Lane detection hough

CMakeLists.txt

@@ -4,19 +4,41 @@ project(drive_ros_image_recognition)
 #SET(CMAKE_BUILD_TYPE Release)
 SET(CMAKE_BUILD_TYPE Debug)
 
+# enable to compile with OpenCV window displays
+#add_definitions(-DDRAW_DEBUG)
+# enable to compile with publishers of internally processed images
+add_definitions(-DPUBLISH_DEBUG)
+# enable to use World2Cam homography
+#add_definitions(-DUSE_WORLD2CAM_HOMOGRAPHY)
+# enable publishing of detected points (for rviz display)
+#add_definitions(-DPUBLISH_WORLD_POINTS)
+
 add_definitions(-std=c++11)
 
 find_package(catkin REQUIRED COMPONENTS
     cv_bridge
     image_transport
+    image_geometry
     roscpp
     sensor_msgs
     std_msgs
-    )
+    drive_ros_msgs
+    dynamic_reconfigure
+    geometry_msgs
+    nodelet
+    tf
+)
+
+#include Boost for lane line processing
+find_package(Boost REQUIRED)
+
+generate_dynamic_reconfigure_options(
+  cfg/LineDetection.cfg
+)
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
+  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs drive_ros_msgs
 )
 
 find_package(OpenCV REQUIRED)
@@ -25,67 +47,69 @@ include_directories(
     include
     ${catkin_INCLUDE_DIRS}
     ${OpenCV_INCLUDE_DIRS}
-    )
+    ${Boost_INCLUDE_DIRS}
+)
 
 ################################################################################
-# Line recognition node
+# Warp image node
 ################################################################################
-add_executable(line_recognition_node
-    src/line_recognition_node.cpp
-    src/line_recognition.cpp
-    src/edge_point.cpp
-#    src/line_point.cpp
+add_executable(warp_image_node
+    src/warp_image_node.cpp
+    src/warp_image.cpp
     )
 
-add_dependencies(line_recognition_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(warp_image_node ${drive_ros_msgs_generate_messages_cpp} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-target_link_libraries(line_recognition_node
+target_link_libraries(warp_image_node
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
     )
 
-install(TARGETS line_recognition_node
+install(TARGETS warp_image_node
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
 
 ################################################################################
-# Warp image node
+# Warp image nodelet
 ################################################################################
-add_executable(warp_image_node
-    src/warp_image_node.cpp
+add_library(warp_image_nodelet
     src/warp_image.cpp
     )
 
-add_dependencies(warp_image_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(warp_image_nodelet ${drive_ros_msgs_generate_messages_cpp} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-target_link_libraries(warp_image_node
+target_link_libraries(warp_image_nodelet
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
     )
 
-install(TARGETS warp_image_node
+install(TARGETS warp_image_nodelet
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
 
 ################################################################################
-# Image publisher node
+# Line detection node
 ################################################################################
-add_executable(image_publisher_node
-    src/image_publisher_node.cpp
+
+add_executable(line_detection_node
+    src/line_detection.cpp
+    src/line_detection_node.cpp
+    src/road_model.cpp
     )
 
-add_dependencies(image_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(line_detection_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-target_link_libraries(image_publisher_node
+target_link_libraries(line_detection_node
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
+    ${Boost_LIBRARIES}
     )
 
-install(TARGETS image_publisher_node
+install(TARGETS line_detection_node
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -94,19 +118,22 @@ install(TARGETS image_publisher_node
 ################################################################################
 # Install other files
 ################################################################################
+install(FILES nodelets.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    )
+
 install(DIRECTORY include/${PROJECT_NAME}/
     DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
     FILES_MATCHING PATTERN "*.h"
     PATTERN ".svn" EXCLUDE
     )
 
 install(DIRECTORY launch/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
     FILES_MATCHING PATTERN "*.launch"
     )
 
 install(DIRECTORY config/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
     FILES_MATCHING PATTERN "*.yaml"
     )
-

README.md

@@ -1,2 +1,9 @@
 # drive_ros_image_recognition
 image recognition (lanes, crossings, start lines, ....)
+
+For using the line detection, we need
+* a camera image (from ximea camera or a rosbag)
+* the homography. Therefore you can use `drive_ros_ximea_importer/launch/homography_publischer_only.launch`.
+
+Now start `drive_ros_image_recognition/launch/line_recognition.launch`.
+For `drive_ros_image_recognition/launch/warp_image.launch` you have to do the same two steps from above.

cfg/LineDetection.cfg

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+PACKAGE = "drive_ros_image_recognition"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("lineWidth",         double_t, 0, "Line width [m]",           0.45, 0.1, 1.0)
+gen.add("lineVar",           double_t, 0, "Line search corridor [m]", 0.1, 0.01, 0.20)
+gen.add("lineAngle",         double_t, 0, "Max line angle (rad)",     0.7, 0.1, 3.1)
+gen.add("maxSenseRange",     double_t, 0, "Max view range for lines", 2.0, 0.5, 5.0)
+gen.add("cannyThreshold",    int_t,    0, "cannyThreshold",    30, 10, 500)
+gen.add("houghThreshold",    int_t,    0, "houghThreshold",    20, 5,  100)
+gen.add("houghMinLineLen",   int_t,    0, "houghMinLineLen",   5, 1,  100)
+gen.add("houghMaxLineGap",   int_t,    0, "houghMaxLineGap",   3, 0,  300)
+gen.add("segmentLength",   	 double_t, 0, "Classification segment length", 0.2, 0.1, 1.0)
+gen.add("ransacIterations",  int_t,    0, "Max number of Ransac iterations", 200, 50, 1000)
+gen.add("trajectory_dist",   double_t, 0, "Distance we want the trajectory point to be", 0.3, 0.1, 1.0)
+gen.add("target_velocity",   double_t, 0, "The velocity for our trajectory", 0.01, 0.00, 10.0)
+
+exit(gen.generate(PACKAGE, "drive_ros_image_recognition", "LineDetection"))
+

config/homography.yaml

@@ -0,0 +1,2 @@
+world_size: [3.0, 3.0]
+image_size: [800, 800]