42 | { 43 | 44 | class DebayerNode 45 | : public rclcpp::Node 46 | { 47 | public: 48 | explicit DebayerNode(const rclcpp::NodeOptions &); 49 | 50 | private: 51 | image_transport::Subscriber sub_raw_; 52 | 53 | int debayer_; 54 | std::string image_topic_; 55 | 56 | int debayer_bilinear_ = 0; 57 | int debayer_edgeaware_ = 1; 58 | int debayer_edgeaware_weighted_ = 2; 59 | int debayer_vng_ = 3; 60 | 61 | image_transport::Publisher pub_mono_; 62 | image_transport::Publisher pub_color_; 63 | 64 | void connectCb(); 65 | void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg); 66 | }; 67 | 68 | } // namespace image_proc 69 | 70 | #endif // IMAGE_PROC__DEBAYER_HPP_ 71 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/edge_aware.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019, Willow Garage, Inc., Andreas Klintberg, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__EDGE_AWARE_HPP_ 34 | #define IMAGE_PROC__EDGE_AWARE_HPP_ 35 | 36 | #include 37 | 38 | // Edge-aware debayering algorithms, intended for eventual inclusion in OpenCV. 39 | 40 | namespace image_proc 41 | { 42 | 43 | void debayerEdgeAware(const cv::Mat & bayer, cv::Mat & color); 44 | void debayerEdgeAwareWeighted(const cv::Mat & bayer, cv::Mat & color); 45 | 46 | } // namespace image_proc 47 | 48 | #endif // IMAGE_PROC__EDGE_AWARE_HPP_ 49 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/processor.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__PROCESSOR_HPP_ 34 | #define IMAGE_PROC__PROCESSOR_HPP_ 35 | 36 | #include 37 | 38 | #include "image_geometry/pinhole_camera_model.hpp" 39 | 40 | #include 41 | #include 42 | 43 | namespace image_proc 44 | { 45 | 46 | struct ImageSet 47 | { 48 | std::string color_encoding; 49 | cv::Mat mono; 50 | cv::Mat rect; 51 | cv::Mat color; 52 | cv::Mat rect_color; 53 | }; 54 | 55 | class Processor 56 | { 57 | public: 58 | Processor() 59 | : interpolation_(cv::INTER_LINEAR) 60 | { 61 | } 62 | 63 | int interpolation_; 64 | 65 | enum 66 | { 67 | MONO = 1 << 0, 68 | RECT = 1 << 1, 69 | COLOR = 1 << 2, 70 | RECT_COLOR = 1 << 3, 71 | ALL = MONO | RECT | COLOR | RECT_COLOR 72 | }; 73 | 74 | bool process( 75 | const sensor_msgs::msg::Image::ConstSharedPtr & raw_image, 76 | const image_geometry::PinholeCameraModel & model, 77 | ImageSet & output, int flags = ALL) const; 78 | }; 79 | 80 | } // namespace image_proc 81 | 82 | #endif // IMAGE_PROC__PROCESSOR_HPP_ 83 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/rectify.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__RECTIFY_HPP_ 34 | #define IMAGE_PROC__RECTIFY_HPP_ 35 | 36 | #include 37 | #include 38 | 39 | #include "image_geometry/pinhole_camera_model.hpp" 40 | 41 | #include 42 | #include 43 | #include 44 | #include 45 | 46 | namespace image_proc 47 | { 48 | 49 | class RectifyNode 50 | : public rclcpp::Node 51 | { 52 | public: 53 | explicit RectifyNode(const rclcpp::NodeOptions &); 54 | 55 | private: 56 | image_transport::CameraSubscriber sub_camera_; 57 | 58 | int queue_size_; 59 | int interpolation_; 60 | std::string image_topic_; 61 | image_transport::Publisher pub_rect_; 62 | 63 | // Processing state (note: only safe because we're using single-threaded NodeHandle!) 64 | image_geometry::PinholeCameraModel model_; 65 | 66 | void imageCb( 67 | const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, 68 | const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg); 69 | }; 70 | 71 | } // namespace image_proc 72 | 73 | #endif // IMAGE_PROC__RECTIFY_HPP_ 74 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/resize.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__RESIZE_HPP_ 34 | #define IMAGE_PROC__RESIZE_HPP_ 35 | 36 | #include 37 | #include 38 | 39 | #include 40 | #include 41 | #include 42 | #include 43 | 44 | namespace image_proc 45 | { 46 | 47 | class ResizeNode 48 | : public rclcpp::Node 49 | { 50 | public: 51 | explicit ResizeNode(const rclcpp::NodeOptions &); 52 | 53 | protected: 54 | image_transport::CameraPublisher pub_image_; 55 | image_transport::CameraSubscriber sub_image_; 56 | 57 | int interpolation_; 58 | bool use_scale_; 59 | double scale_height_; 60 | double scale_width_; 61 | int height_; 62 | int width_; 63 | std::string image_topic_; 64 | 65 | cv_bridge::CvImage scaled_cv_; 66 | 67 | std::mutex connect_mutex_; 68 | 69 | void connectCb(); 70 | 71 | void imageCb( 72 | sensor_msgs::msg::Image::ConstSharedPtr image_msg, 73 | sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg); 74 | }; 75 | 76 | } // namespace image_proc 77 | 78 | #endif // IMAGE_PROC__RESIZE_HPP_ 79 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/track_marker.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Open Navigation LLC 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__TRACK_MARKER_HPP_ 34 | #define IMAGE_PROC__TRACK_MARKER_HPP_ 35 | 36 | #include 37 | #include 38 | #include 39 | 40 | #include 41 | #include 42 | #include 43 | #include 44 | #include 45 | #include 46 | 47 | namespace image_proc 48 | { 49 | 50 | class TrackMarkerNode : public rclcpp::Node 51 | { 52 | public: 53 | explicit TrackMarkerNode(const rclcpp::NodeOptions &); 54 | 55 | private: 56 | image_transport::CameraSubscriber sub_camera_; 57 | 58 | int queue_size_; 59 | int marker_id_; 60 | double marker_size_; 61 | std::string image_topic_; 62 | rclcpp::Publisher::SharedPtr pub_; 63 | 64 | cv::Ptr detector_params_; 65 | cv::Ptr dictionary_; 66 | 67 | void imageCb( 68 | const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, 69 | const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg); 70 | }; 71 | 72 | } // namespace image_proc 73 | 74 | #endif // IMAGE_PROC__TRACK_MARKER_HPP_ 75 | -------------------------------------------------------------------------------- /image_proc/include/image_proc/utils.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2023 Willow Garage, Inc., Michal Wojcik 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of {copyright_holder} nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PROC__UTILS_HPP_ 34 | #define IMAGE_PROC__UTILS_HPP_ 35 | 36 | #include 37 | 38 | #include 39 | 40 | namespace image_proc 41 | { 42 | 43 | inline 44 | rmw_qos_profile_t getTopicQosProfile(rclcpp::Node * node, const std::string & topic) 45 | { 46 | /** 47 | * Given a topic name, get the QoS profile with which it is being published. 48 |  * Replaces history and depth settings with default sensor values since they cannot be retrieved. 49 | * @param node pointer to the ROS node 50 | * @param topic name of the topic 51 | * @returns QoS profile of the publisher to the topic. If there are several publishers, it returns 52 | * returns the profile of the first one on the list. If no publishers exist, it returns 53 | * the sensor data profile. 54 | */ 55 | std::string topic_resolved = node->get_node_base_interface()->resolve_topic_or_service_name( 56 | topic, false); 57 | auto topics_info = node->get_publishers_info_by_topic(topic_resolved); 58 | if (topics_info.size()) { 59 | auto profile = topics_info[0].qos_profile().get_rmw_qos_profile(); 60 | profile.history = rmw_qos_profile_sensor_data.history; 61 | profile.depth = rmw_qos_profile_sensor_data.depth; 62 | return profile; 63 | } else { 64 | return rmw_qos_profile_sensor_data; 65 | } 66 | } 67 | 68 | } // namespace image_proc 69 | 70 | #endif // IMAGE_PROC__UTILS_HPP_ 71 | -------------------------------------------------------------------------------- /image_proc/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | image_proc 5 | 7.0.0 6 | Single image rectification and color processing. 7 | 8 | Vincent Rabaud 9 | Joshua Whitley 10 | Jacob Perron 11 | Michael Ferguson 12 | 13 | BSD 14 | https://index.ros.org/p/image_proc/ 15 | https://github.com/ros-perception/image_pipeline/issues 16 | https://github.com/ros-perception/image_pipeline 17 | Patrick Mihelich 18 | Kurt Konolige 19 | Jeremy Leibs 20 | 21 | ament_cmake_auto 22 | 23 | camera_calibration_parsers 24 | cv_bridge 25 | image_geometry 26 | image_transport 27 | geometry_msgs 28 | libopencv-dev 29 | rclcpp 30 | rclcpp_components 31 | rcutils 32 | sensor_msgs 33 | tf2 34 | tf2_geometry_msgs 35 | tracetools_image_pipeline 36 | 37 | ament_lint_auto 38 | ament_lint_common 39 | 40 | 41 | ament_cmake 42 | 43 | 44 | -------------------------------------------------------------------------------- /image_proc/test/resources/calibration_file.ini: -------------------------------------------------------------------------------- 1 | [image] 2 | 3 | #comment 4 | width 5 | 640 6 | 7 | ; comment 8 | height 9 | 480 10 | 11 | [mono_left] 12 | 13 | camera matrix 14 | 369.344588 0.000000 320.739078 15 | 0.000000 367.154330 203.592450 16 | 0.000000 0.000000 1.000000 17 | 18 | distortion 19 | 0.189544 -0.018229 -0.000630 0.000054 -0.000212 20 | 21 | rectification 22 | 1.000000 0.000000 0.000000 23 | 0.000000 1.000000 0.000000 24 | 0.000000 0.000000 1.000000 25 | 26 | projection 27 | 262.927429 0.000000 320.984481 0.000000 28 | 0.000000 302.056213 188.592437 0.000000 29 | 0.000000 0.000000 1.000000 0.000000 30 | -------------------------------------------------------------------------------- /image_proc/test/resources/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_proc/test/resources/logo.png -------------------------------------------------------------------------------- /image_publisher/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(image_publisher) 3 | 4 | # Default to C++14 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | find_package(ament_cmake_auto REQUIRED) 14 | find_package(camera_info_manager REQUIRED) 15 | ament_auto_find_build_dependencies() 16 | 17 | find_package(OpenCV REQUIRED COMPONENTS core imgcodecs videoio) 18 | message(STATUS "opencv version ${OpenCV_VERSION}") 19 | 20 | ament_auto_add_library(image_publisher SHARED src/image_publisher.cpp) 21 | target_link_libraries(image_publisher ${OpenCV_LIBRARIES} camera_info_manager::camera_info_manager) 22 | rclcpp_components_register_nodes(image_publisher "${PROJECT_NAME}::ImagePublisher") 23 | set(node_plugins "${node_plugins}${PROJECT_NAME}::ImagePublisher;$\n") 24 | 25 | ament_auto_add_executable(image_publisher_node src/image_publisher_node.cpp) 26 | 27 | if(BUILD_TESTING) 28 | find_package(ament_lint_auto REQUIRED) 29 | ament_lint_auto_find_test_dependencies() 30 | endif() 31 | 32 | ament_auto_package(INSTALL_TO_SHARE launch) 33 | -------------------------------------------------------------------------------- /image_publisher/doc/components.rst: -------------------------------------------------------------------------------- 1 | Nodes and Components 2 | ==================== 3 | 4 | image_publisher::ImagePublisher 5 | ------------------------------- 6 | Component to publish sensor_msgs/Image, requires filename argument. 7 | Also avialable as a ROS 2 node named ``image_publisher``. 8 | 9 | Published Topics 10 | ^^^^^^^^^^^^^^^^ 11 | * **image_raw** (sensor_msgs/Image): ROS Image message of your input file. 12 | * **camera_info** (sensor_msgs/CameraInfo): CameraInfo published along with Image. 13 | 14 | Parameters 15 | ^^^^^^^^^^ 16 | * **filename** (string, default: ""): Name of image file to be published. 17 | * **field_of_view** (double, default: 0): Camera field of view (deg) used to calculate focal length for camera info topic. 18 | * **flip_horizontal** (bool, default: false): Flip output image horizontally. 19 | * **flip_vertical** (bool, default: false): Flip output image vertically. 20 | * **frame_id** (string, default: "camera") Frame id inserted in published 21 | image and camera_info. 22 | * **publish_rate** (double, default: 10): Rate to publish image (hz). 23 | * **camera_info_uri** (string, default: ""): Path to camera info. 24 | -------------------------------------------------------------------------------- /image_publisher/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | ``image_publisher`` provides a node/component for publishing images 5 | as a ROS 2 image topic. 6 | 7 | Simplest example is: 8 | 9 | .. code-block:: bash 10 | 11 | ros2 run image_publisher image_publisher /opt/ros/rolling/share/rviz/images/splash.png 12 | 13 | .. toctree:: 14 | :maxdepth: 2 15 | 16 | self 17 | components 18 | image_publisher 19 | 20 | Indices and tables 21 | ================== 22 | 23 | * :ref:`genindex` 24 | * :ref:`search` 25 | -------------------------------------------------------------------------------- /image_publisher/include/image_publisher/image_publisher.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_ 34 | #define IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_ 35 | 36 | #include 37 | 38 | #include 39 | #include 40 | #include 41 | #include 42 | 43 | namespace image_publisher 44 | { 45 | 46 | class ImagePublisher : public rclcpp::Node 47 | { 48 | public: 49 | ImagePublisher( 50 | const rclcpp::NodeOptions & options, 51 | const std::string & filename = ""); 52 | 53 | protected: 54 | void onInit(); 55 | void doWork(); 56 | void reconfigureCallback(); 57 | 58 | private: 59 | image_transport::CameraPublisher pub_; 60 | 61 | cv::VideoCapture cap_; 62 | cv::Mat image_; 63 | rclcpp::TimerBase::SharedPtr timer_; 64 | 65 | rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_; 66 | 67 | std::string filename_; 68 | double field_of_view_; 69 | bool flip_horizontal_; 70 | bool flip_vertical_; 71 | bool image_flipped_; 72 | bool retry_; // If enabled will retry loading image from the filename_ 73 | int timeout_; // Time after which retrying starts 74 | 75 | std::string frame_id_; 76 | double publish_rate_; 77 | std::string camera_info_url_; 78 | bool flip_image_; 79 | int flip_value_; 80 | sensor_msgs::msg::CameraInfo camera_info_; 81 | }; 82 | 83 | } // namespace image_publisher 84 | 85 | #endif // IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_ 86 | -------------------------------------------------------------------------------- /image_publisher/include/image_publisher/visibility.h: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | #ifndef IMAGE_PUBLISHER__VISIBILITY_H_ 33 | #define IMAGE_PUBLISHER__VISIBILITY_H_ 34 | 35 | #ifdef __cplusplus 36 | extern "C" 37 | { 38 | #endif 39 | 40 | // This logic was borrowed (then namespaced) from the examples on the gcc wiki: 41 | // https://gcc.gnu.org/wiki/Visibility 42 | 43 | #if defined _WIN32 || defined __CYGWIN__ 44 | 45 | #ifdef __GNUC__ 46 | #define IMAGE_PUBLISHER_EXPORT __attribute__ ((dllexport)) 47 | #define IMAGE_PUBLISHER_IMPORT __attribute__ ((dllimport)) 48 | #else 49 | #define IMAGE_PUBLISHER_EXPORT __declspec(dllexport) 50 | #define IMAGE_PUBLISHER_IMPORT __declspec(dllimport) 51 | #endif 52 | 53 | #ifdef IMAGE_PUBLISHER_DLL 54 | #define IMAGE_PUBLISHER_PUBLIC IMAGE_PUBLISHER_EXPORT 55 | #else 56 | #define IMAGE_PUBLISHER_PUBLIC IMAGE_PUBLISHER_IMPORT 57 | #endif 58 | 59 | #define IMAGE_PUBLISHER_PUBLIC_TYPE IMAGE_PUBLISHER_PUBLIC 60 | 61 | #define IMAGE_PUBLISHER_LOCAL 62 | 63 | #else 64 | 65 | #define IMAGE_PUBLISHER_EXPORT __attribute__ ((visibility("default"))) 66 | #define IMAGE_PUBLISHER_IMPORT 67 | 68 | #if __GNUC__ >= 4 69 | #define IMAGE_PUBLISHER_PUBLIC __attribute__ ((visibility("default"))) 70 | #define IMAGE_PUBLISHER_LOCAL __attribute__ ((visibility("hidden"))) 71 | #else 72 | #define IMAGE_PUBLISHER_PUBLIC 73 | #define IMAGE_PUBLISHER_LOCAL 74 | #endif 75 | 76 | #define IMAGE_PUBLISHER_PUBLIC_TYPE 77 | #endif 78 | 79 | #ifdef __cplusplus 80 | } 81 | #endif 82 | 83 | #endif // IMAGE_PUBLISHER__VISIBILITY_H_ 84 | -------------------------------------------------------------------------------- /image_publisher/launch/image_publisher_component_file.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | from launch.actions import DeclareLaunchArgument 38 | from launch.substitutions import LaunchConfiguration 39 | from launch_ros.actions import ComposableNodeContainer 40 | from launch_ros.descriptions import ComposableNode 41 | 42 | 43 | # This is basically the same as image_publsher_file.launch.py - but using the component 44 | def generate_launch_description(): 45 | filename = os.path.join(get_package_share_directory('image_publisher'), 'launch', 46 | 'splash.png') 47 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 48 | return LaunchDescription([ 49 | 50 | DeclareLaunchArgument( 51 | 'use_sim_time', 52 | default_value='false', 53 | description='Use simulation clock if true'), 54 | 55 | ComposableNodeContainer( 56 | name='image_publisher_container', 57 | namespace='', 58 | package='rclcpp_components', 59 | executable='component_container', 60 | composable_node_descriptions=[ 61 | ComposableNode( 62 | package='image_publisher', 63 | plugin='image_publisher::ImagePublisher', 64 | name='image_publisher', 65 | parameters=[{'filename': filename, 66 | 'use_sim_time': use_sim_time}], 67 | remappings=[('image_raw', '/camera/image_raw'), 68 | ('camera_info', '/camera/camera_info')], 69 | ) 70 | ], 71 | output='screen', 72 | ), 73 | ]) 74 | -------------------------------------------------------------------------------- /image_publisher/launch/image_publisher_file.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | import os 34 | 35 | from ament_index_python.packages import get_package_share_directory 36 | from launch import LaunchDescription 37 | from launch.actions import DeclareLaunchArgument 38 | from launch.substitutions import LaunchConfiguration 39 | import launch_ros.actions 40 | 41 | 42 | def generate_launch_description(): 43 | filename = os.path.join(get_package_share_directory('image_publisher'), 'launch', 44 | 'splash.png') 45 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 46 | return LaunchDescription([ 47 | 48 | DeclareLaunchArgument( 49 | 'use_sim_time', 50 | default_value='false', 51 | description='Use simulation clock if true'), 52 | 53 | launch_ros.actions.Node( 54 | package='image_publisher', executable='image_publisher_node', output='screen', 55 | arguments=[filename], 56 | parameters=[{'use_sim_time': use_sim_time}], 57 | remappings=[('image_raw', '/camera/image_raw'), 58 | ('camera_info', '/camera/camera_info')]), 59 | ]) 60 | -------------------------------------------------------------------------------- /image_publisher/launch/image_publisher_mono.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | from launch import LaunchDescription 34 | from launch.actions import DeclareLaunchArgument 35 | from launch.substitutions import LaunchConfiguration 36 | import launch_ros.actions 37 | 38 | 39 | def generate_launch_description(): 40 | device_0 = '0' 41 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 42 | return LaunchDescription([ 43 | 44 | DeclareLaunchArgument( 45 | 'use_sim_time', 46 | default_value='false', 47 | description='Use simulation clock if true'), 48 | 49 | launch_ros.actions.Node( 50 | package='image_publisher', executable='image_publisher_node', output='screen', 51 | arguments=[device_0], 52 | parameters=[{'use_sim_time': use_sim_time}], 53 | remappings=[('image_raw', '/camera/image_raw'), 54 | ('camera_info', '/camera/camera_info')]), 55 | ]) 56 | -------------------------------------------------------------------------------- /image_publisher/launch/image_publisher_stereo.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | from launch import LaunchDescription 34 | from launch.actions import DeclareLaunchArgument 35 | from launch.substitutions import LaunchConfiguration 36 | import launch_ros.actions 37 | 38 | 39 | def generate_launch_description(): 40 | device_0 = '0' 41 | device_1 = '1' 42 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 43 | return LaunchDescription([ 44 | 45 | DeclareLaunchArgument( 46 | 'use_sim_time', 47 | default_value='false', 48 | description='Use simulation clock if true'), 49 | 50 | # image_publisher stereo left 51 | launch_ros.actions.Node( 52 | package='image_publisher', executable='image_publisher_node', output='screen', 53 | arguments=[device_0], 54 | parameters=[{'use_sim_time': use_sim_time}], 55 | name='image_publisher_left', 56 | remappings=[('image_raw', '/left/image_raw'), 57 | ('camera_info', '/left/camera_info')]), 58 | 59 | # image_publisher stereo right 60 | launch_ros.actions.Node( 61 | package='image_publisher', executable='image_publisher_node', output='screen', 62 | arguments=[device_1], 63 | parameters=[{'use_sim_time': use_sim_time}], 64 | name='image_publisher_right', 65 | remappings=[('image_raw', '/right/image_raw'), 66 | ('camera_info', '/right/camera_info')]), 67 | ]) 68 | -------------------------------------------------------------------------------- /image_publisher/launch/splash.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_publisher/launch/splash.png -------------------------------------------------------------------------------- /image_publisher/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | image_publisher 5 | 7.0.0 6 | 7 | 8 | Contains a node publish an image stream from single image file 9 | or avi motion file. 10 | 11 | 12 | 13 | Vincent Rabaud 14 | Joshua Whitley 15 | Chris Ye 16 | Jacob Perron 17 | Michael Ferguson 18 | 19 | BSD 20 | https://index.ros.org/p/image_publisher/ 21 | https://github.com/ros-perception/image_pipeline/issues 22 | https://github.com/ros-perception/image_pipeline 23 | Kei Okada 24 | 25 | ament_cmake_auto 26 | 27 | camera_info_manager 28 | cv_bridge 29 | image_transport 30 | rcl_interfaces 31 | rclcpp 32 | rclcpp_components 33 | 34 | ament_lint_auto 35 | ament_lint_common 36 | 37 | 38 | ament_cmake 39 | 40 | 41 | -------------------------------------------------------------------------------- /image_publisher/src/image_publisher_node.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #include 34 | 35 | #include 36 | 37 | int main(int argc, char ** argv) 38 | { 39 | // Force flush of the stdout buffer. 40 | setvbuf(stdout, NULL, _IONBF, BUFSIZ); 41 | 42 | rclcpp::init(argc, argv); 43 | 44 | if (argc <= 1) { 45 | RCUTILS_LOG_ERROR( 46 | "image_publisher requires filename. Typical command-line usage:\n" 47 | "\t$ ros2 run image_publisher image_publisher "); 48 | return 1; 49 | } 50 | 51 | rclcpp::NodeOptions options; 52 | auto publisher = std::make_shared(options, argv[1]); 53 | 54 | rclcpp::spin(publisher); 55 | rclcpp::shutdown(); 56 | return 0; 57 | } 58 | -------------------------------------------------------------------------------- /image_rotate/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(image_rotate) 3 | 4 | # Default to C++14 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | find_package(ament_cmake_auto REQUIRED) 14 | ament_auto_find_build_dependencies() 15 | 16 | find_package(OpenCV REQUIRED core imgproc) 17 | 18 | ament_auto_add_library(${PROJECT_NAME} SHARED src/image_rotate_node.cpp) 19 | target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES}) 20 | rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::ImageRotateNode") 21 | set(node_plugins "${node_plugins}${PROJECT_NAME}::ImageRotateNode;$\n") 22 | 23 | ament_auto_add_executable(image_rotate_bin src/image_rotate.cpp) 24 | set_target_properties(image_rotate_bin PROPERTIES OUTPUT_NAME ${PROJECT_NAME}) 25 | target_link_libraries(image_rotate_bin ${OpenCV_LIBRARIES} ${PROJECT_NAME}) 26 | 27 | ament_auto_add_library(image_flip SHARED src/image_flip.cpp) 28 | target_link_libraries(image_flip ${OpenCV_LIBRARIES}) 29 | rclcpp_components_register_node(image_flip 30 | PLUGIN "${PROJECT_NAME}::ImageFlipNode" 31 | EXECUTABLE image_flip_node 32 | ) 33 | 34 | if(BUILD_TESTING) 35 | find_package(ament_lint_auto REQUIRED) 36 | ament_lint_auto_find_test_dependencies() 37 | endif() 38 | 39 | ament_auto_package(INSTALL_TO_SHARE launch) 40 | -------------------------------------------------------------------------------- /image_rotate/doc/images/image_rotate.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/image_rotate/doc/images/image_rotate.jpg -------------------------------------------------------------------------------- /image_rotate/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | This package contains a node that rotates an image stream in a way that 5 | minimizes the angle between a vector in some arbitrary frame and a vector 6 | in the camera frame. The frame of the outgoing image is published by the 7 | node. 8 | 9 | This node is intended to allow camera images to be visualized in an 10 | orientation that is more intuitive than the hardware-constrained 11 | orientation of the physical camera. This is particularly helpful, 12 | for example, to show images from the PR2's forearm cameras with a 13 | consistent up direction, despite the fact that the forearms need to 14 | rotate in arbitrary ways during manipulation. 15 | 16 | It is not recommended to use the output from this node for further 17 | computation, as it interpolates the source image, introduces black 18 | borders, and does not output a ``camera_info``. 19 | 20 | |image_rotate| 21 | 22 | .. |image_rotate| image:: images/image_rotate.jpg 23 | 24 | .. toctree:: 25 | :maxdepth: 2 26 | 27 | self 28 | components 29 | image_rotate 30 | 31 | Indices and tables 32 | ================== 33 | 34 | * :ref:`genindex` 35 | * :ref:`search` 36 | -------------------------------------------------------------------------------- /image_rotate/include/image_rotate/visibility.h: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #ifndef IMAGE_ROTATE__VISIBILITY_H_ 34 | #define IMAGE_ROTATE__VISIBILITY_H_ 35 | 36 | // This logic was borrowed (then namespaced) from the examples on the gcc wiki: 37 | // https://gcc.gnu.org/wiki/Visibility 38 | 39 | #if defined _WIN32 || defined __CYGWIN__ 40 | 41 | #ifdef __GNUC__ 42 | #define IMAGE_ROTATE_EXPORT __attribute__ ((dllexport)) 43 | #define IMAGE_ROTATE_IMPORT __attribute__ ((dllimport)) 44 | #else 45 | #define IMAGE_ROTATE_EXPORT __declspec(dllexport) 46 | #define IMAGE_ROTATE_IMPORT __declspec(dllimport) 47 | #endif 48 | 49 | #ifdef IMAGE_ROTATE_DLL 50 | #define IMAGE_ROTATE_PUBLIC IMAGE_ROTATE_EXPORT 51 | #else 52 | #define IMAGE_ROTATE_PUBLIC IMAGE_ROTATE_IMPORT 53 | #endif 54 | 55 | #define IMAGE_ROTATE_PUBLIC_TYPE IMAGE_ROTATE_PUBLIC 56 | 57 | #define IMAGE_ROTATE_LOCAL 58 | 59 | #else 60 | 61 | #define IMAGE_ROTATE_EXPORT __attribute__ ((visibility("default"))) 62 | #define IMAGE_ROTATE_IMPORT 63 | 64 | #if __GNUC__ >= 4 65 | #define IMAGE_ROTATE_PUBLIC __attribute__ ((visibility("default"))) 66 | #define IMAGE_ROTATE_LOCAL __attribute__ ((visibility("hidden"))) 67 | #else 68 | #define IMAGE_ROTATE_PUBLIC 69 | #define IMAGE_ROTATE_LOCAL 70 | #endif 71 | 72 | #define IMAGE_ROTATE_PUBLIC_TYPE 73 | #endif 74 | 75 | #endif // IMAGE_ROTATE__VISIBILITY_H_ 76 | -------------------------------------------------------------------------------- /image_rotate/launch/image_flip.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2022, CHRISLab, Christopher Newport University 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | """Demonstration of basic launch of the image_flip_node with remappings.""" 34 | 35 | from launch import LaunchDescription 36 | import launch_ros.actions 37 | 38 | 39 | def generate_launch_description(): 40 | """Launch description for basic launch of the image_flip.""" 41 | return LaunchDescription([ 42 | launch_ros.actions.Node( 43 | package='image_rotate', executable='image_flip', 44 | output='screen', name='camera_flip', 45 | remappings=[('image', 'camera/rgb/image_raw'), 46 | ('rotated/image', 'camera_rotated/image_rotated')], 47 | parameters=[{'output_frame_id': 'camera_rotated', 48 | 'rotation_steps': 2, 49 | 'use_camera_info': True}])]) 50 | -------------------------------------------------------------------------------- /image_rotate/launch/image_rotate.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2008, Willow Garage, Inc. 2 | # All rights reserved. 3 | # 4 | # Software License Agreement (BSD License 2.0) 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of the Willow Garage nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | 33 | from launch import LaunchDescription 34 | import launch_ros.actions 35 | 36 | 37 | def generate_launch_description(): 38 | return LaunchDescription([ 39 | launch_ros.actions.Node( 40 | package='image_rotate', executable='image_rotate', output='screen', 41 | remappings=[('image', '/camera/color/image_raw'), 42 | ('camera_info', '/camera/color/camera_info'), 43 | ('rotated/image', '/camera/color/image_raw_rotated')]), 44 | ]) 45 | -------------------------------------------------------------------------------- /image_rotate/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b image_rotate is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /image_rotate/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | image_rotate 5 | 7.0.0 6 | 7 |

8 | Contains a node that rotates an image stream in a way that minimizes 9 | the angle between a vector in some arbitrary frame and a vector in the 10 | camera frame. The frame of the outgoing image is published by the node. 11 |

12 |

13 | This node is intended to allow camera images to be visualized in an 14 | orientation that is more intuitive than the hardware-constrained 15 | orientation of the physical camera. This is particularly helpful, for 16 | example, to show images from the PR2's forearm cameras with a 17 | consistent up direction, despite the fact that the forearms need to 18 | rotate in arbitrary ways during manipulation. 19 |

20 |

21 | It is not recommended to use the output from this node for further 22 | computation, as it interpolates the source image, introduces black 23 | borders, and does not output a camera_info. 24 |

25 | 26 | 27 | Vincent Rabaud 28 | Joshua Whitley 29 | Jacob Perron 30 | Michael Ferguson 31 | 32 | BSD 33 | https://index.ros.org/p/image_rotate/ 34 | https://github.com/ros-perception/image_pipeline/issues 35 | https://github.com/ros-perception/image_pipeline 36 | Blaise Gassend 37 | David Conner 38 | 39 | ament_cmake_auto 40 | 41 | class_loader 42 | 43 | cv_bridge 44 | geometry_msgs 45 | image_transport 46 | libopencv-dev 47 | rcl_interfaces 48 | rclcpp 49 | rclcpp_components 50 | sensor_msgs 51 | tf2 52 | tf2_geometry_msgs 53 | tf2_ros 54 | 55 | ament_lint_auto 56 | ament_lint_common 57 | 58 | 59 | ament_cmake 60 | 61 | 62 | -------------------------------------------------------------------------------- /image_rotate/src/image_rotate.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2008, Willow Garage, Inc. 2 | // All rights reserved. 3 | // 4 | // Software License Agreement (BSD License 2.0) 5 | // 6 | // Redistribution and use in source and binary forms, with or without 7 | // modification, are permitted provided that the following conditions 8 | // are met: 9 | // 10 | // * Redistributions of source code must retain the above copyright 11 | // notice, this list of conditions and the following disclaimer. 12 | // * Redistributions in binary form must reproduce the above 13 | // copyright notice, this list of conditions and the following 14 | // disclaimer in the documentation and/or other materials provided 15 | // with the distribution. 16 | // * Neither the name of the Willow Garage nor the names of its 17 | // contributors may be used to endorse or promote products derived 18 | // from this software without specific prior written permission. 19 | // 20 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | // POSSIBILITY OF SUCH DAMAGE. 32 | 33 | #include "image_rotate/image_rotate_node.hpp" 34 | #include 35 | 36 | int main(int argc, char ** argv) 37 | { 38 | // Force flush of the stdout buffer. 39 | setvbuf(stdout, NULL, _IONBF, BUFSIZ); 40 | 41 | rclcpp::init(argc, argv); 42 | rclcpp::NodeOptions options; 43 | auto node = std::make_shared(options); 44 | 45 | rclcpp::spin(node); 46 | rclcpp::shutdown(); 47 | 48 | return 0; 49 | } 50 | -------------------------------------------------------------------------------- /image_view/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(image_view) 3 | 4 | if(NOT CMAKE_CXX_STANDARD) 5 | set(CMAKE_CXX_STANDARD 14) 6 | endif() 7 | 8 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 9 | add_compile_options(-Wall -Wextra -Wpedantic) 10 | endif() 11 | 12 | find_package(ament_cmake_auto REQUIRED) 13 | ament_auto_find_build_dependencies() 14 | 15 | find_package(OpenCV REQUIRED) 16 | 17 | # Deal with the GUI's 18 | if(ANDROID) 19 | return() 20 | endif() 21 | 22 | ament_auto_add_library(${PROJECT_NAME}_nodes SHARED 23 | src/disparity_view_node.cpp 24 | src/extract_images_node.cpp 25 | src/image_view_node.cpp 26 | src/image_saver_node.cpp 27 | src/stereo_view_node.cpp 28 | src/video_recorder_node.cpp 29 | ) 30 | target_link_libraries(${PROJECT_NAME}_nodes 31 | ${OpenCV_LIBRARIES} 32 | ) 33 | target_compile_definitions(${PROJECT_NAME}_nodes 34 | PRIVATE "COMPOSITION_BUILDING_DLL" 35 | ) 36 | rclcpp_components_register_nodes(${PROJECT_NAME}_nodes 37 | "${PROJECT_NAME}::DisparityViewNode" 38 | "${PROJECT_NAME}::ExtractImagesNode" 39 | "${PROJECT_NAME}::ImageViewNode" 40 | "${PROJECT_NAME}::ImageSaverNode" 41 | "${PROJECT_NAME}::StereoViewNode" 42 | "${PROJECT_NAME}::VideoRecorderNode" 43 | ) 44 | 45 | # Image viewers 46 | ament_auto_add_executable(disparity_view 47 | src/disparity_view.cpp 48 | ) 49 | target_link_libraries(disparity_view 50 | ${PROJECT_NAME}_nodes 51 | ) 52 | add_dependencies(disparity_view 53 | ${PROJECT_NAME}_nodes 54 | ) 55 | 56 | ament_auto_add_executable(${PROJECT_NAME} 57 | src/image_view.cpp 58 | ) 59 | target_link_libraries(${PROJECT_NAME} 60 | ${PROJECT_NAME}_nodes 61 | ) 62 | add_dependencies(${PROJECT_NAME} 63 | ${PROJECT_NAME}_nodes 64 | ) 65 | 66 | ament_auto_add_executable(stereo_view 67 | src/stereo_view.cpp 68 | ) 69 | target_link_libraries(stereo_view 70 | ${PROJECT_NAME}_nodes 71 | ) 72 | add_dependencies(stereo_view 73 | ${PROJECT_NAME}_nodes 74 | ) 75 | 76 | # Other Tools 77 | ament_auto_add_executable(extract_images 78 | src/extract_images.cpp 79 | ) 80 | target_link_libraries(extract_images 81 | ${PROJECT_NAME}_nodes 82 | ) 83 | add_dependencies(extract_images 84 | ${PROJECT_NAME}_nodes 85 | ) 86 | 87 | ament_auto_add_executable(image_saver 88 | src/image_saver.cpp 89 | ) 90 | target_link_libraries(image_saver 91 | ${PROJECT_NAME}_nodes 92 | ) 93 | add_dependencies(image_saver 94 | ${PROJECT_NAME}_nodes 95 | ) 96 | 97 | ament_auto_add_executable(video_recorder 98 | src/video_recorder.cpp 99 | ) 100 | target_link_libraries(video_recorder 101 | ${PROJECT_NAME}_nodes 102 | ) 103 | add_dependencies(video_recorder 104 | ${PROJECT_NAME}_nodes 105 | ) 106 | 107 | if(BUILD_TESTING) 108 | find_package(ament_lint_auto) 109 | ament_lint_auto_find_test_dependencies() 110 | endif() 111 | 112 | install( 113 | PROGRAMS scripts/extract_images_sync 114 | DESTINATION lib/${PROJECT_NAME} 115 | ) 116 | 117 | ament_auto_package() 118 | -------------------------------------------------------------------------------- /image_view/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | This package contains a number of ROS 2 components and nodes for viewing image topics. 5 | 6 | Viewing a Single Image Topic 7 | ---------------------------- 8 | 9 | .. code-block:: bash 10 | 11 | ros 2 run image_view image_view --ros-args -r image:= 12 | 13 | For example, to view raw images on the topic ``/camera/image``, use: 14 | 15 | .. code-block:: bash 16 | 17 | ros2 run image_view image_view --ros-args -r image:=/camera/image 18 | 19 | You may save the current image by right-clicking on the display window. By default, 20 | images will be saved as ``frame0000.jpg``, ``frame0001.jpg``, .... 21 | 22 | If you want to view a compressed image stream (usually a good idea over wireless!) 23 | using the capabilities of ``image_transport``, specify the transport type as a 24 | command-line parameter. For example, if ``theora_image_transport`` is built on the 25 | publisher's side, you can use theora transport: 26 | 27 | .. code-block:: bash 28 | 29 | ros2 run image_view image_view --ros-args -r image:=/camera/image -p image_transport:=theora 30 | 31 | .. _`Viewing Stereo Images`: 32 | 33 | Viewing Stereo Images 34 | --------------------- 35 | 36 | .. code-block:: bash 37 | 38 | ros2 run image_view stereo_view --ros-args -p stereo:= -p image:= 39 | 40 | For example, to view stereo image pairs on topics 41 | ``/my_stereo_cam/left/image_rect_color`` and ``/my_stereo_cam/right/image_rect_color``, 42 | use: 43 | 44 | .. code-block:: bash 45 | 46 | ros2 run image_view stereo_view --ros-args -r stereo:=/my_stereo_cam -r image:=image_rect_color 47 | 48 | ``stereo_view`` also shows the disparity image computed from the stereo pair 49 | color-mapped for clarity. 50 | 51 | You may save the current image pair by right-clicking on any display window. 52 | By default, images will be saved as ``left0000.jpg``, ``right0000.jpg``, ``disp0000.jpg``, 53 | ``left0001.jpg``, ``right0001.jpg``, ``disp0001.jpg``.... As with ``image_view``, 54 | you can specify an image transport to use for the left and right image as an optional 55 | parameter. 56 | 57 | .. toctree:: 58 | :maxdepth: 2 59 | 60 | self 61 | components 62 | image_view 63 | 64 | Indices and tables 65 | ================== 66 | 67 | * :ref:`genindex` 68 | * :ref:`search` 69 | -------------------------------------------------------------------------------- /image_view/include/image_view/disparity_view_node.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 Joshua Whitley 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef IMAGE_VIEW__DISPARITY_VIEW_NODE_HPP_ 16 | #define IMAGE_VIEW__DISPARITY_VIEW_NODE_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | #include 22 | 23 | #include 24 | 25 | namespace image_view 26 | { 27 | 28 | class DisparityViewNode 29 | : public rclcpp::Node 30 | { 31 | public: 32 | explicit DisparityViewNode(const rclcpp::NodeOptions & options); 33 | explicit DisparityViewNode(const DisparityViewNode &) = default; 34 | explicit DisparityViewNode(DisparityViewNode &&) = default; 35 | DisparityViewNode & operator=(const DisparityViewNode &) = default; 36 | DisparityViewNode & operator=(DisparityViewNode &&) = default; 37 | ~DisparityViewNode(); 38 | 39 | private: 40 | // colormap for disparities, RGB order 41 | static unsigned char colormap[]; 42 | 43 | std::string window_name_; 44 | bool autosize_; 45 | rclcpp::Subscription::SharedPtr sub_; 46 | cv::Mat_ disparity_color_; 47 | bool initialized; 48 | 49 | void imageCb(const stereo_msgs::msg::DisparityImage::SharedPtr msg); 50 | }; 51 | 52 | } // namespace image_view 53 | 54 | #endif // IMAGE_VIEW__DISPARITY_VIEW_NODE_HPP_ 55 | -------------------------------------------------------------------------------- /image_view/include/image_view/extract_images_node.hpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #ifndef IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_ 50 | #define IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_ 51 | 52 | #include 53 | #include 54 | 55 | #include 56 | #include 57 | #include 58 | 59 | namespace image_view 60 | { 61 | 62 | class ExtractImagesNode 63 | : public rclcpp::Node 64 | { 65 | public: 66 | explicit ExtractImagesNode(const rclcpp::NodeOptions & options); 67 | 68 | private: 69 | image_transport::Subscriber sub_; 70 | 71 | sensor_msgs::msg::Image::ConstSharedPtr last_msg_; 72 | std::mutex image_mutex_; 73 | 74 | std::string window_name_; 75 | std::string filename_format_; 76 | int count_; 77 | rclcpp::Time _time; 78 | double sec_per_frame_; 79 | 80 | void image_cb(const sensor_msgs::msg::Image::ConstSharedPtr & msg); 81 | }; 82 | 83 | } // namespace image_view 84 | 85 | #endif // IMAGE_VIEW__EXTRACT_IMAGES_NODE_HPP_ 86 | -------------------------------------------------------------------------------- /image_view/include/image_view/image_view_node.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 Joshua Whitley 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef IMAGE_VIEW__IMAGE_VIEW_NODE_HPP_ 16 | #define IMAGE_VIEW__IMAGE_VIEW_NODE_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | 25 | #include "cv_bridge/cv_bridge.hpp" 26 | 27 | #include 28 | #include 29 | #include 30 | 31 | namespace image_view 32 | { 33 | 34 | class ThreadSafeImage 35 | { 36 | std::mutex mutex_; 37 | std::condition_variable condition_; 38 | cv_bridge::CvImageConstPtr image_; 39 | 40 | public: 41 | void set(cv_bridge::CvImageConstPtr image); 42 | cv_bridge::CvImageConstPtr get(); 43 | cv_bridge::CvImageConstPtr pop(); 44 | }; 45 | 46 | class ImageViewNode 47 | : public rclcpp::Node 48 | { 49 | public: 50 | explicit ImageViewNode(const rclcpp::NodeOptions & options); 51 | explicit ImageViewNode(const ImageViewNode &) = default; 52 | explicit ImageViewNode(ImageViewNode &&) = default; 53 | ImageViewNode & operator=(const ImageViewNode &) = default; 54 | ImageViewNode & operator=(ImageViewNode &&) = default; 55 | ~ImageViewNode(); 56 | 57 | private: 58 | ThreadSafeImage queued_image_, shown_image_; 59 | bool autosize_; 60 | int window_height_, window_width_; 61 | bool g_gui; 62 | std::string filename_format_; 63 | image_transport::Subscriber sub_; 64 | int count_; 65 | double min_image_value_, max_image_value_; 66 | int colormap_; 67 | rclcpp::TimerBase::SharedPtr gui_timer_; 68 | std::shared_ptr> pub_; 69 | std::string window_name_; 70 | std::thread window_thread_; 71 | rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_; 72 | 73 | void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & msg); 74 | static void mouseCb(int event, int x, int y, int flags, void * param); 75 | void windowThread(); 76 | rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector &); 77 | std::mutex param_mutex_; 78 | }; 79 | 80 | } // namespace image_view 81 | 82 | #endif // IMAGE_VIEW__IMAGE_VIEW_NODE_HPP_ 83 | -------------------------------------------------------------------------------- /image_view/include/image_view/video_recorder_node.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2012, 2013, 2019 Open Source Robotics Foundation, Joshua Whitley 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef IMAGE_VIEW__VIDEO_RECORDER_NODE_HPP_ 16 | #define IMAGE_VIEW__VIDEO_RECORDER_NODE_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | #include 22 | 23 | #include 24 | 25 | namespace image_view 26 | { 27 | 28 | class VideoRecorderNode 29 | : public rclcpp::Node 30 | { 31 | public: 32 | explicit VideoRecorderNode(const rclcpp::NodeOptions & options); 33 | explicit VideoRecorderNode(const VideoRecorderNode &) = default; 34 | explicit VideoRecorderNode(VideoRecorderNode &&) = default; 35 | VideoRecorderNode & operator=(const VideoRecorderNode &) = default; 36 | VideoRecorderNode & operator=(VideoRecorderNode &&) = default; 37 | ~VideoRecorderNode(); 38 | 39 | private: 40 | cv::VideoWriter outputVideo; 41 | 42 | int g_count; 43 | rclcpp::Time g_last_wrote_time; 44 | std::string encoding; 45 | std::string codec; 46 | double fps; 47 | double min_depth_range; 48 | double max_depth_range; 49 | bool use_dynamic_range; 50 | int colormap; 51 | image_transport::Subscriber sub_image; 52 | bool recording_started; 53 | std::string filename; 54 | 55 | void callback(const sensor_msgs::msg::Image::ConstSharedPtr & image_msg); 56 | }; 57 | 58 | } // namespace image_view 59 | 60 | #endif // IMAGE_VIEW__VIDEO_RECORDER_NODE_HPP_ 61 | -------------------------------------------------------------------------------- /image_view/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | @mainpage image_view 3 | 4 | @htmlinclude manifest.html 5 | 6 | @b image_view is a simple utility for viewing an image topic. For usage see 7 | http://www.ros.org/wiki/image_view. 8 | 9 | Currently this package has no public code API. 10 | 11 | */ 12 | -------------------------------------------------------------------------------- /image_view/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | image_view 5 | 7.0.0 6 | 7 | A simple viewer for ROS image topics. Includes a specialized viewer 8 | for stereo + disparity images. 9 | 10 | 11 | Vincent Rabaud 12 | Joshua Whitley 13 | Jacob Perron 14 | Michael Ferguson 15 | 16 | BSD 17 | https://index.ros.org/p/image_view/ 18 | https://github.com/ros-perception/image_pipeline/issues 19 | https://github.com/ros-perception/image_pipeline 20 | Patrick Mihelich 21 | 22 | ament_cmake_auto 23 | 24 | camera_calibration_parsers 25 | cv_bridge 26 | image_transport 27 | message_filters 28 | rclcpp 29 | rclcpp_components 30 | sensor_msgs 31 | std_srvs 32 | stereo_msgs 33 | 34 | rclpy 35 | 36 | ament_lint_auto 37 | ament_lint_common 38 | 39 | 40 | ament_cmake 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /image_view/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | - builder: doxygen 2 | name: C++ API 3 | output_dir: c++ 4 | file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' 5 | -------------------------------------------------------------------------------- /image_view/src/disparity_view.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #include 50 | 51 | #include 52 | 53 | #include "image_view/disparity_view_node.hpp" 54 | 55 | using image_view::DisparityViewNode; 56 | 57 | int main(int argc, char ** argv) 58 | { 59 | rclcpp::init(argc, argv); 60 | 61 | rclcpp::NodeOptions options; 62 | auto dv_node = std::make_shared(options); 63 | 64 | rclcpp::spin(dv_node); 65 | return 0; 66 | } 67 | -------------------------------------------------------------------------------- /image_view/src/extract_images.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #include 50 | 51 | #include 52 | 53 | #include 54 | 55 | int main(int argc, char ** argv) 56 | { 57 | using image_view::ExtractImagesNode; 58 | 59 | rclcpp::init(argc, argv); 60 | 61 | rclcpp::NodeOptions options; 62 | auto ein = std::make_shared(options); 63 | 64 | rclcpp::spin(ein); 65 | 66 | return 0; 67 | } 68 | -------------------------------------------------------------------------------- /image_view/src/image_saver.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #include 50 | 51 | #include 52 | 53 | #include "image_view/image_saver_node.hpp" 54 | 55 | int main(int argc, char ** argv) 56 | { 57 | using image_view::ImageSaverNode; 58 | 59 | rclcpp::init(argc, argv); 60 | 61 | rclcpp::NodeOptions options; 62 | auto is_node = std::make_shared(options); 63 | 64 | rclcpp::spin(is_node); 65 | } 66 | -------------------------------------------------------------------------------- /image_view/src/image_view.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #include 50 | 51 | #include 52 | 53 | #include "image_view/image_view_node.hpp" 54 | 55 | int main(int argc, char ** argv) 56 | { 57 | using image_view::ImageViewNode; 58 | 59 | rclcpp::init(argc, argv); 60 | 61 | rclcpp::NodeOptions options; 62 | auto iv_node = std::make_shared(options); 63 | 64 | rclcpp::spin(iv_node); 65 | 66 | rclcpp::shutdown(); 67 | 68 | return 0; 69 | } 70 | -------------------------------------------------------------------------------- /image_view/src/stereo_view.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2008, Willow Garage, Inc. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Willow Garage nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | // Copyright 2019, Joshua Whitley 36 | // 37 | // Licensed under the Apache License, Version 2.0 (the "License"); 38 | // you may not use this file except in compliance with the License. 39 | // You may obtain a copy of the License at 40 | // 41 | // http://www.apache.org/licenses/LICENSE-2.0 42 | // 43 | // Unless required by applicable law or agreed to in writing, software 44 | // distributed under the License is distributed on an "AS IS" BASIS, 45 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 46 | // See the License for the specific language governing permissions and 47 | // limitations under the License. 48 | 49 | #include 50 | 51 | #include 52 | 53 | #include "image_view/stereo_view_node.hpp" 54 | 55 | int main(int argc, char ** argv) 56 | { 57 | using image_view::StereoViewNode; 58 | 59 | rclcpp::init(argc, argv); 60 | 61 | rclcpp::NodeOptions options; 62 | auto svn = std::make_shared(options); 63 | 64 | rclcpp::spin(svn); 65 | 66 | return 0; 67 | } 68 | -------------------------------------------------------------------------------- /image_view/src/utils.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Open Source Robotics Foundation, Inc. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef UTILS_HPP_ 16 | #define UTILS_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | namespace image_view 23 | { 24 | // TODO(ahcorde): Use std::format when C++20 is available 25 | template 26 | std::string string_format(const std::string & format, Args ... args) 27 | { 28 | // Extra space for '\0' 29 | int size_s = std::snprintf(nullptr, 0, format.c_str(), args ...) + 1; 30 | if (size_s <= 0) { 31 | throw std::runtime_error("Error during formatting."); 32 | } 33 | auto size = static_cast(size_s); 34 | std::unique_ptr buf(new char[size]); 35 | std::snprintf(buf.get(), size, format.c_str(), args ...); 36 | // We don't want the '\0' inside 37 | return std::string(buf.get(), buf.get() + size - 1); 38 | } 39 | } // namespace image_view 40 | 41 | #endif // UTILS_HPP_ 42 | -------------------------------------------------------------------------------- /image_view/src/video_recorder.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2012, 2013, 2019 Open Source Robotics Foundation, Joshua Whitley 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include 16 | 17 | #include 18 | 19 | #include "image_view/video_recorder_node.hpp" 20 | 21 | int main(int argc, char ** argv) 22 | { 23 | using image_view::VideoRecorderNode; 24 | 25 | rclcpp::init(argc, argv); 26 | 27 | rclcpp::NodeOptions options; 28 | auto vr_node = std::make_shared(options); 29 | 30 | rclcpp::spin(vr_node); 31 | 32 | return 0; 33 | } 34 | -------------------------------------------------------------------------------- /stereo_image_proc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(stereo_image_proc) 3 | 4 | if(NOT CMAKE_CXX_STANDARD) 5 | set(CMAKE_CXX_STANDARD 14) 6 | endif() 7 | 8 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 9 | add_compile_options(-Wall -Wextra -Wpedantic) 10 | endif() 11 | 12 | find_package(ament_cmake_auto REQUIRED) 13 | ament_auto_find_build_dependencies() 14 | 15 | find_package(OpenCV REQUIRED) 16 | 17 | # See note in image_proc/CMakeLists.txt 18 | # add_definitions(-DOPENCV_TRAITS_ENABLE_DEPRECATED) 19 | 20 | ament_auto_add_library(${PROJECT_NAME} SHARED 21 | src/${PROJECT_NAME}/stereo_processor.cpp 22 | src/${PROJECT_NAME}/disparity_node.cpp 23 | src/${PROJECT_NAME}/point_cloud_node.cpp 24 | ) 25 | target_link_libraries(${PROJECT_NAME} 26 | ${OpenCV_LIBRARIES} 27 | ) 28 | 29 | # Register individual components and also build standalone nodes for each 30 | rclcpp_components_register_node(${PROJECT_NAME} 31 | PLUGIN "stereo_image_proc::DisparityNode" 32 | EXECUTABLE disparity_node 33 | ) 34 | rclcpp_components_register_node(${PROJECT_NAME} 35 | PLUGIN "stereo_image_proc::PointCloudNode" 36 | EXECUTABLE point_cloud_node 37 | ) 38 | 39 | if(BUILD_TESTING) 40 | find_package(ament_lint_auto REQUIRED) 41 | ament_lint_auto_find_test_dependencies() 42 | 43 | set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}") 44 | if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug") 45 | set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}") 46 | endif() 47 | 48 | ament_add_pytest_test("test_disparity_node" test/test_disparity_node.py 49 | PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" 50 | ) 51 | 52 | ament_add_pytest_test("test_point_cloud_node" test/test_point_cloud_node.py 53 | PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" 54 | ) 55 | 56 | set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}") 57 | endif() 58 | 59 | ament_auto_package(INSTALL_TO_SHARE launch) 60 | -------------------------------------------------------------------------------- /stereo_image_proc/doc/configuration.rst: -------------------------------------------------------------------------------- 1 | .. _Configuration: 2 | 3 | Configuration 4 | ============= 5 | 6 | Overview 7 | -------- 8 | 9 | The ``stereo_image_proc.launch.py`` launch file provides a full example and 10 | performs rectification and de-mosaicing of raw stereo camera image pairs. 11 | It also perform stereo processing to generate disparity images and point clouds. 12 | 13 | In topic names below, left and right are remapped using the ``left_namespace`` 14 | and ``right_namespace`` launch file parameters. 15 | 16 | |stereo| 17 | 18 | .. |stereo| image:: images/stereo_image_proc.png 19 | :width: 75% 20 | 21 | All processing is on demand. Color processing is performed only if there is a 22 | subscriber to a color topic. Rectification is performed only if there is a 23 | subscriber to a rectified topic. Disparities and point clouds are generated 24 | only if there is a subscriber to a relevant topic. While there are no subscribers 25 | to output topics, the nodes unsubscribe from the ``image_raw`` and 26 | ``camera_info`` topics. 27 | 28 | Point clouds are generated in the optical frame of the left imager 29 | (X Right, Y Down, Z out): 30 | 31 | |stereo_frames| 32 | 33 | .. |stereo_frames| image:: images/stereo_frames.png 34 | :width: 50% 35 | 36 | 37 | Quick Start 38 | ----------- 39 | 40 | Make sure your stereo camera driver(s) are running. You can check 41 | ``ros2 topic list | grep image_raw`` to see the available raw image 42 | topics from compatible drivers. 43 | 44 | To get rectified and/or colorized image streams, you need to launch the 45 | ``stereo_image_proc.launch.py`` launch file. If you are running on a 46 | robot, it's probably best to run the launch file there. For example, 47 | if your stereo camera driver(s) are publishing: 48 | 49 | .. code-block:: 50 | 51 | /stereo/left/image_raw 52 | /stereo/left/camera_info 53 | /stereo/right/image_raw 54 | /stereo/right/camera_info 55 | 56 | you could do: 57 | 58 | .. code-block:: bash 59 | 60 | ros2 launch stereo_image_proc stereo_image_proc.launch.py namespace:=stereo 61 | 62 | Notice that we add the ``stereo`` namespace. Internally the launch file 63 | also has a ``left_namespace`` and ``right_namespace`` which default to 64 | ``left`` and ``right``. Using this launch file is equivalent to Launching 65 | two instances of the ``image_proc/image_proc.launch.py`` launch file in the 66 | ``stereo/left`` and ``stereo/right`` namespaces, with the addition of 67 | the stereo outputs: disparity images (``stereo/disparity`` topic) and point 68 | clouds (``stereo/points2`` topic) 69 | 70 | In a separate terminal (on your home machine, if you are running on a robot): 71 | 72 | .. code-block:: bash 73 | 74 | $ ros2 run image_view image_view image:=/stereo/left/image_rect_color 75 | 76 | This will display a rectified color image from the left stereo camera. 77 | Alternatively, stereo_view will show you both the left and right images 78 | as well as a color-mapped disparity image: 79 | 80 | .. code-block:: bash 81 | 82 | $ ros2 run image_view stereo_view stereo:=/stereo image:=image_rect_color 83 | 84 | To view point clouds, you can use ``rviz2``. 85 | 86 | Choosing Good Stereo Parameters 87 | ------------------------------- 88 | 89 | There is an extensive tutorial on the 90 | `ROS 1 wiki `, 91 | however not all components exist in ROS 2 yet. 92 | -------------------------------------------------------------------------------- /stereo_image_proc/doc/images/disparity.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/doc/images/disparity.jpg -------------------------------------------------------------------------------- /stereo_image_proc/doc/images/raw.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/doc/images/raw.png -------------------------------------------------------------------------------- /stereo_image_proc/doc/images/rectified.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/doc/images/rectified.png -------------------------------------------------------------------------------- /stereo_image_proc/doc/images/stereo_frames.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/doc/images/stereo_frames.png -------------------------------------------------------------------------------- /stereo_image_proc/doc/images/stereo_image_proc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/doc/images/stereo_image_proc.png -------------------------------------------------------------------------------- /stereo_image_proc/doc/index.rst: -------------------------------------------------------------------------------- 1 | Overview 2 | ======== 3 | 4 | This package contains a number of ROS 2 components, nodes, and launch files 5 | for stereo image processing. 6 | 7 | If porting from ROS 1, please note that the ``stereo_image_proc`` node no 8 | longer exists and instead you should use ``stereo_image_proc.launch.py``. 9 | See the :ref:`Configuration` page for more detail. 10 | 11 | ``DisparityNode`` can compute disparity images from incoming stereo 12 | pairs using 13 | `OpenCV's block matching `_ 14 | algorithm. These are best inspected 15 | using ``stereo_view`` which is available in the ``image_view`` package. 16 | 17 | ``PointCloudNode`` can produce point clouds, which you can view in ``rviz``, 18 | and process with PCL. 19 | 20 | The image below shows the **left/image_raw** and **right_image_raw**. 21 | These are the raw images from each camera. 22 | 23 | |raw| 24 | 25 | .. |raw| image:: images/raw.png 26 | 27 | Below are the **left/image_rect_color** and **right/image_rect_color**. 28 | These are the rectified images from each camera. 29 | The red lines show that the same point in the real world 30 | lies on the same horizontal line in each rectified image. 31 | 32 | |rectified| 33 | 34 | .. |rectified| image:: images/rectified.png 35 | 36 | The resulting disparity image is shown below, 37 | viewed with ``stereo_view`` from the ``image_view`` package. 38 | 39 | |disparity| 40 | 41 | .. |disparity| image:: images/disparity.jpg 42 | 43 | 44 | .. toctree:: 45 | :maxdepth: 2 46 | 47 | self 48 | components 49 | configuration 50 | tutorials 51 | stereo_image_proc 52 | 53 | Indices and tables 54 | ================== 55 | 56 | * :ref:`genindex` 57 | * :ref:`search` 58 | -------------------------------------------------------------------------------- /stereo_image_proc/doc/tutorials.rst: -------------------------------------------------------------------------------- 1 | Tutorials 2 | ========= 3 | 4 | .. _Launch stereo_image_proc Components: 5 | 6 | Launching stereo_image_proc Components 7 | -------------------------------------- 8 | While each of the components is available as a ROS 2 node, the 9 | recommended way to build pipelines is using the components as 10 | this will save overhead by not having to serialize messages 11 | between components. 12 | 13 | For a detailed example, see ``stereo_image_proc.launch.py``. 14 | 15 | Using Compressed Image Transport 16 | -------------------------------- 17 | All of the components and nodes in ``stereo_image_proc`` support 18 | ``image_transport``. This allows a subscriber to specify the transport to 19 | be used. By default, this is ``raw``, which means an uncompressed 20 | ``sensor_msgs/Image``. When transmitting images over limited bandwidth 21 | networks, such as WiFi, it can be helpful to use ``compressed`` format. 22 | 23 | .. code-block:: bash 24 | 25 | $ ros2 run stereo_image_proc disparity_node --ros-args -p image_transport:=compressed 26 | 27 | Remapping camera_info Topics 28 | ---------------------------- 29 | When a ``camera_info`` topic is needed, an image_transport camera subscriber 30 | is typically used. ROS 2 convention for naming ``camera_info`` topics is: 31 | 32 | * camera/image - an image in namespace ``camera``. 33 | * camera/camera_info - the associated camera info 34 | 35 | So if a node subscribes to a topic called ``image``, and the user remaps this 36 | to ``my_camera/image``, then the associated camera info will be automatically 37 | remapped to ``mycamera/camera_info``. 38 | 39 | Most ROS 2 camera drivers will follow the convention, but occasionally they do 40 | not. In this case, you will have to manually remap the camera_info - but due 41 | to the way that ROS 2 remapping works you have to use the fully resolved 42 | camera info topic. An example: 43 | 44 | * ``image`` is remapped to ``my_camera/image``. 45 | * The fully resolved name for the camera info is now ``my_camera/camera_info``. 46 | * If your camera driver actually publishes ``another_ns/camera_info``, then 47 | you would have to remap ``my_camera/camera_info`` to ``another_ns/camera_info``. 48 | -------------------------------------------------------------------------------- /stereo_image_proc/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stereo_image_proc 5 | 7.0.0 6 | Stereo and single image rectification and disparity processing. 7 | 8 | Vincent Rabaud 9 | Joshua Whitley 10 | Jacob Perron 11 | Michael Ferguson 12 | 13 | BSD 14 | https://index.ros.org/p/stereo_image_proc/ 15 | https://github.com/ros-perception/image_pipeline/issues 16 | https://github.com/ros-perception/image_pipeline 17 | Patrick Mihelich 18 | Kurt Konolige 19 | Jeremy Leibs 20 | 21 | ament_cmake_auto 22 | 23 | cv_bridge 24 | image_geometry 25 | image_proc 26 | image_transport 27 | message_filters 28 | rclcpp 29 | rclcpp_components 30 | sensor_msgs 31 | stereo_msgs 32 | 33 | ament_cmake_pytest 34 | ament_lint_auto 35 | ament_lint_common 36 | launch 37 | launch_ros 38 | launch_testing 39 | launch_testing_ament_cmake 40 | python3-opencv 41 | python_cmake_module 42 | rclpy 43 | ros_testing 44 | 45 | 46 | ament_cmake 47 | 48 | 49 | -------------------------------------------------------------------------------- /stereo_image_proc/test/data/README.md: -------------------------------------------------------------------------------- 1 | The images in this directory were copied from the OpenCV project [from this location](https://github.com/opencv/opencv_extra/tree/dc0c6c1ee2cd142f936e7f957bbc595df2ce17e8/testdata/gpu/stereobm). 2 | Images are licensed under the open-source BSD license: https://opencv.org/license/ 3 | -------------------------------------------------------------------------------- /stereo_image_proc/test/data/aloe-L.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/test/data/aloe-L.png -------------------------------------------------------------------------------- /stereo_image_proc/test/data/aloe-R.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/test/data/aloe-R.png -------------------------------------------------------------------------------- /stereo_image_proc/test/data/aloe-disp.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/stereo_image_proc/test/data/aloe-disp.png -------------------------------------------------------------------------------- /tools/ros2_dependencies.repos: -------------------------------------------------------------------------------- 1 | repositories: 2 | image_common: 3 | type: git 4 | url: https://github.com/ros-perception/image_common.git 5 | version: ros2 6 | vision_opencv: 7 | type: git 8 | url: https://github.com/ros-perception/vision_opencv.git 9 | version: ros2 10 | 11 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/.gitignore: -------------------------------------------------------------------------------- 1 | doc_output/ 2 | .DS_Store 3 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/Doxyfile: -------------------------------------------------------------------------------- 1 | # All settings not listed here will use the Doxygen default values. 2 | 3 | PROJECT_NAME = "tracetools_image_pipeline" 4 | PROJECT_NUMBER = master 5 | PROJECT_BRIEF = "LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package." 6 | 7 | INPUT = ./include 8 | 9 | RECURSIVE = YES 10 | OUTPUT_DIRECTORY = doc_output 11 | 12 | EXTRACT_ALL = YES 13 | SORT_MEMBER_DOCS = NO 14 | 15 | GENERATE_LATEX = NO 16 | 17 | ENABLE_PREPROCESSING = YES 18 | MACRO_EXPANSION = YES 19 | EXPAND_ONLY_PREDEF = NO 20 | PREDEFINED = \ 21 | "TRACETOOLS_PUBLIC=" 22 | 23 | EXCLUDE_SYMBOLS = \ 24 | "DECLARE_TRACEPOINT" \ 25 | "_demangle_symbol" \ 26 | "_get_symbol_funcptr" 27 | 28 | # Tag files that do not exist will produce a warning and cross-project linking will not work. 29 | TAGFILES += "../../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/" 30 | # Uncomment to generate tag files for cross-project linking. 31 | # (path relative to workspace dir: doxygen_tag_files/$PACKAGE_NAME.tag) 32 | #GENERATE_TAGFILE = "../../../../../doxygen_tag_files/tracetools.tag" 33 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/README.md: -------------------------------------------------------------------------------- 1 | # tracetools_image_pipeline 2 | 3 | LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package. `tracetools_image_pipeline` is a fork of [tracetools](https://gitlab.com/ros-tracing/ros2_tracing/-/tree/master/tracetools), refer to this package for the original work. 4 | 5 | ### Quality Declaration 6 | 7 | No quality is claimed according to [REP-2004](https://www.ros.org/reps/rep-2004.html). 8 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/include/tracetools_image_pipeline/config.h.in: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2019 Robert Bosch GmbH 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | #ifndef TRACETOOLS_IMAGE_PIPELINE__CONFIG_H_ 17 | #define TRACETOOLS_IMAGE_PIPELINE__CONFIG_H_ 18 | 19 | #cmakedefine TRACETOOLS_DISABLED 20 | #cmakedefine TRACETOOLS_LTTNG_ENABLED 21 | 22 | #endif // TRACETOOLS_IMAGE_PIPELINE__CONFIG_H_ 23 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/include/tracetools_image_pipeline/utils.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2019 Robert Bosch GmbH 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | #ifndef TRACETOOLS_IMAGE_PIPELINE__UTILS_HPP_ 17 | #define TRACETOOLS_IMAGE_PIPELINE__UTILS_HPP_ 18 | 19 | #include 20 | #include 21 | 22 | #include "tracetools_image_pipeline/visibility_control.hpp" 23 | 24 | /// Default symbol, used when address resolution fails. 25 | #define SYMBOL_UNKNOWN "UNKNOWN" 26 | 27 | TRACETOOLS_PUBLIC const char * _demangle_symbol(const char * mangled); 28 | 29 | TRACETOOLS_PUBLIC const char * _get_symbol_funcptr(void * funcptr); 30 | 31 | /// Get symbol from an std::function object. 32 | /** 33 | * If function address resolution or symbol demangling fails, 34 | * this will return a string that starts with \ref SYMBOL_UNKNOWN. 35 | * 36 | * \param[in] f the std::function object 37 | * \return the symbol, or a placeholder 38 | */ 39 | template 40 | const char * get_symbol(std::function f) 41 | { 42 | typedef T (fnType)(U...); 43 | fnType ** fnPointer = f.template target(); 44 | // If we get an actual address 45 | if (fnPointer != nullptr) { 46 | void * funcptr = reinterpret_cast(*fnPointer); 47 | return _get_symbol_funcptr(funcptr); 48 | } 49 | // Otherwise we have to go through target_type() 50 | return _demangle_symbol(f.target_type().name()); 51 | } 52 | 53 | /// Get symbol from a function-related object. 54 | /** 55 | * Fallback meant for lambdas with captures. 56 | * 57 | * \param[in] l a generic object 58 | * \return the symbol 59 | */ 60 | template 61 | const char * get_symbol(L && l) 62 | { 63 | return _demangle_symbol(typeid(l).name()); 64 | } 65 | 66 | #endif // TRACETOOLS_IMAGE_PIPELINE__UTILS_HPP_ 67 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/include/tracetools_image_pipeline/visibility_control.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2015 Open Source Robotics Foundation, Inc. 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | /* This header must be included by all TRACETOOLS headers which declare symbols 17 | * which are defined in the TRACETOOLS library. When not building the TRACETOOLS 18 | * library, i.e. when using the headers in other package's code, the contents 19 | * of this header change the visibility of certain symbols which the TRACETOOLS 20 | * library cannot have, but the consuming code must have inorder to link. 21 | */ 22 | 23 | #ifndef TRACETOOLS_IMAGE_PIPELINE__VISIBILITY_CONTROL_HPP_ 24 | #define TRACETOOLS_IMAGE_PIPELINE__VISIBILITY_CONTROL_HPP_ 25 | 26 | // This logic was borrowed (then namespaced) from the examples on the gcc wiki: 27 | // https://gcc.gnu.org/wiki/Visibility 28 | 29 | #if defined _WIN32 || defined __CYGWIN__ 30 | #ifdef __GNUC__ 31 | #define TRACETOOLS_EXPORT __attribute__ ((dllexport)) 32 | #define TRACETOOLS_IMPORT __attribute__ ((dllimport)) 33 | #else 34 | #define TRACETOOLS_EXPORT __declspec(dllexport) 35 | #define TRACETOOLS_IMPORT __declspec(dllimport) 36 | #endif 37 | #ifdef TRACETOOLS_BUILDING_DLL 38 | #define TRACETOOLS_PUBLIC TRACETOOLS_EXPORT 39 | #else 40 | #define TRACETOOLS_PUBLIC TRACETOOLS_IMPORT 41 | #endif 42 | #define TRACETOOLS_PUBLIC_TYPE TRACETOOLS_PUBLIC 43 | #define TRACETOOLS_LOCAL 44 | #else 45 | #define TRACETOOLS_EXPORT __attribute__ ((visibility("default"))) 46 | #define TRACETOOLS_IMPORT 47 | #if __GNUC__ >= 4 48 | #define TRACETOOLS_PUBLIC __attribute__ ((visibility("default"))) 49 | #define TRACETOOLS_LOCAL __attribute__ ((visibility("hidden"))) 50 | #else 51 | #define TRACETOOLS_PUBLIC 52 | #define TRACETOOLS_LOCAL 53 | #endif 54 | #define TRACETOOLS_PUBLIC_TYPE 55 | #endif 56 | 57 | #endif // TRACETOOLS_IMAGE_PIPELINE__VISIBILITY_CONTROL_HPP_ 58 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | tracetools_image_pipeline 5 | 7.0.0 6 | 7 | LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package. 8 | 9 | Víctor Mayoral-Vilches 10 | Michael Ferguson 11 | Apache 2.0 12 | Víctor Mayoral-Vilches 13 | 14 | ament_cmake_ros 15 | pkg-config 16 | 17 | ament_lint_auto 18 | ament_lint_common 19 | 20 | 21 | ament_cmake 22 | 23 | 24 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/src/status.c: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2019 Robert Bosch GmbH 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | #include 17 | #include "tracetools_image_pipeline/tracetools.h" 18 | 19 | int main() 20 | { 21 | #ifndef TRACETOOLS_DISABLED 22 | printf("Tracing "); 23 | if (ros_trace_compile_status()) { 24 | printf("enabled\n"); 25 | return 0; 26 | } else { 27 | printf("disabled\n"); 28 | return 1; 29 | } 30 | #else 31 | printf("Tracing disabled through configuration\n"); 32 | return 1; 33 | #endif 34 | } 35 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/src/tp_call.c: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2019 Robert Bosch GmbH 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | #define TRACEPOINT_CREATE_PROBES 17 | 18 | #define TRACEPOINT_DEFINE 19 | #include "tracetools_image_pipeline/tp_call.h" 20 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/src/tracetools.c: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include "tracetools_image_pipeline/tracetools.h" 16 | 17 | #ifndef TRACETOOLS_DISABLED 18 | 19 | #ifdef TRACETOOLS_LTTNG_ENABLED 20 | # include "tracetools_image_pipeline/tp_call.h" 21 | # define CONDITIONAL_TP(...) \ 22 | tracepoint(TRACEPOINT_PROVIDER, __VA_ARGS__) 23 | #else 24 | # define CONDITIONAL_TP(...) 25 | #endif 26 | 27 | bool ros_trace_compile_status() 28 | { 29 | #ifdef TRACETOOLS_LTTNG_ENABLED 30 | return true; 31 | #else 32 | return false; 33 | #endif 34 | } 35 | 36 | #ifndef _WIN32 37 | # pragma GCC diagnostic push 38 | # pragma GCC diagnostic ignored "-Wunused-parameter" 39 | #else 40 | # pragma warning(push) 41 | # pragma warning(disable: 4100) 42 | #endif 43 | 44 | 45 | void TRACEPOINT( 46 | image_proc_resize_init, 47 | const void * resize_node_arg, 48 | const void * resize_image_msg_arg, 49 | const void * resize_info_msg_arg) 50 | { 51 | CONDITIONAL_TP( 52 | image_proc_resize_init, 53 | resize_node_arg, 54 | resize_image_msg_arg, 55 | resize_info_msg_arg); 56 | } 57 | 58 | void TRACEPOINT( 59 | image_proc_resize_fini, 60 | const void * resize_node_arg, 61 | const void * resize_image_msg_arg, 62 | const void * resize_info_msg_arg) 63 | { 64 | CONDITIONAL_TP( 65 | image_proc_resize_fini, 66 | resize_node_arg, 67 | resize_image_msg_arg, 68 | resize_info_msg_arg); 69 | } 70 | 71 | void TRACEPOINT( 72 | image_proc_rectify_init, 73 | const void * rectify_node_arg, 74 | const void * rectify_image_msg_arg, 75 | const void * rectify_info_msg_arg) 76 | { 77 | CONDITIONAL_TP( 78 | image_proc_rectify_init, 79 | rectify_node_arg, 80 | rectify_image_msg_arg, 81 | rectify_info_msg_arg); 82 | } 83 | 84 | void TRACEPOINT( 85 | image_proc_rectify_fini, 86 | const void * rectify_node_arg, 87 | const void * rectify_image_msg_arg, 88 | const void * rectify_info_msg_arg) 89 | { 90 | CONDITIONAL_TP( 91 | image_proc_rectify_fini, 92 | rectify_node_arg, 93 | rectify_image_msg_arg, 94 | rectify_info_msg_arg); 95 | } 96 | 97 | #ifndef _WIN32 98 | # pragma GCC diagnostic pop 99 | #else 100 | # pragma warning(pop) 101 | #endif 102 | 103 | #endif // TRACETOOLS_DISABLED 104 | -------------------------------------------------------------------------------- /tracetools_image_pipeline/src/utils.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2021 Víctor Mayoral-Vilches 2 | // Copyright 2019 Robert Bosch GmbH 3 | // 4 | // Licensed under the Apache License, Version 2.0 (the "License"); 5 | // you may not use this file except in compliance with the License. 6 | // You may obtain a copy of the License at 7 | // 8 | // http://www.apache.org/licenses/LICENSE-2.0 9 | // 10 | // Unless required by applicable law or agreed to in writing, software 11 | // distributed under the License is distributed on an "AS IS" BASIS, 12 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | // See the License for the specific language governing permissions and 14 | // limitations under the License. 15 | 16 | #include "tracetools_image_pipeline/config.h" 17 | 18 | #ifdef TRACETOOLS_LTTNG_ENABLED 19 | #include 20 | #include 21 | #endif 22 | #include "tracetools_image_pipeline/utils.hpp" 23 | 24 | const char * _demangle_symbol(const char * mangled) 25 | { 26 | #ifdef TRACETOOLS_LTTNG_ENABLED 27 | char * demangled = nullptr; 28 | int status; 29 | demangled = abi::__cxa_demangle(mangled, NULL, 0, &status); 30 | // Use demangled symbol if possible 31 | const char * demangled_val = (status == 0 ? demangled : mangled); 32 | return demangled_val != 0 ? demangled_val : "UNKNOWN_demangling_failed"; 33 | #else 34 | (void)mangled; 35 | return "DISABLED__demangle_symbol"; 36 | #endif 37 | } 38 | 39 | const char * _get_symbol_funcptr(void * funcptr) 40 | { 41 | #ifdef TRACETOOLS_LTTNG_ENABLED 42 | Dl_info info; 43 | if (dladdr(funcptr, &info) == 0) { 44 | return SYMBOL_UNKNOWN; 45 | } 46 | return _demangle_symbol(info.dli_sname); 47 | #else 48 | (void)funcptr; 49 | return "DISABLED__get_symbol_funcptr"; 50 | #endif 51 | } 52 | -------------------------------------------------------------------------------- /wiki_files/rospack_nosubdirs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-perception/image_pipeline/746268fcfd21b389bc39ae60bb6345a53c838558/wiki_files/rospack_nosubdirs --------------------------------------------------------------------------------