def save_camera_data(bag, kitti_type, kitti, util, bridge, camera,
camera_frame_id, topic, initial_time):
print("Exporting camera {}".format(camera))
if kitti_type.find("raw") != -1:
camera_pad = '{0:02d}'.format(camera)
image_dir = os.path.join(kitti.data_path,
'image_{}'.format(camera_pad))
image_path = os.path.join(image_dir, 'data')
image_filenames = sorted(os.listdir(image_path))
with open(os.path.join(image_dir, 'timestamps.txt')) as f:
image_datetimes = map(
lambda x: datetime.strptime(x[:-4], '%Y-%m-%d %H:%M:%S.%f'),
f.readlines())
calib = CameraInfo()
calib.header.frame_id = camera_frame_id
calib.width, calib.height = tuple(
util['S_rect_{}'.format(camera_pad)].tolist())
calib.distortion_model = 'plumb_bob'
calib.K = util['K_{}'.format(camera_pad)]
calib.R = util['R_rect_{}'.format(camera_pad)]
calib.D = util['D_{}'.format(camera_pad)]
calib.P = util['P_rect_{}'.format(camera_pad)]
elif kitti_type.find("odom") != -1:
camera_pad = '{0:01d}'.format(camera)
image_path = os.path.join(kitti.sequence_path,
'image_{}'.format(camera_pad))
image_filenames = sorted(os.listdir(image_path))
image_datetimes = map(lambda x: initial_time + x.total_seconds(),
kitti.timestamps)
calib = CameraInfo()
calib.header.frame_id = camera_frame_id
calib.P = util['P{}'.format(camera_pad)]
iterable = zip(image_datetimes, image_filenames)
bar = progressbar.ProgressBar()
for dt, filename in bar(iterable):
image_filename = os.path.join(image_path, filename)
cv_image = cv2.imread(image_filename)
calib.height, calib.width = cv_image.shape[:2]
if camera in (0, 1):
cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
encoding = "mono8" if camera in (0, 1) else "bgr8"
image_message = bridge.cv2_to_imgmsg(cv_image, encoding=encoding)
image_message.header.frame_id = camera_frame_id
if kitti_type.find("raw") != -1:
image_message.header.stamp = rospy.Time.from_sec(
float(datetime.strftime(dt, "%s.%f")))
topic_ext = "/image_raw"
elif kitti_type.find("odom") != -1:
image_message.header.stamp = rospy.Time.from_sec(dt)
topic_ext = "/image_rect"
calib.header.stamp = image_message.header.stamp
bag.write(topic + topic_ext,
image_message,
t=image_message.header.stamp)
bag.write(topic + '/camera_info', calib, t=calib.header.stamp)
def run(self):
# left_cam_info = self.yaml_to_camera_info(self.left_yaml_file)
# right_cam_info = self.yaml_to_camera_info(self.right_yaml_file)
left_cam_info = CameraInfo()
left_cam_info.width = 640
left_cam_info.height = 480
left_cam_info.K = [742.858255, 0.000000, 342.003337, 0.000000, 752.915532, 205.211518, 0.000000, 0.000000, 1.000000]
left_cam_info.D = [0.098441, 0.046414, -0.039316, 0.011202, 0.000000]
left_cam_info.R = [0.983638, 0.047847, -0.173686, -0.048987, 0.998797, -0.002280, 0.173368, 0.010751, 0.984798]
left_cam_info.P = [905.027641, 0.000000, 500.770557, 0.000000, 0.000000, 905.027641, 180.388927, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
left_cam_info.distortion_model = 'plumb_bob'
right_cam_info = CameraInfo()
right_cam_info.width = 640
right_cam_info.height = 480
right_cam_info.K = [747.026840, 0.000000, 356.331849, 0.000000, 757.336986, 191.248883, 0.000000, 0.000000, 1.000000]
right_cam_info.D = [0.127580, -0.050428, -0.035857, 0.018986, 0.000000]
right_cam_info.R = [0.987138, 0.047749, -0.152571, -0.046746, 0.998855, 0.010153, 0.152881, -0.002890, 0.988240]
right_cam_info.P = [905.027641, 0.000000, 500.770557, -42.839515, 0.000000, 905.027641, 180.388927, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
right_cam_info.distortion_model = 'plumb_bob'
rate = rospy.Rate(30)
while not rospy.is_shutdown():
ret,frame=self.cam.read()
if not ret:
print('[ERROR]: frame error')
break
expand_frame=cv2.resize(frame,None,fx=2,fy=1)
left_image = expand_frame[0:480,0:640]
right_image = expand_frame[0:480,640:1280]
self.msg_header.frame_id = 'stereo_image'
self.msg_header.stamp = rospy.Time.now()
left_cam_info.header = self.msg_header
right_cam_info.header = self.msg_header
self.left_image_info_pub.publish(left_cam_info)
self.right_image_info_pub.publish(right_cam_info)
# self.pub_image(self.left_image_pub, left_image, self.msg_header )
# self.pub_image(self.right_image_pub, right_image, self.msg_header )
try:
thread.start_new_thread( self.pub_image, (self.left_image_pub, left_image, self.msg_header, ))
thread.start_new_thread( self.pub_image, (self.right_image_pub, right_image, self.msg_header, ))
except:
print("[ERROR]: unable to start thread")
rate.sleep()
def __init__(self):
rospy.init_node('image_converter', anonymous=True)
self.filtered_face_locations = rospy.get_param('camera_topic')
self.image_pub = rospy.Publisher(self.filtered_face_locations, Image)
self.image_info = rospy.Publisher('camera_info', CameraInfo)
self.bridge = CvBridge()
cap = cv2.VideoCapture('/home/icog-labs/Videos/video.mp4')
print cap.get(5)
path = rospkg.RosPack().get_path("robots_config")
path = path + "/robot/camera.yaml"
stream = file(path, 'r')
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
while (not rospy.is_shutdown()) and (cap.isOpened()):
self.keystroke = cv2.waitKey(1000 / 30)
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# cv2.imshow('frame', gray)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(gray, "mono8"))
self.image_info.publish(cam_info)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def save_camera_data(bag, kitti, camera, timestamps):
print("Exporting camera {}".format(camera.nr))
camera_info = CameraInfo()
camera_info.header.frame_id = rectified_camera_frame_id
camera_info.K = list(
getattr(kitti.calib, 'K_cam{}'.format(camera.nr)).flat)
camera_info.P = list(
getattr(kitti.calib, 'P_rect_{}0'.format(camera.nr)).flat)
# We do not include the D and R parameters from the calibration data since the images are
# already undistorted and rectified to the camera #0 frame.
camera_info.R = list(np.eye(3).flat)
cv_bridge = CvBridge()
image_paths = getattr(kitti, 'cam{}_files'.format(camera.nr))
for timestamp, image_path in tqdm(list(zip(timestamps, image_paths))):
cv_image = cv2.imread(image_path, cv2.IMREAD_UNCHANGED)
camera_info.height, camera_info.width = cv_image.shape[:2]
encoding = 'bgr8' if camera.is_rgb else 'mono8'
image_message = cv_bridge.cv2_to_imgmsg(cv_image, encoding=encoding)
image_message.header.frame_id = rectified_camera_frame_id
t = to_rostime(timestamp)
image_message.header.stamp = t
camera_info.header.stamp = t
# Follow the naming conventions from
# http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html
image_topic_ext = '/image_rect_color' if camera.is_rgb else '/image_rect'
bag.write(camera.topic_id + image_topic_ext, image_message, t=t)
bag.write(camera.topic_id + '/camera_info', camera_info, t=t)
def genRosCameraInfo(K, P, resolution):
'''
默认参数
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 0
width: 0
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
'''
caminfo = CameraInfo()
caminfo.width = resolution[0]
caminfo.height = resolution[1]
caminfo.distortion_model = "plumb_bob"
caminfo.header.frame_id = "rgbd_camera_link"
# caminfo.header.stamp = time_now
caminfo.D = [0.0, 0.0, 0.0, 0.0, 0.0] # 畸变系数，无初始值需要指定
caminfo.K = K
caminfo.P = P
return caminfo
def yaml_to_CameraInfo(calib_yaml):
"""
Parse a yaml file containing camera calibration data (as produced by
rosrun camera_calibration cameracalibrator.py) into a
sensor_msgs/CameraInfo msg.
Parameters
----------
yaml_fname : str
Path to yaml file containing camera calibration data
Returns
-------
camera_info_msg : sensor_msgs.msg.CameraInfo
A sensor_msgs.msg.CameraInfo message containing the camera calibration
data
"""
# Load data from file
calib_data = yaml.load(calib_yaml)
# Parse
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
return camera_info_msg
def get_camera_info(pipeline, array):
profile = pipeline.get_active_profile()
if "color" in array:
stream_profile = rs.video_stream_profile(
profile.get_stream(rs.stream.color))
stream_intrinsics = stream_profile.get_intrinsics()
elif "depth" in array:
stream_profile = rs.video_stream_profile(
profile.get_stream(rs.stream.depth))
stream_intrinsics = stream_profile.get_intrinsics()
camera_info = CameraInfo()
camera_info.width = stream_intrinsics.width
camera_info.height = stream_intrinsics.height
camera_info.distortion_model = 'plumb_bob'
cx = stream_intrinsics.ppx
cy = stream_intrinsics.ppy
fx = stream_intrinsics.fx
fy = stream_intrinsics.fy
camera_info.K = [fx, 0, cx, 0, fy, cy, 0, 0, 1]
camera_info.D = [0, 0, 0, 0, 0]
camera_info.R = [1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0]
camera_info.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1.0, 0]
return camera_info
def send_test_messages(self, filename):
self.msg_received = False
# Publish the camera info TODO make this a field in the annotations file to dictate the source calibration file
msg_info = CameraInfo()
msg_info.height = 480
msg_info.width = 640
msg_info.distortion_model = "plumb_bob"
msg_info.D = [-0.28048157543793056, 0.05674481026365553, -0.000988764087143394, -0.00026869128565781613, 0.0]
msg_info.K = [315.128501, 0.0, 323.069638, 0.0, 320.096636, 218.012581, 0.0, 0.0, 1.0]
msg_info.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
msg_info.P = [217.48876953125, 0.0, 321.3154072384932, 0.0, 0.0, 250.71084594726562, 202.30416165274983, 0.0,
0.0, 0.0, 1.0, 0.0]
msg_info.roi.do_rectify = False
# Publish the test image
img = cv2.imread(filename)
cvb = CvBridge()
msg_raw = cvb.cv2_to_imgmsg(img, encoding="bgr8")
self.pub_info.publish(msg_info)
self.pub_raw.publish(msg_raw)
# Wait for the message to be received
timeout = rospy.Time.now() + rospy.Duration(10) # Wait at most 5 seconds for the node to reply
while not self.msg_received and not rospy.is_shutdown() and rospy.Time.now() < timeout:
rospy.sleep(0.1)
self.assertLess(rospy.Time.now(), timeout, "Waiting for apriltag detection timed out.")
def callback(self, ros_data, args):
global bridge
#img = bridge.compressed_imgmsg_to_cv2(ros_data, desired_encoding="bgr8")
msg = ros_data
#msg = bridge.cv2_to_imgmsg(img)
msg.header.stamp = ros_data.header.stamp
if (args[0] == "1"):
ims.publisher_pixel1.publish(msg)
if (args[0] == "2"):
ims.publisher_pixel2.publish(msg)
if (args[0] == "3"):
ims.publisher_pixel3.publish(msg)
if (args[0] == "4"):
ims.publisher_pixel4.publish(msg)
camera_info = CameraInfo()
#camera_info.P = [515.4, 0.0, 323.0, 0.0,
# 0.0, 518.7, 233.9, 0.0,
# 0.0, 0.0, 1.0, 0.0]
#camera_info.P = [3.947343969791328e+02, 0.0, 2.458620661682394e+02, 0.0,
# 0.0, 3.973312505665456e+02, 1.587019280699527e+02, 0.0,
# 0.0 ,0.0 , 1, 0.0]
camera_info.P = [
253.5595, 0.0, 157.5681, 0.0, 0.0, 254.8321, 118.2755, 0.0, 0.0,
0.0, 1, 0.0
]
camera_info.header.stamp = ros_data.header.stamp
#camera_info.header.stamp = time.time()
ims.publisher_info.publish(camera_info)
def pixel_1_callback(data):
global br
global pub1_raw
global pub1_info
if (data.data != []):
# From compressed to raw
rospy.loginfo("Image received from pixel_1")
img = br.compressed_imgmsg_to_cv2(data, desired_encoding="bgr8")
# time = str(data.header.stamp.secs) + ("00000000" if data.header.stamp.nsecs == 0 else str(data.header.stamp.nsecs))
# cv2.imwrite("/home/soteris-group/phone_test/pixel_1/" + time + ".jpeg", img)
msg = br.cv2_to_imgmsg(img)
msg.header.stamp.secs = data.header.stamp.secs
msg.header.stamp.nsecs = data.header.stamp.nsecs
msg.encoding = "bgr8"
pub1_raw.publish(msg)
# Camera info
pixel_1_info = CameraInfo()
pixel_1_info.P = [
493.7242431641, 0.0000000000, 322.0943908691, 0.0, 0.0000000000,
96.9177246094, 231.7220153809, 0.0, 0.0, 0.0, 1.0, 0.0
]
pub1_info.publish(pixel_1_info)
else:
rospy.loginfo("Something went wrong")
def make_camera_msg(cam, rgb_time_sec, rgb_time_nsec, test_image):
camera_info_msg = CameraInfo()
camera_info_msg.header.seq = test_image
if rgb_time_nsec + 20000000 > 999999999:
camera_info_msg.header.stamp.secs = rgb_time_sec + 1
camera_info_msg.header.stamp.nsecs = rgb_time_nsec + 20000000 - 100000000
else:
camera_info_msg.header.stamp.secs = rgb_time_sec
camera_info_msg.header.stamp.nsecs = rgb_time_nsec + 20000000
# camera_info_msg.header.stamp.secs = rgb_time_sec
# camera_info_msg.header.stamp.nsecs = rgb_time_nsec + 20000000
camera_info_msg.header.frame_id = "/openni_rgb_optical_frame"
camera_info_msg.distortion_model = "plumb_bob"
width, height = cam[0], cam[1]
fx, fy = cam[2], cam[3]
cx, cy = cam[4], cam[5]
camera_info_msg.width = width
camera_info_msg.height = height
camera_info_msg.K = [fx, 0, cx,
0, fy, cy,
0, 0, 1]
camera_info_msg.D = [0, 0, 0, 0, 0]
camera_info_msg.R = [1, 0, 0,
0, 1, 0,
0, 0, 1]
camera_info_msg.P = [fx, 0, cx, 0,
0, fy, cy, 0,
0, 0, 1, 0]
return camera_info_msg
def get_camera_info(self, yaml_fname):
"""
Parse a yaml file containing camera calibration data
Parameters
----------
yaml_fname : str
Path to yaml file containing camera calibration data
Returns
-------
camera_info_msg : sensor_msgs.msg.CameraInfo
A sensor_msgs.msg.CameraInfo message containing the camera calibration
data
"""
# Load data from file
with open(yaml_fname, "r") as file_handle:
calib_data = yaml.load(file_handle)
# Parse
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["intrinsics"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
camera_info_msg.header.frame_id = calib_data["frame_id"]
return camera_info_msg
def _build_camera_info(self):
"""
Private function to compute camera info
camera info doesn't change over time
"""
camera_info = CameraInfo()
# store info without header
camera_info.header = self.get_msg_header()
camera_info.width = int(self.carla_actor.attributes['image_size_x'])
camera_info.height = int(self.carla_actor.attributes['image_size_y'])
camera_info.distortion_model = 'plumb_bob'
cx = camera_info.width / 2.0
cy = camera_info.height / 2.0
fx = camera_info.width / (
2.0 * math.tan(float(self.carla_actor.attributes['fov']) * math.pi / 360.0))
fy = fx
if ROS_VERSION == 1:
camera_info.K = [fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0]
camera_info.D = [0.0, 0.0, 0.0, 0.0, 0.0]
camera_info.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
camera_info.P = [fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0]
elif ROS_VERSION == 2:
# pylint: disable=assigning-non-slot
camera_info.k = [fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0]
camera_info.d = [0.0, 0.0, 0.0, 0.0, 0.0]
camera_info.r = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
camera_info.p = [fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0]
self._camera_info = camera_info
def publish(self, event):
if self.imgmsg is None:
return
now = rospy.Time.now()
# setup ros message and publish
with self.lock:
self.imgmsg.header.stamp = now
self.imgmsg.header.frame_id = self.frame_id
self.pub.publish(self.imgmsg)
if self.publish_info:
info = CameraInfo()
info.header.stamp = now
info.header.frame_id = self.frame_id
info.width = self.imgmsg.width
info.height = self.imgmsg.height
if self.fovx is not None and self.fovy is not None:
fx = self.imgmsg.width / 2.0 / \
np.tan(np.deg2rad(self.fovx / 2.0))
fy = self.imgmsg.height / 2.0 / \
np.tan(np.deg2rad(self.fovy / 2.0))
cx = self.imgmsg.width / 2.0
cy = self.imgmsg.height / 2.0
info.K = np.array([fx, 0, cx, 0, fy, cy, 0, 0, 1.0])
info.P = np.array([fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1, 0])
info.R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
self.pub_info.publish(info)
def publishing(pub_image, pub_camera, image, type_of_camera):
if type_of_camera is 1:
image.convert(carla.ColorConverter.Depth)
elif type_of_camera is 2:
image.convert(carla.ColorConverter.CityScapesPalette)
array = np.frombuffer(image.raw_data, dtype=np.uint8)
array = np.reshape(array, (image.height, image.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
img = Image()
infomsg = CameraInfo()
img.header.stamp = rospy.Time.now()
img.header.frame_id = 'base'
img.height = infomsg.height = image.height
img.width = infomsg.width = image.width
img.encoding = "rgb8"
img.step = img.width * 3 * 1
st1 = array.tostring()
img.data = st1
cx = infomsg.width / 2.0
cy = infomsg.height / 2.0
fx = fy = infomsg.width / (2.0 * math.tan(image.fov * math.pi / 360.0))
infomsg.K = [fx, 0, cx, 0, fy, cy, 0, 0, 1]
infomsg.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1, 0]
infomsg.R = [1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0]
infomsg.D = [0, 0, 0, 0, 0]
infomsg.binning_x = 0
infomsg.binning_y = 0
infomsg.distortion_model = "plumb_bob"
infomsg.header = img.header
pub_image.publish(img)
pub_camera.publish(infomsg)
def yaml_to_CameraInfo():
rospy.init_node("camera_info_publisher", anonymous=True)
info_publisher = rospy.Publisher("camera_info", CameraInfo, queue_size=10)
# yaml_publisher = rospy.Publisher("yaml_filename", String, queue_size=10)
rate = rospy.Rate(10) # 10hz
yaml_fname = rospy.get_param('~camera_yaml')
# yaml_fname = rospy.get_param('camera_yaml')
with open(yaml_fname, "r") as file_handle:
calib_data = yaml.load(file_handle)
# Parse
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
while not rospy.is_shutdown():
# yaml_publisher.publish(yaml_fname)
info_publisher.publish(camera_info_msg)
rate.sleep()
def image_callback(data, args):
global br
pub_raw = args[0]
pub_info = args[1]
pixel_no = args[2]
if (data.data != []):
# From compressed to raw
rospy.loginfo("Image received from pixel-" + pixel_no)
img = br.compressed_imgmsg_to_cv2(data, desired_encoding="bgr8")
# time = str(data.header.stamp.secs) + ("00000000" if data.header.stamp.nsecs == 0 else str(data.header.stamp.nsecs))
# cv2.imwrite("/home/soteris-group/phone_test/pixel_1/" + time + ".jpeg", img)
msg = br.cv2_to_imgmsg(img)
msg.header.stamp = data.header.stamp
msg.encoding = "bgr8"
pub_raw.publish(msg)
# Camera info - projection matrix
pixel_info = CameraInfo()
pixel_info.P = [
515.4, 0.0, 323.0, 0.0, 0.0, 518.7, 233.9, 0.0, 0.0, 0.0, 1.0, 0.0
]
pixel_info.header.stamp = data.header.stamp
pub_info.publish(pixel_info)
else:
rospy.loginfo("Something went wrong")
def info_480p():
data = CameraInfo()
data.height = 480
data.width = 640
data.distortion_model = "plumb_bob"
data.D = [-0.297117, 0.070173, -0.000390, 0.005232, 0.000000]
data.K = [
342.399061, 0.000000, 284.222700, 0.000000, 343.988302, 227.555237,
0.000000, 0.000000, 1.000000
]
data.R = [
1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000,
0.000000, 1.000000
]
data.P = [
247.555710, 0.000000, 290.282918, 0.000000, 0.000000, 281.358612,
220.776009, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000
]
data.binning_x = 0
data.binning_y = 0
data.roi.x_offset = 0
data.roi.y_offset = 0
data.roi.height = 0
data.roi.width = 0
data.roi.do_rectify = False
return data
def yaml_to_CameraInfo(yaml_fname):
"""
Parse a yaml file containing camera calibration data (as produced by
rosrun camera_calibration cameracalibrator.py) into a
sensor_msgs/CameraInfo msg.
Parameters
----------
yaml_fname : str
Path to yaml file containing camera calibration data
Returns
-------
camera_info_msg : sensor_msgs.msg.CameraInfo
A sensor_msgs.msg.CameraInfo message containing the camera calibration
data
"""
# Load data from file
with open(yaml_fname, "r") as file_handle:
calib_data = yaml.load(file_handle)
# Parse
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
return camera_info_msg
def info_720p():
data = CameraInfo()
data.height = 720
data.width = 1280
data.distortion_model = "plumb_bob"
data.D = [-0.266169, 0.056566, 0.003569, 0.002922, 0.000000]
data.K = [
550.515474, 0.000000, 560.486530, 0.000000, 550.947091, 334.377088,
0.000000, 0.000000, 1.000000
]
data.R = [
1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000,
0.000000, 1.000000
]
data.P = [
395.931458, 0.000000, 570.158643, 0.000000, 0.000000, 474.049377,
329.846866, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000
]
data.binning_x = 0
data.binning_y = 0
data.roi.x_offset = 0
data.roi.y_offset = 0
data.roi.height = 0
data.roi.width = 0
data.roi.do_rectify = False
return data
def test_CameraFOV(self):
msg = CameraInfo()
msg.height = 1024
msg.width = 1280
msg.distortion_model = 'plumb_bob'
msg.D = [
-0.5506515572367885, 0.16918149333674903, -0.0005494252446900035,
-0.003574460971943457, 0.08824797068343779
]
msg.K = [
1547.3611792786492, 0.0, 645.7946620597459, 0.0,
1546.5965535476455, 512.489834878375, 0.0, 0.0, 1.0
]
msg.R = [
0.9976063902119301, 0.0008462845042432227, 0.06914314145929477,
-0.0007608300534628908, 0.9999989139538485, -0.0012622316559149822,
-0.06914413457374326, 0.0012066041858555048, 0.997605950644034
]
msg.P = [
1445.628365834274, 0.0, 521.7993656184378, 0.0, 0.0,
1445.628365834274, 514.7422812912976, 0.0, 0.0, 0.0, 1.0, 0.0
]
camfov = ru.camera.CameraFOV(msg, maxdist=2.)
corners = camfov.get_corners()
vertices, faces = camfov.get_trimesh()
self.assertTrue(camfov.contains(corners))
points_inside = [camfov.random_point_inside() for _ in range(100)]
self.assertTrue(camfov.contains(points_inside))
def __init__(self):
rospy.init_node('image_publish')
name = sys.argv[1]
image = cv2.imread(name)
#cv2.imshow("im", image)
#cv2.waitKey(5)
hz = rospy.get_param("~rate", 1)
frame_id = rospy.get_param("~frame_id", "map")
use_image = rospy.get_param("~use_image", True)
rate = rospy.Rate(hz)
self.ci_in = None
ci_sub = rospy.Subscriber('camera_info_in', CameraInfo,
self.camera_info_callback, queue_size=1)
if use_image:
pub = rospy.Publisher('image', Image, queue_size=1)
ci_pub = rospy.Publisher('camera_info', CameraInfo, queue_size=1)
msg = Image()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = frame_id
msg.encoding = 'bgr8'
msg.height = image.shape[0]
msg.width = image.shape[1]
msg.step = image.shape[1] * 3
msg.data = image.tostring()
if use_image:
pub.publish(msg)
ci = CameraInfo()
ci.header = msg.header
ci.height = msg.height
ci.width = msg.width
ci.distortion_model ="plumb_bob"
# TODO(lucasw) need a way to set these values- have this node
# subscribe to an input CameraInfo?
ci.D = [0.0, 0.0, 0.0, 0, 0]
ci.K = [500.0, 0.0, msg.width/2, 0.0, 500.0, msg.height/2, 0.0, 0.0, 1.0]
ci.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
ci.P = [500.0, 0.0, msg.width/2, 0.0, 0.0, 500.0, msg.height/2, 0.0, 0.0, 0.0, 1.0, 0.0]
# ci_pub.publish(ci)
# TODO(lwalter) only run this is hz is positive,
# otherwise wait for input trigger message to publish an image
while not rospy.is_shutdown():
if self.ci_in is not None:
ci = self.ci_in
msg.header.stamp = rospy.Time.now()
ci.header = msg.header
if use_image:
pub.publish(msg)
ci_pub.publish(ci)
if hz <= 0:
rospy.sleep()
else:
rate.sleep()
def publish( self ):
# Get the image.
image = self.__videoDeviceProxy.getImageRemote( self.__videoDeviceProxyName );
# Create Image message.
ImageMessage = Image();
ImageMessage.header.stamp.secs = image[ 5 ];
ImageMessage.width = image[ 0 ];
ImageMessage.height = image[ 1 ];
ImageMessage.step = image[ 2 ] * image[ 0 ];
ImageMessage.is_bigendian = False;
ImageMessage.encoding = 'bgr8';
ImageMessage.data = image[ 6 ];
self.__imagePublisher.publish( ImageMessage );
# Create CameraInfo message.
# Data from the calibration phase is hard coded for now.
CameraInfoMessage = CameraInfo();
CameraInfoMessage.header.stamp.secs = image[ 5 ];
CameraInfoMessage.width = image[ 0 ];
CameraInfoMessage.height = image[ 1 ];
CameraInfoMessage.D = [ -0.0769218451517258, 0.16183180613612602, 0.0011626049774280595, 0.0018733894100460534, 0.0 ];
CameraInfoMessage.K = [ 581.090096189648, 0.0, 341.0926325830606, 0.0, 583.0323248080421, 241.02441593704128, 0.0, 0.0, 1.0 ];
CameraInfoMessage.R = [ 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ];
CameraInfoMessage.P = [ 580.5918359588198, 0.0, 340.76398441334106, 0.0, 0.0, 582.4042541534321, 241.04182225157172, 0.0, 0.0, 0.0, 1.0, 0.0] ;
CameraInfoMessage.distortion_model = 'plumb_bob';
#CameraInfoMessage.roi.x_offset = self.__ROIXOffset;
#CameraInfoMessage.roi.y_offset = self.__ROIYOffset;
#CameraInfoMessage.roi.width = self.__ROIWidth;
#CameraInfoMessage.roi.height = self.__ROIHeight;
#CameraInfoMessage.roi.do_rectify = self.__ROIDoRectify;
self.__cameraInfoPublisher.publish( CameraInfoMessage );
def publish(self, event):
if self.imgmsg is None:
return
now = rospy.Time.now()
# setup ros message and publish
with self.lock:
self.imgmsg.header.stamp = now
self.imgmsg.header.frame_id = self.frame_id
self.pub.publish(self.imgmsg)
if self.publish_info:
info = CameraInfo()
info.header.stamp = now
info.header.frame_id = self.frame_id
info.width = self.imgmsg.width
info.height = self.imgmsg.height
if self.fovx is not None and self.fovy is not None:
fx = self.imgmsg.width / 2.0 / \
np.tan(np.deg2rad(self.fovx / 2.0))
fy = self.imgmsg.height / 2.0 / \
np.tan(np.deg2rad(self.fovy / 2.0))
cx = self.imgmsg.width / 2.0
cy = self.imgmsg.height / 2.0
info.K = np.array([fx, 0, cx,
0, fy, cy,
0, 0, 1.0])
info.P = np.array([fx, 0, cx, 0,
0, fy, cy, 0,
0, 0, 1, 0])
info.R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
self.pub_info.publish(info)
def load_camera_info(self):
'''Load camera intrinsics'''
filename = (sys.path[0] + "/calibrations/camera_intrinsic/" +
self.robot_name + ".yaml")
if not os.path.isfile(filename):
logger.warn(
"no intrinsic calibration parameters for {}, trying default".
format(self.robot_name))
filename = (sys.path[0] +
"/calibrations/camera_intrinsic/default.yaml")
if not os.path.isfile(filename):
logger.error("can't find default either, something's wrong")
calib_data = yaml_load_file(filename)
# logger.info(yaml_dump(calib_data))
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = np.array(calib_data['camera_matrix']['data']).reshape(
(3, 3))
cam_info.D = np.array(
calib_data['distortion_coefficients']['data']).reshape((1, 5))
cam_info.R = np.array(
calib_data['rectification_matrix']['data']).reshape((3, 3))
cam_info.P = np.array(calib_data['projection_matrix']['data']).reshape(
(3, 4))
cam_info.distortion_model = calib_data['distortion_model']
logger.info(
"Loaded camera calibration parameters for {} from {}".format(
self.robot_name, os.path.basename(filename)))
return cam_info
def load_camera_info_3(robot):
# Load camera information
filename = (os.environ['DUCKIEFLEET_ROOT'] +
"/calibrations/camera_intrinsic/" + robot + ".yaml")
if not os.path.isfile(filename):
dtu.logger.warn(
"no intrinsic calibration parameters for {}, trying default".
format(robot))
filename = (os.environ['DUCKIEFLEET_ROOT'] +
"/calibrations/camera_intrinsic/default.yaml")
if not os.path.isfile(filename):
dtu.logger.error("can't find default either, something's wrong")
calib_data = dtu.yaml_wrap.yaml_load_file(filename)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
dtu.logger.info(
"Loaded camera calibration parameters for {} from {}".format(
robot, os.path.basename(filename)))
return cam_info
def rosmsg(self):
""":obj:`sensor_msgs.CamerInfo` : Returns ROS CamerInfo msg
"""
msg_header = Header()
msg_header.frame_id = self._frame
msg_roi = RegionOfInterest()
msg_roi.x_offset = 0
msg_roi.y_offset = 0
msg_roi.height = 0
msg_roi.width = 0
msg_roi.do_rectify = 0
msg = CameraInfo()
msg.header = msg_header
msg.height = self._height
msg.width = self._width
msg.distortion_model = 'plumb_bob'
msg.D = [0.0, 0.0, 0.0, 0.0, 0.0]
msg.K = [
self._fx, 0.0, self._cx, 0.0, self._fy, self._cy, 0.0, 0.0, 1.0
]
msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
msg.P = [
self._fx, 0.0, self._cx, 0.0, 0.0, self._fx, self._cy, 0.0, 0.0,
0.0, 1.0, 0.0
]
msg.binning_x = 0
msg.binning_y = 0
msg.roi = msg_roi
return msg
def callback(data):
print(rospy.get_name(), "I heard %s" % str(data.data))
img_raveled = data.data[0:-2]
img_size = data.data[-2:].astype(int)
img = np.float32(np.reshape(img_raveled, (img_size[0], img_size[1])))
#img = np.float32((np.reshape(data.data, (DEPTH_IMG_WIDTH, DEPTH_IMG_HEIGHT))))
h = std_msgs.msg.Header()
h.stamp = rospy.Time.now()
image_message = CvBridge().cv2_to_imgmsg(img, encoding="passthrough")
image_message.header = h
pub.publish(image_message)
camera_info_msg = CameraInfo()
camera_info_msg.header = h
fx, fy = DEPTH_IMG_WIDTH / 2, DEPTH_IMG_HEIGHT / 2
cx, cy = DEPTH_IMG_WIDTH / 2, DEPTH_IMG_HEIGHT / 2
camera_info_msg.width = DEPTH_IMG_WIDTH
camera_info_msg.height = DEPTH_IMG_HEIGHT
camera_info_msg.distortion_model = "plumb_bob"
camera_info_msg.K = np.float32([fx, 0, cx, 0, fy, cy, 0, 0, 1])
camera_info_msg.D = np.float32([0, 0, 0, 0, 0])
camera_info_msg.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1, 0]
camera_info_pub.publish(camera_info_msg)
def __init__(self):
rospy.init_node('image_converter', anonymous=True)
self.filtered_face_locations = rospy.get_param('camera_topic')
self.image_pub = rospy.Publisher(self.filtered_face_locations,Image)
self.image_info = rospy.Publisher('camera_info',CameraInfo)
self.bridge = CvBridge()
cap = cv2.VideoCapture('/home/icog-labs/Videos/video.mp4')
print cap.get(5)
path = rospkg.RosPack().get_path("robots_config")
path = path + "/robot/camera.yaml"
stream = file(path, 'r')
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
while (not rospy.is_shutdown()) and (cap.isOpened()):
self.keystroke = cv2.waitKey(1000 / 30)
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# cv2.imshow('frame', gray)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(gray, "mono8"))
self.image_info.publish(cam_info)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def camera_info(self):
msg_header = Header()
msg_header.frame_id = "f450/robot_camera_down"
msg_roi = RegionOfInterest()
msg_roi.x_offset = 0
msg_roi.y_offset = 0
msg_roi.height = 0
msg_roi.width = 0
msg_roi.do_rectify = 0
msg = CameraInfo()
msg.header = msg_header
msg.height = 480
msg.width = 640
msg.distortion_model = 'plumb_bob'
msg.D = [0.0, 0.0, 0.0, 0.0, 0.0]
msg.K = [1.0, 0.0, 320.5, 0.0, 1.0, 240.5, 0.0, 0.0, 1.0]
msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
msg.P = [
1.0, 0.0, 320.5, -0.0, 0.0, 1.0, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0
]
msg.binning_x = 0
msg.binning_y = 0
msg.roi = msg_roi
return msg
def run():
rospy.init_node('publish_constant', anonymous=True)
pub = rospy.Publisher(args.topic, CameraInfo, queue_size=10)
rate = rospy.Rate(30)
filename = args.camera_info
with open(filename, 'r') as f:
camera_data = yaml.load(f)
camera_info = CameraInfo()
camera_info.height = camera_data['height']
camera_info.width = camera_data['width']
camera_info.K = camera_data['K']
camera_info.D = camera_data['D']
camera_info.R = camera_data['R']
camera_info.P = camera_data['P']
camera_info.distortion_model = camera_data['distortion_model']
camera_info.header.frame_id = args.frame
# Setting this to zero means 'take the newest camera pose if TF'.
camera_info.header.stamp = rospy.Time(0)
while not rospy.is_shutdown():
pub.publish(camera_info)
rate.sleep()
def default(self, ci="unused"):
if not self.component_instance.capturing:
return # press [Space] key to enable capturing
image_local = self.data["image"]
image = Image()
image.header = self.get_ros_header()
image.header.frame_id += "/base_image"
image.height = self.component_instance.image_height
image.width = self.component_instance.image_width
image.encoding = "rgba8"
image.step = image.width * 4
# VideoTexture.ImageRender implements the buffer interface
image.data = bytes(image_local)
# fill this 3 parameters to get correcty image with stereo camera
Tx = 0
Ty = 0
R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
intrinsic = self.data["intrinsic_matrix"]
camera_info = CameraInfo()
camera_info.header = image.header
camera_info.height = image.height
camera_info.width = image.width
camera_info.distortion_model = "plumb_bob"
camera_info.K = [
intrinsic[0][0],
intrinsic[0][1],
intrinsic[0][2],
intrinsic[1][0],
intrinsic[1][1],
intrinsic[1][2],
intrinsic[2][0],
intrinsic[2][1],
intrinsic[2][2],
]
camera_info.R = R
camera_info.P = [
intrinsic[0][0],
intrinsic[0][1],
intrinsic[0][2],
Tx,
intrinsic[1][0],
intrinsic[1][1],
intrinsic[1][2],
Ty,
intrinsic[2][0],
intrinsic[2][1],
intrinsic[2][2],
0,
]
self.publish(image)
self.topic_camera_info.publish(camera_info)
def fill_camera_info(calib):
ci = CameraInfo()
ci.width = int(calib['image_width'])
ci.height = int(calib['image_height'])
ci.distortion_model = calib['distortion_model']
ci.D = calib['distortion_coefficients']['data']
ci.K = calib['camera_matrix']['data']
ci.R = calib['rectification_matrix']['data']
ci.P = calib['projection_matrix']['data']
return ci
def callback(msg):
info = CameraInfo()
info.header = msg.header
info.height = data['image_height']
info.width = data['image_width']
info.distortion_model = data['distortion_model']
info.D = data['distortion_coefficients']['data']
info.K = data['camera_matrix']['data']
info.P = data['projection_matrix']['data']
info.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
info_pub.publish(info)
def yaml_to_camera_info(yaml_data):
camera_info = CameraInfo()
camera_info.header.frame_id = yaml_data['camera_name']
camera_info.D = yaml_data['distortion_coefficients']['data']
camera_info.K = yaml_data['camera_matrix']['data']
camera_info.P = yaml_data['projection_matrix']['data']
camera_info.R = yaml_data['rectification_matrix']['data']
camera_info.distortion_model = yaml_data['distortion_model']
camera_info.height = yaml_data['image_height']
camera_info.width = yaml_data['image_width']
return camera_info
def write_camera(self, folder, topic, frame, ext):
print(' Writing camera: ' + topic)
records = self.read_csv(self.path + self.name + '/' + folder + '/' +
'timestamps.txt')
bridge = cv_bridge.CvBridge()
seq = 0
for row in tqdm(records):
filename = row[0] + ext
timestamp = row[1]
image_path = self.path + self.name + '/' + folder + '/' + filename
img = cv2.imread(image_path)
encoding = "bgr8"
image_message = bridge.cv2_to_imgmsg(img, encoding=encoding)
image_message.header.frame_id = frame
image_message.header.stamp = self.timestamp_to_stamp(timestamp)
image_message.header.seq = seq
seq += 1
self.bag.write(topic + '/camera',
image_message,
t=image_message.header.stamp)
camera_info = CameraInfo()
camera_info.header = image_message.header
camera_info.height = img.shape[0]
camera_info.width = img.shape[1]
camera_info.distortion_model = "plumb_bob"
camera_info.D = [
-0.15402600433198144, 0.08558850995478451,
0.002075813671243975, 0.0006580423624898167,
-0.016293022125192957
]
camera_info.K = [
1376.8981317210023, 0.0, 957.4934213691823, 0.0,
1378.3903002987945, 606.5795886217022, 0.0, 0.0, 1.0
]
camera_info.R = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
camera_info.P = [
1376.8981317210023, 0.0, 957.4934213691823, 0.0, 0.0,
1378.3903002987945, 606.5795886217022, 0.0, 0.0, 0.0, 1.0, 0.0
]
camera_info.binning_x = 1
camera_info.binning_y = 1
self.bag.write(topic + '/camera_info',
image_message,
t=image_message.header.stamp)
def parse_yaml(filename):
stream = file(filename, 'r')
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
return cam_info
def yaml_to_camera_info(self, yaml_file):
with open(yaml_file, "r") as f:
calib_data = yaml.load(f)
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
return camera_info_msg
def createMsg(self): msg = CameraInfo() msg.height = 480 msg.width = 640 msg.distortion_model = "plumb_bob" msg.D = [0.08199114285264993, -0.04549390835713936, -0.00040960290587863145, 0.0009833748346549968, 0.0] msg.K = [723.5609128875188, 0.0, 315.9845354772031, 0.0, 732.2615109685506, 242.26660681756633,\ 0.0, 0.0, 1.0] msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] msg.P = [737.1736450195312, 0.0, 316.0324931112791, 0.0, 0.0, 746.1573486328125, 241.59042622688867,\ 0.0, 0.0, 0.0, 1.0, 0.0] self.msg = msg
def parse_yaml(self, filename):
stream = file(filename, "r")
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data["image_width"]
cam_info.height = calib_data["image_height"]
cam_info.K = calib_data["camera_matrix"]["data"]
cam_info.D = calib_data["distortion_coefficients"]["data"]
cam_info.R = calib_data["rectification_matrix"]["data"]
cam_info.P = calib_data["projection_matrix"]["data"]
cam_info.distortion_model = calib_data["distortion_model"]
return cam_info
def load_cam_info(calib_file):
cam_info = CameraInfo()
with open(calib_file,'r') as cam_calib_file :
cam_calib = yaml.load(cam_calib_file)
cam_info.height = cam_calib['image_height']
cam_info.width = cam_calib['image_width']
cam_info.K = cam_calib['camera_matrix']['data']
cam_info.D = cam_calib['distortion_coefficients']['data']
cam_info.R = cam_calib['rectification_matrix']['data']
cam_info.P = cam_calib['projection_matrix']['data']
cam_info.distortion_model = cam_calib['distortion_model']
return cam_info
def yaml_to_CameraInfo(yaml_fname):
with open(yaml_fname, "r") as file_handle:
calib_data = yaml.load(file_handle)
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
return camera_info_msg
def get_cam_info(self, cam_name):
cam_name = "calibrations/" + cam_name + ".yaml"
stream = file(os.path.join(os.path.dirname(__file__), cam_name), 'r')
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
return cam_info
def toCameraInfo(self):
msg = CameraInfo()
(msg.width, msg.height) = self.size
if self.D.size > 5:
msg.distortion_model = "rational_polynomial"
else:
msg.distortion_model = "plumb_bob"
msg.D = numpy.ravel(self.D).copy().tolist()
msg.K = numpy.ravel(self.K).copy().tolist()
msg.R = numpy.ravel(self.R).copy().tolist()
msg.P = numpy.ravel(self.P).copy().tolist()
return msg
def GetCameraInfo(width, height):
cam_info = CameraInfo()
cam_info.width = width
cam_info.height = height
cam_info.distortion_model = model
#cam_info.D = [0.0]*5
#cam_info.K = [0.0]*9
#cam_info.R = [0.0]*9
#cam_info.P = [0.0]*12
cam_info.D = D
cam_info.K = K
cam_info.R = R
cam_info.P = P
cam_info.binning_x = 0
cam_info.binning_y = 0
return cam_info
def pickle_to_info(info_pickle):
info = CameraInfo()
info.header.stamp = rospy.Time()
info.header.seq = info_pickle.header.seq
info.header.frame_id = info_pickle.header.frame_id
info.roi.x_offset = info_pickle.roi.x_offset
info.roi.y_offset = info_pickle.roi.y_offset
info.roi.height = info_pickle.roi.height
info.roi.width = info_pickle.roi.width
info.height = info_pickle.height
info.width = info_pickle.width
info.D = info_pickle.D
info.K = info_pickle.K
info.R = info_pickle.R
info.P = info_pickle.P
return info
def default(self, ci='unused'):
if not self.component_instance.capturing:
return # press [Space] key to enable capturing
image_local = self.data['image']
image = Image()
image.header = self.get_ros_header()
image.height = self.component_instance.image_height
image.width = self.component_instance.image_width
image.encoding = self.encoding
image.step = image.width * 4
# VideoTexture.ImageRender implements the buffer interface
image.data = bytes(image_local)
# fill this 3 parameters to get correcty image with stereo camera
Tx = 0
Ty = 0
R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
intrinsic = self.data['intrinsic_matrix']
camera_info = CameraInfo()
camera_info.header = image.header
camera_info.height = image.height
camera_info.width = image.width
camera_info.distortion_model = 'plumb_bob'
camera_info.D = [0]
camera_info.K = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2],
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2],
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2]]
camera_info.R = R
camera_info.P = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2], Tx,
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2], Ty,
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2], 0]
if self.pub_tf:
self.publish_with_robot_transform(image)
else:
self.publish(image)
self.topic_camera_info.publish(camera_info)
def parse_yaml(filename):
stream = file(filename, 'r')
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
cam_info.binning_x = calib_data['binning_x']
cam_info.binning_y = calib_data['binning_y']
cam_info.roi.x_offset = calib_data['roi']['x_offset']
cam_info.roi.y_offset = calib_data['roi']['y_offset']
cam_info.roi.height = calib_data['roi']['height']
cam_info.roi.width = calib_data['roi']['width']
cam_info.roi.do_rectify = calib_data['roi']['do_rectify']
return cam_info
def parse_yaml(filename):
stream = file(filename, "r")
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data["image_width"]
cam_info.height = calib_data["image_height"]
cam_info.K = calib_data["camera_matrix"]["data"]
cam_info.D = calib_data["distortion_coefficients"]["data"]
cam_info.R = calib_data["rectification_matrix"]["data"]
cam_info.P = calib_data["projection_matrix"]["data"]
cam_info.distortion_model = calib_data["distortion_model"]
cam_info.binning_x = calib_data["binning_x"]
cam_info.binning_y = calib_data["binning_y"]
cam_info.roi.x_offset = calib_data["roi"]["x_offset"]
cam_info.roi.y_offset = calib_data["roi"]["y_offset"]
cam_info.roi.height = calib_data["roi"]["height"]
cam_info.roi.width = calib_data["roi"]["width"]
cam_info.roi.do_rectify = calib_data["roi"]["do_rectify"]
return cam_info
def fetch_image(self, cam):
cam.simulate()
if not cam.pixels:
return None, None
cv_img = cv.CreateImageHeader((cam.width , cam.height), cv.IPL_DEPTH_8U, 3)
cv.SetData(cv_img, cam.pixels, cam.width*3)
cv.ConvertImage(cv_img, cv_img, cv.CV_CVTIMG_FLIP)
im = self.bridge.cv_to_imgmsg(cv_img, "rgb8")
caminfo = CameraInfo()
caminfo.header = im.header
caminfo.height = cam.height
caminfo.width = cam.width
caminfo.D = 5*[0.]
caminfo.K = sum([list(r) for r in cam.K],[])
caminfo.P = sum([list(r) for r in cam.P],[])
caminfo.R = sum([list(r) for r in cam.R],[])
return im, caminfo
def build_camera_info(self):
"""
computing camera info
camera info doesn't change over time
"""
camera_info = CameraInfo()
camera_info.header.frame_id = self.name
camera_info.width = self.carla_object.ImageSizeX
camera_info.height = self.carla_object.ImageSizeY
camera_info.distortion_model = 'plumb_bob'
cx = self.carla_object.ImageSizeX / 2.0
cy = self.carla_object.ImageSizeY / 2.0
fx = self.carla_object.ImageSizeX / (
2.0 * math.tan(self.carla_object.FOV * math.pi / 360.0))
fy = fx
camera_info.K = [fx, 0, cx, 0, fy, cy, 0, 0, 1]
camera_info.D = [0, 0, 0, 0, 0]
camera_info.R = [1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0]
camera_info.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1.0, 0]
self._camera_info = camera_info
def get_camera_info(hard_coded=True):
if hard_coded:
cx = 319.5
cy = 239.5
fx = 525.5
fy = 525.5
return (cx, cy, fx, fy)
#if we are using a different camera, then
#we can listen to the ros camera info topic for that device
#and get our values here.
else:
import image_geometry
from sensor_msgs.msg import CameraInfo
cam_info = CameraInfo()
cam_info.height = 480
cam_info.width = 640
cam_info.distortion_model = "plumb_bob"
cam_info.D = [0.0, 0.0, 0.0, 0.0, 0.0]
cam_info.K = [525.0, 0.0, 319.5, 0.0, 525.0, 239.5, 0.0, 0.0, 1.0]
cam_info.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
cam_info.P = [525.0, 0.0, 319.5, 0.0, 0.0, 525.0, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]
cam_info.binning_x = 0
cam_info.binning_y = 0
cam_info.roi.x_offset = 0
cam_info.roi.y_offset = 0
cam_info.roi.height = 0
cam_info.roi.width = 0
cam_info.roi.do_rectify = False
camera_model = image_geometry.PinholeCameraModel()
camera_model.fromCameraInfo(cam_info)
return camera_model.cx(), camera_model.cy(), camera_model.fx(), camera_model.fy()
def loadCalibrationFile(filename, cname):
""" Load calibration data from a file.
This function returns a `sensor_msgs/CameraInfo`_ message, based
on the filename parameter. An empty or non-existent file is *not*
considered an error; a null CameraInfo being provided in that
case.
:param filename: location of CameraInfo to read
:param cname: Camera name.
:returns: `sensor_msgs/CameraInfo`_ message containing calibration,
if file readable; null calibration message otherwise.
:raises: :exc:`IOError` if an existing calibration file is unreadable.
"""
ci = CameraInfo()
try:
f = open(filename)
calib = yaml.load(f)
if calib is not None:
if calib['camera_name'] != cname:
rospy.logwarn("[" + cname + "] does not match name " +
calib['camera_name'] + " in file " + filename)
# fill in CameraInfo fields
ci.width = calib['image_width']
ci.height = calib['image_height']
ci.distortion_model = calib['distortion_model']
ci.D = calib['distortion_coefficients']['data']
ci.K = calib['camera_matrix']['data']
ci.R = calib['rectification_matrix']['data']
ci.P = calib['projection_matrix']['data']
except IOError: # OK if file did not exist
pass
return ci
def get_camera_info(self, camera_name, img_name='depth'):
camera_info = CameraInfo()
file_url = ''
try :
file_url = rospy.get_param(camera_name+'/driver/'+img_name+'_camera_info_url').replace('file://','')
except Exception,e: print e
if not os.path.exists(file_url):
print 'ERROR: Could not read '+ camera_name+ ' '+img_name +'_camera_info'
print ' Calibrate the sensor and try again !'
exit(0)
return
print 'Loading camera '+img_name +'_camera_info for '+camera_name+' at:',file_url
with open(file_url, 'r') as f:
calib = yaml.safe_load(f.read())
camera_info.K = np.matrix(calib["camera_matrix"]["data"])
camera_info.D = np.array(calib["distortion_coefficients"]["data"])
camera_info.R = np.matrix(calib["rectification_matrix"]["data"])
camera_info.P = np.matrix(calib["projection_matrix"]["data"])
camera_info.height = calib["image_height"]
camera_info.width = calib["image_width"]
print camera_info
return camera_info
def step(self):
t = rospy.Time.now()
_, _, oldwidth, oldheight = glGetFloatv(GL_VIEWPORT)
height = min(oldheight, int(oldwidth / self.aspect + .5))
width = int(self.aspect * height + .5)
glViewport(0, 0, width, height)
msg = CameraInfo()
msg.header.stamp = t
msg.header.frame_id = '/' + self.name
msg.height = height
msg.width = width
f = 1/math.tan(math.radians(self.fovy)/2)*height/2
msg.P = [
f, 0, width/2-.5, 0,
0, f, height/2-.5, 0,
0, 0, 1, 0,
]
self.info_pub.publish(msg)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
perspective(self.fovy, width/height, 0.1)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# rotates into the FLU coordinate system
glMultMatrixf([
[ 0., 0.,-1., 0.],
[-1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 0., 1.]
])
# after that, +x is forward, +y is left, and +z is up
self.set_pose_func()
with GLMatrix:
rotate_to_body(self.base_link_body)
glcamera_from_body = glGetFloatv(GL_MODELVIEW_MATRIX).T
camera_from_body = numpy.array([ # camera from glcamera
[1, 0, 0, 0],
[0,-1, 0, 0],
[0, 0,-1, 0],
[0, 0, 0, 1],
]).dot(glcamera_from_body)
body_from_camera = numpy.linalg.inv(camera_from_body)
tf_br.sendTransform(transformations.translation_from_matrix(body_from_camera),
transformations.quaternion_from_matrix(body_from_camera),
t,
"/" + self.name,
"/base_link")
if not self.image_pub.get_num_connections():
glViewport(0, 0, oldwidth, oldheight)
return
self.world.draw()
x = glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, outputType=None)
x = numpy.reshape(x, (height, width, 4))
x = x[::-1]
msg = Image()
msg.header.stamp = t
msg.header.frame_id = '/' + self.name
msg.height = height
msg.width = width
msg.encoding = 'rgba8'
msg.is_bigendian = 0
msg.step = width * 4
msg.data = x.tostring()
self.image_pub.publish(msg)
glViewport(0, 0, oldwidth, oldheight)
with open(file_cfg) as f:
lines = f.readlines()
parser = lambda label: map(float, [line for line in lines \
if line.startswith(label)][0].strip().split('(')[1].split(')')[0].split(','))
i = parser('CAMERA%s_INTRINSIC:'%camera)
d = parser('CAMERA%s_DISTORTION:'%camera)
# TODO
intrinsic = [[0]*3]*3
# http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html
# http://wiki.ros.org/image_pipeline/CameraInfo
camera_info = CameraInfo()
camera_info.distortion_model = 'plumb_bob'
# fill this 3 parameters to get correcty image with stereo camera
Tx = 0
Ty = 0
R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
camera_info.D = [0]
camera_info.K = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2],
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2],
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2]]
camera_info.R = R
camera_info.P = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2], Tx,
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2], Ty,
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2], 0]
with open(file_yml, 'w') as f:
f.write(str(camera_info))
def run(self):
img = Image()
r = rospy.Rate(self.config['frame_rate'])
while self.is_looping():
if self.pub_img_.get_num_connections() == 0:
if self.nameId:
rospy.loginfo('Unsubscribing from camera as nobody listens to the topics.')
self.camProxy.unsubscribe(self.nameId)
self.nameId = None
r.sleep()
continue
if self.nameId is None:
self.reconfigure(self.config, 0)
r.sleep()
continue
image = self.camProxy.getImageRemote(self.nameId)
if image is None:
continue
# Deal with the image
if self.config['use_ros_time']:
img.header.stamp = rospy.Time.now()
else:
img.header.stamp = rospy.Time(image[4] + image[5]*1e-6)
img.header.frame_id = self.frame_id
img.height = image[1]
img.width = image[0]
nbLayers = image[2]
if image[3] == kYUVColorSpace:
encoding = "mono8"
elif image[3] == kRGBColorSpace:
encoding = "rgb8"
elif image[3] == kBGRColorSpace:
encoding = "bgr8"
elif image[3] == kYUV422ColorSpace:
encoding = "yuv422" # this works only in ROS groovy and later
elif image[3] == kDepthColorSpace:
encoding = "mono16"
else:
rospy.logerr("Received unknown encoding: {0}".format(image[3]))
img.encoding = encoding
img.step = img.width * nbLayers
img.data = image[6]
self.pub_img_.publish(img)
# deal with the camera info
if self.config['source'] == kDepthCamera and image[3] == kDepthColorSpace:
infomsg = CameraInfo()
# yes, this is only for an XTion / Kinect but that's the only thing supported by NAO
ratio_x = float(640)/float(img.width)
ratio_y = float(480)/float(img.height)
infomsg.width = img.width
infomsg.height = img.height
# [ 525., 0., 3.1950000000000000e+02, 0., 525., 2.3950000000000000e+02, 0., 0., 1. ]
infomsg.K = [ 525, 0, 3.1950000000000000e+02,
0, 525, 2.3950000000000000e+02,
0, 0, 1 ]
infomsg.P = [ 525, 0, 3.1950000000000000e+02, 0,
0, 525, 2.3950000000000000e+02, 0,
0, 0, 1, 0 ]
for i in range(3):
infomsg.K[i] = infomsg.K[i] / ratio_x
infomsg.K[3+i] = infomsg.K[3+i] / ratio_y
infomsg.P[i] = infomsg.P[i] / ratio_x
infomsg.P[4+i] = infomsg.P[4+i] / ratio_y
infomsg.D = []
infomsg.binning_x = 0
infomsg.binning_y = 0
infomsg.distortion_model = ""
infomsg.header = img.header
self.pub_info_.publish(infomsg)
elif self.config['camera_info_url'] in self.camera_infos:
infomsg = self.camera_infos[self.config['camera_info_url']]
infomsg.header = img.header
self.pub_info_.publish(infomsg)
r.sleep()
if (self.nameId):
rospy.loginfo("unsubscribing from camera ")
self.camProxy.unsubscribe(self.nameId)
def main_loop(self):
img = Image()
cimg = Image()
r = rospy.Rate(15)
while not rospy.is_shutdown():
if self.pub_img_.get_num_connections() == 0:
r.sleep()
continue
image = self.camProxy.getImageRemote(self.nameId)
if image is None:
continue
# Deal with the image
'''
#Images received from NAO have
if self.config['use_ros_time']:
img.header.stamp = rospy.Time.now()
else:
img.header.stamp = rospy.Time(image[4] + image[5]*1e-6)
'''
img.header.stamp = rospy.Time.now()
img.header.frame_id = self.frame_id
img.height = image[1]
img.width = image[0]
nbLayers = image[2]
if image[3] == kDepthColorSpace:
encoding = "mono16"
else:
rospy.logerr("Received unknown encoding: {0}".format(image[3]))
img.encoding = encoding
img.step = img.width * nbLayers
img.data = image[6]
self.pub_img_.publish(img)
# deal with the camera info
infomsg = CameraInfo()
infomsg.header = img.header
# yes, this is only for an XTion / Kinect but that's the only thing supported by NAO
ratio_x = float(640)/float(img.width)
ratio_y = float(480)/float(img.height)
infomsg.width = img.width
infomsg.height = img.height
# [ 525., 0., 3.1950000000000000e+02, 0., 525., 2.3950000000000000e+02, 0., 0., 1. ]
infomsg.K = [ 525, 0, 3.1950000000000000e+02,
0, 525, 2.3950000000000000e+02,
0, 0, 1 ]
infomsg.P = [ 525, 0, 3.1950000000000000e+02, 0,
0, 525, 2.3950000000000000e+02, 0,
0, 0, 1, 0 ]
for i in range(3):
infomsg.K[i] = infomsg.K[i] / ratio_x
infomsg.K[3+i] = infomsg.K[3+i] / ratio_y
infomsg.P[i] = infomsg.P[i] / ratio_x
infomsg.P[4+i] = infomsg.P[4+i] / ratio_y
infomsg.D = []
infomsg.binning_x = 0
infomsg.binning_y = 0
infomsg.distortion_model = ""
self.pub_info_.publish(infomsg)
#Currently we only get depth image from the 3D camera of NAO, so we make up a fake color image (a black image)
#and publish it under image_color topic.
#This should be update when the color image from 3D camera becomes available.
colorimg = np.zeros((img.height,img.width,3), np.uint8)
try:
cimg = self.bridge.cv2_to_imgmsg(colorimg, "bgr8")
cimg.header.stamp = img.header.stamp
cimg.header.frame_id = img.header.frame_id
self.pub_cimg_.publish(cimg)
except CvBridgeError, e:
print e
r.sleep()
from sensor_msgs.msg import CameraInfo, PointCloud2
if __name__ == "__main__":
rospy.init_node("laser_camera_fov_sample")
pub_info = rospy.Publisher("~info", CameraInfo)
pub_cloud = rospy.Publisher("~cloud", PointCloud2)
rate = rospy.Rate(1)
while not rospy.is_shutdown():
info = CameraInfo()
info.header.stamp = rospy.Time.now()
info.header.frame_id = "origin"
info.height = 544
info.width = 1024
info.D = [-0.20831339061260223, 0.11341656744480133,
-0.00035378438769839704, -1.746419547998812e-05,
0.013720948249101639, 0.0, 0.0, 0.0]
info.K = [598.6097412109375, 0.0, 515.5960693359375,
0.0, 600.0813598632812, 255.42999267578125,
0.0, 0.0, 1.0]
info.R = [0.999993085861206, 0.0022128731943666935, -0.0029819998890161514,
-0.0022144035901874304, 0.9999974370002747, -0.0005100672133266926,
0.002980863442644477, 0.0005166670307517052, 0.9999954104423523]
info.P = [575.3445434570312, 0.0, 519.5, 0.0,
0.0, 575.3445434570312, 259.5, 0.0,
0.0, 0.0, 1.0, 0.0]
pub_info.publish(info)
cloud = PointCloud2()
cloud.header.frame_id = "origin"
pub_cloud.publish(cloud)
rate.sleep()
def default(self, ci='unused'):
""" Publish the data of the Camera as a ROS Image message. """
if not self.component_instance.capturing:
return # press [Space] key to enable capturing
image_local = self.data['image']
image = Image()
image.header = self.get_ros_header()
image.header.frame_id += '/base_image'
image.height = self.component_instance.image_height
image.width = self.component_instance.image_width
image.encoding = 'rgba8'
image.step = image.width * 4
# VideoTexture.ImageRender implements the buffer interface
image.data = bytes(image_local)
# sensor_msgs/CameraInfo [ http://ros.org/wiki/rviz/DisplayTypes/Camera ]
# fill this 3 parameters to get correcty image with stereo camera
Tx = 0
Ty = 0
R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
intrinsic = self.data['intrinsic_matrix']
camera_info = CameraInfo()
camera_info.header = image.header
camera_info.height = image.height
camera_info.width = image.width
camera_info.distortion_model = 'plumb_bob'
camera_info.K = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2],
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2],
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2]]
camera_info.R = R
camera_info.P = [intrinsic[0][0], intrinsic[0][1], intrinsic[0][2], Tx,
intrinsic[1][0], intrinsic[1][1], intrinsic[1][2], Ty,
intrinsic[2][0], intrinsic[2][1], intrinsic[2][2], 0]
self.publish(image)
self.topic_camera_info.publish(camera_info)
