diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt index 6b74b41a4..64d69538b 100644 --- a/image_proc/CMakeLists.txt +++ b/image_proc/CMakeLists.txt @@ -86,27 +86,10 @@ rclcpp_components_register_node(crop_non_zero EXECUTABLE crop_non_zero_node ) -# image_proc example node -ament_auto_add_executable(image_proc_exe - src/image_proc.cpp -) -target_link_libraries(image_proc_exe - debayer - rectify - ament_index_cpp::ament_index_cpp -) -set_target_properties(image_proc_exe PROPERTIES OUTPUT_NAME image_proc) - if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") target_link_libraries(image_proc "stdc++fs") endif() -install(TARGETS image_proc_exe - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() diff --git a/image_proc/doc/changes.rst b/image_proc/doc/changes.rst new file mode 100644 index 000000000..264172a21 --- /dev/null +++ b/image_proc/doc/changes.rst @@ -0,0 +1,12 @@ +Changelog Notes +=============== + +Jazzy Jalisco +------------- +There are several major change between ``Iron`` and ``Jazzy``: + + * All components now properly support ``image_transport`` parameter. + * All components now properly support remapping the ``camera_info`` topic + for an associated ``image`` topic. For instance, if you remap ``image`` + to ``my/image`` then ``my/camera_info`` will be used. Previously you + would have to manually remap the ``camera_info`` topic. diff --git a/image_proc/doc/components.rst b/image_proc/doc/components.rst new file mode 100644 index 000000000..8e8bab9d4 --- /dev/null +++ b/image_proc/doc/components.rst @@ -0,0 +1,152 @@ +Nodes and Components +==================== + +This package includes a number of ROS 2 components that can be assembled +into image processing pipelines. +See the tutorial :ref:`Launch image_proc Components`. + +Alternatively, each component can be run as a standalone node. + +image_proc::CropDecimateNode +---------------------------- +Applies decimation (software binning) and ROI to a raw camera image +post-capture. Remap camera and camera_out to the desired input/output +camera namespaces. Also available as a standalone node with the name +``crop_decimate_node``. + +Subscribed Topics +^^^^^^^^^^^^^^^^^ + * **in/image_raw** (sensor_msgs/Image): Raw image stream from the camera driver. + * **in/camera_info** (sensor_msgs/CameraInfo): Camera metadata. + +Published Topics +^^^^^^^^^^^^^^^^ + * **out/image_raw** (sensor_msgs/Image): Cropped and decimated "raw" image. + * **out/camera_info** (sensor_msgs/CameraInfo): Camera metadata, with binning and + ROI fields adjusted to match output raw image. + +Parameters +^^^^^^^^^^ + * **decimation_x** (int, default: 1): Number of pixels to decimate to one + horizontally. Range: 1 to 16 + * **decimation_y** (int, default: 1): Number of pixels to decimate to one + vertically. Range: 1 to 16 + * **image_transport** (string, default: raw): Image transport to use. + * **interpolation** (int, default: 0): Sampling algorithm. Possible values are: + + * NN (0): Nearest-neighbor sampling + * Linear (1): Bilinear interpolation + * Cubic (2): Bicubic interpolation over 4x4 neighborhood + * Area (3): Resampling using pixel area relation + * Lanczos4 (4): Lanczos interpolation over 8x8 neighborhood + * **queue_size** (int, default: 5): Size of message queue for synchronizing + image and camera_info topics. You may need to raise this if images take + significantly longer to travel over the network than camera info. + * **x_offset** (int, default: 0): X offset of the region of interest. Range: 0 to 2447 + * **y_offset** (int, default: 0): Y offset of the region of interest. Range: 0 to 2049 + * **width** (int, default: 0): Width of the region of interest. Range: 0 to 2448 + * **height** (int, default: 0): Height of the region of interest. Range: 0 to 2050 + +image_proc::CropNonZeroNode +--------------------------- +Takes a monochrome image and crops the largest non zero area. Can be used +on depth images. Also available as a standalone node with the name +``crop_non_zero_node``. + +Subscribed Topics +^^^^^^^^^^^^^^^^^ + * **image_raw** (sensor_msgs/Image): Monochrome or depth image. + +Published Topics +^^^^^^^^^^^^^^^^ + * **image** (sensor_msgs/Image): Cropped image. + +Parameters +^^^^^^^^^^ + * **image_transport** (string, default: raw): Image transport to use. + +image_proc::DebayerNode +----------------------- +Takes a raw camera stream and publishes monochrome and color versions +of it. If the raw images are Bayer pattern, it debayers using bilinear +interpolation. Also available as a standalone node with the name +``debayer_node``. + +Subscribed Topics +^^^^^^^^^^^^^^^^^ + * **image_raw** (sensor_msgs/Image): Raw image stream from the camera driver. + +Published Topics +^^^^^^^^^^^^^^^^ + * **image_mono** (sensor_msgs/Image): Monochrome image. + * **image_color** (sensor_msgs/Image): Color unrectified image. + +Parameters +^^^^^^^^^^ + * **debayer** (int, default: 3): Debayering algorithm. Possible values are: + + * Bilinear (0): Fast algorithm using bilinear interpolation + * EdgeAware (1): Edge-aware algorithm + * EdgeAwareWeighted (2): Weighted edge-aware algorithm + * VNG (3): Slow but high quality Variable Number of Gradients algorithm + * **image_transport** (string, default: raw): Image transport to use. + +image_proc::RectifyNode +----------------------- +Takes an unrectified image stream and its associated calibration parameters, +and produces rectified images. Also available as a standalone node with the +name ``recify_node``. + +Subscribed Topics +^^^^^^^^^^^^^^^^^ + * **image** (sensor_msgs/Image): Unrectified image stream. + * **camera_info** (sensor_msgs/CameraInfo): Camera metadata. + +Published Topics +^^^^^^^^^^^^^^^^ + * **image_rect** (sensor_msgs/Image): Rectified image. + +Parameters +^^^^^^^^^^ + * **queue_size** (int, default: 5): Size of message queue for synchronizing + ``image`` and ``camera_info`` topics. You may need to raise this if images + take significantly longer to travel over the network than camera info. + * **image_transport** (string, default: raw): Image transport to use. + * **interpolation** (int, default: 1): Interpolation algorithm between source + image pixels. Possible values are: + + * NN (0): Nearest neighbor + * Linear (1): Linear + * Cubic (2): Cubic + * Lanczos4 (4): Lanczos4 + +image_proc::ResizeNode +---------------------- +Takes image and/or camera info and resize them. Also available as +standalone node with the name ``resize_node``. + +Subscribed Topics +^^^^^^^^^^^^^^^^^ + * **image/image_raw** (sensor_msgs/Image): Arbitrary image. + * **image/camera_info** (sensor_msgs/CameraInfo): Camera parameters. + +Published Topics +^^^^^^^^^^^^^^^^ + * **resized/image_raw** (sensor_msgs/Image): Resized image. + * **resized/camera_info** (sensor_msgs/CameraInfo): Resized camera info. + +Parameters +^^^^^^^^^^ + * **image_transport** (string, default: raw): Image transport to use. + * **interpolation** (int, default: 0): Sampling algorithm. Possible values are: + + * NN (0): Nearest-neighbor sampling + * Linear (1): Bilinear interpolation + * Cubic (2): Bicubic interpolation over 4x4 neighborhood + * Area (3): Resampling using pixel area relation + * Lanczos4 (4): Lanczos interpolation over 8x8 neighborhood + * **use_scale** (bool, default: True): Use scale parameters, or absolute height/width. + * **scale_height** (float, default: 1.0): Height scaling of image. + * **scale_width** (float, default: 1.0): Width scaling of image. + * **height** (float): Absolute height of resized image, if ``use_scale`` is false. + * **width** (float): Absolute width of resized image, if ``use_scale`` is false. diff --git a/image_proc/doc/conf.py b/image_proc/doc/conf.py new file mode 100644 index 000000000..4f96a4868 --- /dev/null +++ b/image_proc/doc/conf.py @@ -0,0 +1,194 @@ +# Copyright 2024 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# -*- coding: utf-8 -*- +# +# Configuration file for the Sphinx documentation builder. +# +# This file does only contain a selection of the most common options. For a +# full list see the documentation: +# http://www.sphinx-doc.org/en/master/config + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +import os +import sys +sys.path.insert(0, os.path.abspath('.')) + + +# -- Project information ----------------------------------------------------- + +project = 'image_proc' +copyright = '2008-2024, Open Source Robotics Foundation, Inc.' # noqa +author = 'Open Source Robotics Foundation, Inc.' + +# The short X.Y version +version = '' +# The full version, including alpha/beta/rc tags +release = '3.2.1' + + +# -- General configuration --------------------------------------------------- + +# If your documentation needs a minimal Sphinx version, state it here. +# +# needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.autosummary', + 'sphinx.ext.doctest', + 'sphinx.ext.coverage', + 'sphinx_rtd_theme', +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The master toctree document. +master_doc = 'index' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = [] + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = None + + +# -- Options for HTML output ------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +html_theme = 'sphinx_rtd_theme' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +# +# html_theme_options = {} + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = [] + +# Custom sidebar templates, must be a dictionary that maps document names +# to template names. +# +# The default sidebars (for documents that don't match any pattern) are +# defined by theme itself. Builtin themes are using these templates by +# default: ``['localtoc.html', 'relations.html', 'sourcelink.html', +# 'searchbox.html']``. +# +# html_sidebars = {} + + +# -- Options for HTMLHelp output --------------------------------------------- + +# Output file base name for HTML help builder. +htmlhelp_basename = 'image_proc_doc' + + +# -- Options for LaTeX output ------------------------------------------------ + +latex_elements = { + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', +} + + +# -- Options for manual page output ------------------------------------------ + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'image_proc', 'image_proc Documentation', + [author], 1) +] + + +# -- Options for Texinfo output ---------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'image_proc', 'image_proc Documentation', + author, 'image_proc', 'ROS 2 components for image processing.', + 'Miscellaneous'), +] + + +# -- Options for Epub output ------------------------------------------------- + +# Bibliographic Dublin Core info. +epub_title = project + +# The unique identifier of the text. This can be a ISBN number +# or the project homepage. +# +# epub_identifier = '' + +# A unique identification for the text. +# +# epub_uid = '' + +# A list of files that should not be packed into the epub file. +epub_exclude_files = ['search.html'] + + +# -- Extension configuration ------------------------------------------------- + +autoclass_content = 'both' + +autodoc_default_options = { + 'members': True, # document members + 'undoc-members': True, # also document members without documentation +} diff --git a/image_proc/doc/index.rst b/image_proc/doc/index.rst new file mode 100644 index 000000000..77507e340 --- /dev/null +++ b/image_proc/doc/index.rst @@ -0,0 +1,18 @@ +image_proc +========== + +This package contains a number of ROS 2 components and nodes for image processing. + +.. toctree:: + :maxdepth: 2 + + components + tutorials + changes + image_proc + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`search` diff --git a/image_proc/doc/tutorials.rst b/image_proc/doc/tutorials.rst new file mode 100644 index 000000000..fdef1e00f --- /dev/null +++ b/image_proc/doc/tutorials.rst @@ -0,0 +1,93 @@ +Tutorials +========= + +.. _Launch image_proc Components: + +Launching image_proc Components +------------------------------- +While each of the components is available as a ROS 2 node, the +recommended way to build pipelines is using the components as +this will save overhead by not having to serialize messages +between components. + +The example below creates two composable nodes: + * ``rectify_node`` subscribes to ``image_raw``, rectifies the + image and publishes it at ``image_rect``. + * ``crop_decimage_node`` subscribes to the rectified + ``image_rect``, decimates it to half the size and publishes + the ``image_downsized``. + +.. code-block:: python + + from launch import LaunchDescription + from launch_ros.actions import ComposableNodeContainer + from launch_ros.descriptions import ComposableNode + + def generate_launch_description(): + + composable_nodes = [ + ComposableNode( + package='image_proc', + plugin='image_proc::RectifyNode', + name='rectify_node', + remappings=[ + ('image', 'image_raw'), + ('image_rect', 'image_rect') + ], + ), + ComposableNode( + package='image_proc', + plugin='image_proc::CropDecimateNode', + name='crop_decimate_node', + remappings=[ + ('in/image_raw', 'image_rect'), + ('out/image_raw', 'image_downsized') + ], + parameters={ + 'decimation_x': 2, + 'decimation_y': 2, + } + ) + ] + + container = ComposableNodeContainer( + name='image_proc_container', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=composable_nodes, + ) + + return LaunchDescription([container]) + +Using image_proc Launch File +---------------------------- +Make sure your camera driver is running. To see the available raw +image topics from compatible drivers you can check: + +```bash +$ ros2 topic list | grep image_raw +``` + +Normally the raw image from the camera driver is not what you want +for visual processing, but rather an undistorted and (if necessary) +debayered image. This is the job of ``image_proc``. If you are +running on a robot, it's probably best to run ``image_proc`` there. +For example, if the driver is publishing topics ``/my_camera/image_raw`` +and ``/my_camera/camera_info`` you would do: + +```bash +$ ros2 launch image_proc image_proc.launch.py namespace:=my_camera +``` + +Notice that we push our ``image_proc`` launch file down into the +``/my_camera`` namespace, in which it subscribes to the ``image_raw`` +and ``camera_info`` topics. All output topics are likewise published +within the ``/my_camera`` namespace. + +In a separate terminal (on your home machine, if you are running on a robot): + +```bash +$ ros2 run image_view image_view --ros-args -r image:=my_camera/image_rect_color +``` + +This will display an undistorted color image from ``my_camera``. diff --git a/image_proc/launch/image_proc.launch.py b/image_proc/launch/image_proc.launch.py index 42626f01a..312de6cc1 100644 --- a/image_proc/launch/image_proc.launch.py +++ b/image_proc/launch/image_proc.launch.py @@ -62,7 +62,6 @@ def generate_launch_description(): # Remap subscribers and publishers remappings=[ ('image', 'image_mono'), - ('camera_info', 'camera_info'), ('image_rect', 'image_rect') ], ), diff --git a/image_proc/mainpage.dox b/image_proc/mainpage.dox deleted file mode 100644 index ee611a523..000000000 --- a/image_proc/mainpage.dox +++ /dev/null @@ -1,12 +0,0 @@ -/** -@mainpage -@htmlinclude manifest.html - -@b image_proc provides a node for performing single image rectification and -color processing on the raw images produced by a camera. The outputs of -image_proc are suitable for visual processing by other nodes. See -http://www.ros.org/wiki/image_proc for documentation. - -Currently this package has no public code API. - -*/ diff --git a/image_proc/src/image_proc.cpp b/image_proc/src/image_proc.cpp deleted file mode 100644 index 639e66ea9..000000000 --- a/image_proc/src/image_proc.cpp +++ /dev/null @@ -1,65 +0,0 @@ -// Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley -// All rights reserved. -// -// Software License Agreement (BSD License 2.0) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#include - -#include -#include -#include - -int main(int argc, char * argv[]) -{ - // Force flush of the stdout buffer. - setvbuf(stdout, NULL, _IONBF, BUFSIZ); - - rclcpp::init(argc, argv); - - rclcpp::executors::SingleThreadedExecutor exec; - const rclcpp::NodeOptions options; - - // Debayer component, image_raw -> image_mono, image_color - auto debayer_node = std::make_shared(options); - - // Rectify component, image_mono -> image_rect - auto rectify_mono_node = std::make_shared(options); - - // Rectify component, image_color -> image_rect_color - auto rectify_color_node = std::make_shared(options); - - exec.add_node(debayer_node); - exec.add_node(rectify_mono_node); - exec.add_node(rectify_color_node); - exec.spin(); - - rclcpp::shutdown(); - return 0; -}