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GJXS1980 committed Dec 17, 2018
1 parent 8f80a4a commit 4e10f00
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Showing 10 changed files with 208 additions and 40 deletions.
12 changes: 12 additions & 0 deletions rbx1/rbx1_apps/launch/my_object_tracker.launch
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<launch>
<node pkg="rbx1_apps" name="object_tracker" type="object_tracker.py" output="screen">
<remap from="camera_info" to="/kinect2/qhd/camera_info" />
<rosparam>
rate: 10
max_rotation_speed: 2.0
min_rotation_speed: 0.5
x_threshold: 0.1
gain: 2.0
</rosparam>
</node>
</launch>
39 changes: 39 additions & 0 deletions rbx1/rbx1_vision/launch/my_face_tracker2.launch
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<launch>
<node pkg="rbx1_vision" name="face_tracker2" type="face_tracker2.py" output="screen">

<remap from="input_rgb_image" to="/kinect2/qhd/image_color" />
<remap from="input_depth_image" to="/kinect2/sd/image_depth" />

<rosparam>
use_depth_for_tracking: True
min_keypoints: 20
abs_min_keypoints: 6
add_keypoint_distance: 10
std_err_xy: 2.5
pct_err_z: 1.5
max_mse: 10000
add_keypoints_interval: 1
drop_keypoints_interval: 1
show_text: True
show_features: True
show_add_drop: False
feature_size: 1
expand_roi: 1.02
gf_maxCorners: 200
gf_qualityLevel: 0.02
gf_minDistance: 7
gf_blockSize: 10
gf_useHarrisDetector: False
gf_k: 0.04
haar_scaleFactor: 1.3
haar_minNeighbors: 3
haar_minSize: 30
haar_maxSize: 150
</rosparam>

<param name="cascade_1" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_frontalface_alt2.xml" />
<param name="cascade_2" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_frontalface_alt.xml" />
<param name="cascade_3" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_profileface.xml" />

</node>
</launch>
6 changes: 5 additions & 1 deletion rbx1/rbx1_vision/src/rbx1_vision/face_detector.py
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import rospy
import cv2
import cv2.cv as cv
try:
import cv, cv2
except:
pass
#import cv2.cv as cv
from rbx1_vision.ros2opencv2 import ROS2OpenCV2

class FaceDetector(ROS2OpenCV2):
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1 change: 1 addition & 0 deletions rplidar_ros
Submodule rplidar_ros added at 184279
9 changes: 9 additions & 0 deletions turtlebot/turtlebot_teleop/launch/logitech.launch
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<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

<node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
<param name="scale_angular" value="2.0"/>
<param name="scale_linear" value="0.5"/>
<param name="axis_deadman" value="4"/>
<param name="axis_linear" value="1"/>
<param name="axis_angular" value="0"/>

<!--
<param name="scale_angular" value="1.5"/>
<param name="scale_linear" value="0.1"/>
<param name="axis_deadman" value="4"/>
<param name="axis_linear" value="1"/>
<param name="axis_angular" value="0"/>
-->

<remap from="turtlebot_teleop_joystick/cmd_vel" to="teleop_velocity_smoother/raw_cmd_vel"/>
</node>

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181 changes: 142 additions & 39 deletions vision_detector/launch/kinect2_with_calibration.launch
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<launch>
<!-- Which image resolution: sd, qhd, hd -->
<arg name="resolution" default="qhd" />
<arg name="publish_tf" value="true" />
<arg name="base_name" default="kinect2" />

<!-- start kinect2 -->
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch">
<arg name="base_name" value="$(arg base_name)" />
<arg name="publish_tf" value="$(arg publish_tf)" />
<remap from="camera/rgb/image_raw" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="camera/depth/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="camera/rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
<remap from="camera/depth/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>

<arg name="rgb_image_raw_info_url"
value="file://$(find vision_detector)/kinect2_calib_pose.yaml" />
<arg name="depth_image_raw_info_url"
value="file://$(find vision_detector)/kinect2_calib_ir.yaml" />
<arg name="rgb_camera_info_url"
value="file://$(find vision_detector)/kinect2_calib_color.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find vision_detector)/kinect2_calib_depth.yaml" />

<node pkg="tf" type="static_transform_publisher" name="kinect2_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /kinect2_ir_optical_frame /camera_depth_optical_frame 40" />

</include>


<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
See camera_info_manager docs for calibration URL details. -->
<arg name="calib_color_info_url" default="" />
<arg name="calib_depth_info_url" default="" />
<arg name="calib_ir_info_url" default="" />
<arg name="calib_pose_info_url" default="" />

<!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
<arg name="depth_registration" default="true" />

<arg name="calib_color_info_url" value="$(arg calib_color_info_url)" />
<arg name="calib_depth_info_url" value="$(arg calib_depth_info_url)" />
<arg name="calib_ir_info_url" value="$(arg calib_ir_info_url)" />
<arg name="calib_pose_info_url" value="$(arg calib_pose_info_url)" />

<arg name="base_name" default="kinect2"/>
<arg name="sensor" default=""/>
<arg name="publish_tf" default="false"/>
<arg name="base_name_tf" default="$(arg base_name)"/>
<arg name="fps_limit" default="-1.0"/>
<arg name="calib_path" default="$(find kinect2_bridge)/data/"/>
<arg name="use_png" default="false"/>
<arg name="jpeg_quality" default="90"/>
<arg name="png_level" default="1"/>
<arg name="depth_method" default="default"/>
<arg name="depth_device" default="-1"/>
<arg name="reg_method" default="default"/>
<arg name="reg_device" default="-1"/>
<arg name="max_depth" default="12.0"/>
<arg name="min_depth" default="0.1"/>
<arg name="queue_size" default="5"/>
<arg name="bilateral_filter" default="true"/>
<arg name="edge_aware_filter" default="true"/>
<arg name="worker_threads" default="4"/>
<arg name="machine" default="localhost"/>
<arg name="nodelet_manager" default="$(arg base_name)"/>
<arg name="start_manager" default="true"/>
<arg name="use_machine" default="true"/>
<arg name="respawn" default="true"/>
<arg name="use_nodelet" default="true"/>
<arg name="output" default="screen"/>

<machine name="localhost" address="localhost" if="$(arg use_machine)"/>

<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
if="$(arg start_manager)" machine="$(arg machine)" output="screen"/>

<!-- Nodelet version of kinect2_bridge -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
args="load kinect2_bridge/kinect2_bridge_nodelet $(arg nodelet_manager)"
respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">




<param name="calib_color_info_url" type="str" value="$(arg calib_color_info_url)"/>
<param name="calib_depth_info_url" type="str" value="$(arg calib_depth_info_url)"/>
<param name="calib_ir_info_url" type="str" value="$(arg calib_ir_info_url)"/>
<param name="calib_pose_info_url" type="str" value="$(arg calib_pose_info_url)"/>

<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
</node>

<!-- Node version of kinect2_bridge -->
<node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">


<param name="calib_color_info_url" type="str" value="$(arg calib_color_info_url)"/>
<param name="calib_depth_info_url" type="str" value="$(arg calib_depth_info_url)"/>
<param name="calib_ir_info_url" type="str" value="$(arg calib_ir_info_url)"/>
<param name="calib_pose_info_url" type="str" value="$(arg calib_pose_info_url)"/>

<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
</node>

<!-- sd point cloud (512 x 424) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_sd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/sd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/sd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/sd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/sd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>

<!-- qhd point cloud (960 x 540) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_qhd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/qhd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/qhd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/qhd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/qhd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>

<!-- hd point cloud (1920 x 1080) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_hd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/hd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/hd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/hd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/hd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>


</launch>












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