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Rewrote rover_camera to accept topic enabling and disabling of image broadcast. Also added rtsp streaming.

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This commit is contained in:
Corwin Perren
2018-03-06 15:34:12 -08:00
parent 8b83e84677
commit 3301082078
6 changed files with 221 additions and 61 deletions
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17
software/ros_packages/rover_camera/CMakeLists.txt
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@@ -3,9 +3,24 @@ project(rover_camera)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
message_generation
sensor_msgs
std_msgs
)
# add the resized image message
add_message_files(
FILES
CameraControlMessage.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(CATKIN_DEPENDS cv_bridge image_transport message_runtime sensor_msgs)

3
software/ros_packages/rover_camera/msg/CameraControlMessage.msg Normal file
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@@ -0,0 +1,3 @@
bool enable_small_broadcast
bool enable_medium_broadcast
bool enable_large_broadcast

219
software/ros_packages/rover_camera/src/rover_camera.cpp
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@@ -5,15 +5,153 @@
#include <ros/console.h>
#include <image_transport/image_transport.h>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
int main(int argc, char** argv)
{
#include "rover_camera/CameraControlMessage.h"
// Useful info
// RTSP stream is 704x480
// 3 image channels
// Image type 16
class RoverCamera{
public:
RoverCamera(int argc, char** argv){
ros::init(argc, argv, "camera");
node_handle = new ros::NodeHandle("~");
node_handle->param("is_rtsp_camera", is_rtsp_camera, false);
node_handle->param("device_path", capture_device_path, std::string("/dev/video0"));
node_handle->param("fps", fps, 30);
node_handle->param("large_image_width", large_image_width, 1280);
node_handle->param("large_image_height", large_image_height, 720);
node_handle->param("medium_image_width", medium_image_width, 640);
node_handle->param("medium_image_height", medium_image_height, 360);
node_handle->param("small_image_width", small_image_width, 256);
node_handle->param("small_image_height", small_image_height, 144);
broadcast_large_image = true;
broadcast_medium_image = false;
broadcast_small_image = false;
if(is_rtsp_camera){
cap = new cv::VideoCapture(capture_device_path);
ROS_INFO_STREAM("Connecting to RTSP camera with path: " << capture_device_path);
}else{
cap = new cv::VideoCapture(capture_device_path);
ROS_INFO_STREAM("Connecting to USB camera with path: " << capture_device_path);
cap->set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G'));
cap->set(CV_CAP_PROP_FRAME_WIDTH, large_image_width);
cap->set(CV_CAP_PROP_FRAME_HEIGHT, large_image_height);
cap->set(CV_CAP_PROP_FPS, fps);
}
large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
medium_image_node_name = "image_" + std::to_string(medium_image_width) + "x" + std::to_string(medium_image_height);
small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
large_image_transport = new image_transport::ImageTransport(*node_handle);
medium_image_transport = new image_transport::ImageTransport(*node_handle);
small_image_transport = new image_transport::ImageTransport(*node_handle);
large_image_publisher = large_image_transport->advertise(large_image_node_name, 1);
medium_image_publisher = medium_image_transport->advertise(medium_image_node_name, 1);
small_image_publisher = small_image_transport->advertise(small_image_node_name, 1);
control_subscriber = node_handle->subscribe("camera_control", 1, &RoverCamera::control_callback, this);
if(is_rtsp_camera){
loop_rate = new ros::Rate(fps + 10);
}else{
loop_rate = new ros::Rate(fps + 2);
}
image_black = cv::Mat(large_image_height, large_image_width, CV_8UC3, CvScalar(0, 0, 0));
}
void run(){
if(!cap->isOpened()){
return;
}
while (ros::ok()) {
if(!is_rtsp_camera) {
cap->read(image_large);
}else{
cap->read(image_rtsp_raw);
image_black.copyTo(image_large);
float image_scalar = float(image_large.rows) / image_rtsp_raw.rows;
cv::resize(image_rtsp_raw, image_rtsp_scaled, CvSize(int(image_rtsp_raw.cols * image_scalar), int(image_rtsp_raw.rows * image_scalar)));
int x = (image_large.cols - image_rtsp_scaled.cols) / 2;
image_rtsp_scaled.copyTo(image_large(CvRect(x , 0, image_rtsp_scaled.cols, image_rtsp_scaled.rows)));
}
if(!image_large.empty()){
bool large_ready_to_broadcast = false;
bool medium_ready_to_broadcast = false;
bool small_ready_to_broadcast = false;
if(broadcast_large_image){
large_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_large).toImageMsg();
large_ready_to_broadcast = true;
}
if(broadcast_medium_image){
cv::resize(image_large, image_medium, cv::Size(medium_image_width, medium_image_height));
medium_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_medium).toImageMsg();
medium_ready_to_broadcast = true;
}
if(broadcast_small_image){
cv::resize(image_large, image_small, cv::Size(small_image_width, small_image_height));
small_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_small).toImageMsg();
small_ready_to_broadcast = true;
}
if(large_ready_to_broadcast){ large_image_publisher.publish(large_image_message); };
if(medium_ready_to_broadcast){ medium_image_publisher.publish(medium_image_message); };
if(small_ready_to_broadcast){ small_image_publisher.publish(small_image_message); };
}
ros::spinOnce();
loop_rate->sleep();
}
}
void control_callback(const rover_camera::CameraControlMessage::ConstPtr& msg){
broadcast_small_image = msg->enable_small_broadcast;
broadcast_medium_image = msg->enable_medium_broadcast;
broadcast_large_image = msg->enable_large_broadcast;
}
~RoverCamera(){
if(cap->isOpened()){
cap->release();
}
}
private:
ros::NodeHandle *node_handle;
cv::VideoCapture *cap;
bool is_rtsp_camera;
std::string capture_device_path;
int fps;
ros::Rate *loop_rate;
int large_image_width;
int large_image_height;
int medium_image_width;
@@ -21,68 +159,41 @@ int main(int argc, char** argv)
int small_image_width;
int small_image_height;
ros::init(argc, argv, "camera");
ros::NodeHandle node_handle("~");
bool broadcast_large_image;
bool broadcast_medium_image;
bool broadcast_small_image;
node_handle.param("device_path", capture_device_path, std::string("/dev/video0"));
node_handle.param("fps", fps, 30);
std::string large_image_node_name;
std::string medium_image_node_name;
std::string small_image_node_name;
node_handle.param("large_image_width", large_image_width, 1280);
node_handle.param("large_image_height", large_image_height, 720);
node_handle.param("medium_image_width", medium_image_width, 640);
node_handle.param("medium_image_height", medium_image_height, 360);
node_handle.param("small_image_width", small_image_width, 256);
node_handle.param("small_image_height", small_image_height, 144);
image_transport::ImageTransport *large_image_transport;
image_transport::ImageTransport *medium_image_transport;
image_transport::ImageTransport *small_image_transport;
cv::VideoCapture cap(capture_device_path);
image_transport::Publisher large_image_publisher;
image_transport::Publisher medium_image_publisher;
image_transport::Publisher small_image_publisher;
cap.set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G'));
cap.set(CV_CAP_PROP_FRAME_WIDTH, large_image_width);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, large_image_height);
cap.set(CV_CAP_PROP_FPS, fps);
ros::Subscriber control_subscriber;
if(cap.isOpened() == false){
return -1;
}
cv::Mat image_black;
std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
std::string medium_image_node_name = "image_" + std::to_string(medium_image_width) + "x" + std::to_string(medium_image_height);
std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
image_transport::ImageTransport large_image_transport(node_handle);
image_transport::ImageTransport medium_image_transport(node_handle);
image_transport::ImageTransport small_image_transport(node_handle);
image_transport::Publisher large_image_publisher = large_image_transport.advertise(large_image_node_name, 1);
image_transport::Publisher medium_image_publisher = medium_image_transport.advertise(medium_image_node_name, 1);
image_transport::Publisher small_image_publisher = small_image_transport.advertise(small_image_node_name, 1);
cv::Mat image_rtsp_raw;
cv::Mat image_rtsp_scaled;
cv::Mat image_large;
cv::Mat image_medium;
cv::Mat image_small;
ros::Rate loop_rate(fps + 2);
sensor_msgs::ImagePtr large_image_message;
sensor_msgs::ImagePtr medium_image_message;
sensor_msgs::ImagePtr small_image_message;
while (ros::ok()) {
};
cap.read(image_large);
if(!image_large.empty()){
cv::resize(image_large, image_medium, cv::Size(medium_image_width, medium_image_height));
cv::resize(image_medium, image_small, cv::Size(small_image_width, small_image_height));
sensor_msgs::ImagePtr large_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_large).toImageMsg();
sensor_msgs::ImagePtr medium_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_medium).toImageMsg();
sensor_msgs::ImagePtr small_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_small).toImageMsg();
large_image_publisher.publish(large_image_message);
medium_image_publisher.publish(medium_image_message);
small_image_publisher.publish(small_image_message);
}
ros::spinOnce();
loop_rate.sleep();
}
cap.release();
int main(int argc, char** argv)
{
RoverCamera camera(argc, argv);
camera.run();
}

15
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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@@ -12,16 +12,25 @@
<param name="port" value="17003" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
</group>
</launch>

6
software/ros_packages/rover_main/launch/rover/cameras.launch
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@@ -14,5 +14,11 @@
<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>
<!-- Start End Effector Camera -->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
<param name="is_rtsp_camera" value="True" />
<param name="device_path" value="rtsp://192.168.1.11" />
</node>
</group>
</launch>

22
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
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@@ -26,9 +26,17 @@
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -36,7 +44,7 @@
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -44,10 +52,18 @@
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
</group>
</launch>