深蓝学院 ROS第七章学习记录

深蓝学院 ROS第七章学习记录

摄像头参数标定

• 安装标定功能包

sudo apt-get install ros-kinetic-camera-calibration

• 启动笔记本自带摄像头
  将这个文件下载到自己的catkin_ws/src文件夹中

git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ~/catkin_ws (cd到你自己的catkin_ws地址里)
catkin_make  

直接启动节点

roslaunch usb_cam usb_cam-test.launch

此处与课件中的启动方法不同

• 接下来是摄像头的标定
  首先我们需要打印一个标定纸，大小和格子尺寸均没所谓。把其贴在一个硬纸板上
  启动标定包，启动路径任意

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.028 image:=/usb_cam/image_raw camera:=/usb_cam
size，是棋盘格内部的角点个数，注意这里一点要写对，注意是内部的个数 8x6
square：是每个棋盘格的边长 ，unit：m

然后将标定板举起，在标定viewer中就可以看到识别到了我们的标定纸，进行各轴移动及旋转。
直至四个参数均为绿色点击calibration，等待片刻。点击save，和commit保存文件yaml
至此标定结束
在home文件夹下ctrl+h打开隐藏文件，在.ros文件夹中有camera_info, yaml文件就在其中。

• Opencv与ROS

Opencv 与 ROS 之间的图像处理转换需要利用CvBridge

测试程序

roslaunch robot_vision usb_cam.launch // opencv中
rosrun robot_vision cv_bridge_test.py
rqt_image_view //ros中

此处出现了一个问题当执行第二行命令时显示无法找到当前程序，需要我们点击文件的属性，PERMISSIONS中勾选allow executing file as program

• 程序分析

#!/usr/bin/env python
# -*- coding: utf-8 -*-

//在这个程序中我们的目的是将ROS图像消息转换为Opencv图像数据
//在这里我们学习了两个新的函数
//imgmsg_to_cv2() : 将ROS图像消息转换为Opencv图像数据
//cv2_to_imgmsg() : 将Opencv格式的图像数据转化成ROS图像信息
//编写思路：当有消息传来时，将数据代入到callback函数中进行数据转化，再通过发布者发布出来.

import rospy
import cv2
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image

class image_converter:
    def __init__(self):    
        # 创建cv_bridge，声明图像的发布者和订阅者
        self.image_pub = rospy.Publisher("cv_bridge_image", Image, queue_size=1)
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image, self.callback)

    def callback(self,data):
        # 使用cv_bridge将ROS的图像数据转换成OpenCV的图像格式
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print e

        # 在opencv的显示窗口中绘制一个圆，作为标记
        (rows,cols,channels) = cv_image.shape
        if cols > 60 and rows > 60 :
            cv2.circle(cv_image, (60, 60), 30, (0,0,255), -1)

        # 显示Opencv格式的图像
        cv2.imshow("Image window", cv_image)
        cv2.waitKey(3)

        # 再将opencv格式额数据转换成ros image格式的数据发布
        try:
            self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
        except CvBridgeError as e:
            print e

if __name__ == '__main__':
    try:
        # 初始化ros节点
        rospy.init_node("cv_bridge_test")
        rospy.loginfo("Starting cv_bridge_test node")
        image_converter()
        rospy.spin()
    except KeyboardInterrupt:
        print "Shutting down cv_bridge_test node."
        cv2.destroyAllWindows()

• 人脸识别

*启动人脸识别实例
roslaunch robot_vision usb_cam.launch
roslaunch robot_vision face_detector.launch
rqt_image_view

人脸识别的流程图
基于Haar特征的级联分类器对象检测算法

程序

#!/usr/bin/env python
# -*- coding: utf-8 -*-
//该程序主要看image_callback函数中
import rospy
import cv2
import numpy as np
from sensor_msgs.msg import Image, RegionOfInterest
from cv_bridge import CvBridge, CvBridgeError

class faceDetector:
    def __init__(self):
        rospy.on_shutdown(self.cleanup);

        # 创建cv_bridge
        self.bridge = CvBridge()
        self.image_pub = rospy.Publisher("cv_bridge_image", Image, queue_size=1)

        # 获取haar特征的级联表的XML文件，文件路径在launch文件中传入
        cascade_1 = rospy.get_param("~cascade_1", "")
        cascade_2 = rospy.get_param("~cascade_2", "")

        # 使用级联表初始化haar特征检测器
        self.cascade_1 = cv2.CascadeClassifier(cascade_1)
        self.cascade_2 = cv2.CascadeClassifier(cascade_2)

        # 设置级联表的参数，优化人脸识别，可以在launch文件中重新配置
        self.haar_scaleFactor  = rospy.get_param("~haar_scaleFactor", 1.2)
        self.haar_minNeighbors = rospy.get_param("~haar_minNeighbors", 2)
        self.haar_minSize      = rospy.get_param("~haar_minSize", 40)
        self.haar_maxSize      = rospy.get_param("~haar_maxSize", 60)
        self.color = (50, 255, 50)

        # 初始化订阅rgb格式图像数据的订阅者，此处图像topic的话题名可以在launch文件中重映射
        self.image_sub = rospy.Subscriber("input_rgb_image", Image, self.image_callback, queue_size=1)

    def image_callback(self, data):
        # 使用cv_bridge将ROS的图像数据转换成OpenCV的图像格式
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")     
            frame = np.array(cv_image, dtype=np.uint8)
        except CvBridgeError, e:
            print e

        # 创建灰度图像
        grey_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

        # 创建平衡直方图，减少光线影响
        grey_image = cv2.equalizeHist(grey_image)

        # 尝试检测人脸
        faces_result = self.detect_face(grey_image)

        # 在opencv的窗口中框出所有人脸区域
        if len(faces_result)>0:
            for face in faces_result: 
                x, y, w, h = face
                cv2.rectangle(cv_image, (x, y), (x+w, y+h), self.color, 2)

        # 将识别后的图像转换成ROS消息并发布
        self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))

    def detect_face(self, input_image):
        # 首先匹配正面人脸的模型
        if self.cascade_1:
            faces = self.cascade_1.detectMultiScale(input_image, 
                    self.haar_scaleFactor, 
                    self.haar_minNeighbors, 
                    cv2.CASCADE_SCALE_IMAGE, 
                    (self.haar_minSize, self.haar_maxSize))
                                         
        # 如果正面人脸匹配失败，那么就尝试匹配侧面人脸的模型
        if len(faces) == 0 and self.cascade_2:
            faces = self.cascade_2.detectMultiScale(input_image, 
                    self.haar_scaleFactor, 
                    self.haar_minNeighbors, 
                    cv2.CASCADE_SCALE_IMAGE, 
                    (self.haar_minSize, self.haar_maxSize))
        
        return faces

    def cleanup(self):
        print "Shutting down vision node."
        cv2.destroyAllWindows()

if __name__ == '__main__':
    try:
        # 初始化ros节点
        rospy.init_node("face_detector")
        faceDetector()
        rospy.loginfo("Face detector is started..")
        rospy.loginfo("Please subscribe the ROS image.")
        rospy.spin()
    except KeyboardInterrupt:
        print "Shutting down face detector node."
        cv2.destroyAllWindows()

• 启动物体跟踪实例

roslaunch robot_vision usb_cam.launch
roslaunch robot_vision motion_detector.launch
rqt_image_view

• 本讲作业