removed build of monoxcal, added dynamic reconfigure to grid finder, …

…fixed issues with opencv3 ros-industrial#89

industrial_extrinsic_cal/CMakeLists.txt

@@ -19,6 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_srvs
   tf
   tf_conversions
+  dynamic_reconfigure
 )
 
 find_package(Boost REQUIRED)
@@ -29,6 +30,9 @@ message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}")
 find_package(OpenCV REQUIRED)
 message("-- Found OpenCV version ${OpenCV_VERSION}: ${OpenCV_INCLUDE_DIRS}")
 
+
+
+
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(yaml_cpp REQUIRED yaml-cpp)
 if(NOT ${yaml_cpp_VERSION} VERSION_LESS "0.5")
@@ -83,6 +87,10 @@ generate_messages(
     std_msgs
 )
 
+generate_dynamic_reconfigure_options(
+  cfg/circle_grid_finder.cfg
+)
+
 
 catkin_package(
   LIBRARIES
@@ -142,7 +150,8 @@ add_library(
   src/target.cpp
   src/targets_yaml_parser.cpp
 )
-add_dependencies(industrial_extrinsic_cal ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(industrial_extrinsic_cal ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
+
 target_link_libraries(
   industrial_extrinsic_cal
 
@@ -156,7 +165,6 @@ target_link_libraries(
 # targets: other nodes
 add_executable(camera_observer_scene_trigger    src/nodes/camera_observer_scene_trigger.cpp)
 add_executable(manual_calt_adjust               src/nodes/manual_calt_adjuster.cpp)
-add_executable(mono_ex_cal                      src/nodes/mono_ex_cal.cpp)
 add_executable(mutable_joint_state_publisher    src/nodes/mutable_joint_state_publisher.cpp)
 add_executable(nist_analysis                    src/nodes/nist_analysis.cpp)
 add_executable(ros_robot_trigger_action_service src/nodes/ros_robot_scene_trigger_action_server.cpp)
@@ -171,7 +179,6 @@ add_dependencies(trigger_service                  ${catkin_EXPORTED_TARGETS} ${i
 
 target_link_libraries(camera_observer_scene_trigger industrial_extrinsic_cal ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY} ${CERES_LIBRARIES})
 target_link_libraries(manual_calt_adjust industrial_extrinsic_cal ${catkin_LIBRARIES})
-target_link_libraries(mono_ex_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES})
 target_link_libraries(mutable_joint_state_publisher ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY})
 target_link_libraries(nist_analysis industrial_extrinsic_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES})
 target_link_libraries(ros_robot_trigger_action_service ${catkin_LIBRARIES})
@@ -185,7 +192,6 @@ install(
     camera_observer_scene_trigger
     industrial_extrinsic_cal
     manual_calt_adjust
-    mono_ex_cal
     mutable_joint_state_publisher
     nist_analysis
     ros_robot_trigger_action_service

industrial_extrinsic_cal/cfg/circle_grid_finder.cfg

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+PACKAGE = "industrial_extrinsic_cal"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+
+gen.add("filter_by_area",        bool_t,   0, "filter blobs by their area", True)
+gen.add("filter_by_circularity", bool_t,   0, "filter blobs by their circularity", False)
+gen.add("min_area",              int_t,    0, "Minimum area of a blob", 1, 25, 5000)
+gen.add("max_area",              int_t,    0, "Maximum area of a blob", 1, 5000, 10000)
+gen.add("min_circularity",       double_t, 0, "The min aspect ratio necessary to be a circlular blob", .1, .8, 3.402823e38)
+gen.add("max_circularity",       double_t, 0, "The max aspect ratio necessary to be a circlular blob", .1, 3.402823e38, 3.402823e38)
+gen.add("min_threshold",         int_t,    0, "The contrast minimum threshold to be a blob", 1, 50, 1000)
+gen.add("max_threshold",         int_t,    0, "The contrast maximum threshold to be a blob", 1, 500, 1000)
+gen.add("min_distance",          double_t, 0, "The min distance between blobs", 1.0, 5.0, 500)
+
+exit(gen.generate(PACKAGE, "industrial_extrinsic_cal_node", "circle_grid_finder"))

industrial_extrinsic_cal/include/industrial_extrinsic_cal/circle_detector.hpp

@@ -86,23 +86,9 @@ class CV_EXPORTS_W CircleDetector : public FeatureDetector
       void write( FileStorage& fs ) const;
   };
 
-  CV_WRAP CircleDetector(const CircleDetector::Params &parameters = CircleDetector::Params());
+  CV_WRAP static Ptr<CircleDetector>
+    create(const CircleDetector::Params &parameters = CircleDetector::Params());
 
-  virtual void read( const FileNode& fn );
-  virtual void write( FileStorage& fs ) const;
-
-protected:
-  struct CV_EXPORTS Center
-  {
-      Point2d location;
-      double radius;
-      double confidence;
-  };
-
-  virtual void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
-  virtual void findCircles(const Mat &image, const Mat &binaryImage, vector<Center> &centers) const;
-
-  Params params;
 };
 }
 #endif

industrial_extrinsic_cal/include/industrial_extrinsic_cal/ros_camera_observer.h

@@ -22,6 +22,8 @@
 #include <industrial_extrinsic_cal/camera_observer.hpp>
 #include <industrial_extrinsic_cal/basic_types.h>
 #include <industrial_extrinsic_cal/ceres_costs_utils.h> 
+#include <dynamic_reconfigure/server.h>
+#include <industrial_extrinsic_cal/circle_grid_finderConfig.h>
 
 #include <iostream>
 #include <sstream>
@@ -41,7 +43,7 @@
 #include <sensor_msgs/CameraInfo.h>
 #include <sensor_msgs/SetCameraInfo.h>
 #include <geometry_msgs/PointStamped.h>
-
+#include <industrial_extrinsic_cal/circle_detector.hpp>
 
 /**
  *  @brief enumerator containing three options for the type of pattern to detect
@@ -208,7 +210,12 @@ namespace industrial_extrinsic_cal
     /**
      *  @brief circle_detector_ptr_ is a custom blob detector which localizes circles better than simple blob detection
      */
-    cv::Ptr<cv::FeatureDetector> circle_detector_ptr_;
+    cv::Ptr<cv::CircleDetector>  circle_detector_ptr_;
+
+    /**
+     *  @brief blob_detector_ptr_ is a simple blob detector
+     */
+    cv::Ptr<cv::FeatureDetector> blob_detector_ptr_;
 
     /**
      *  @brief new_image_collected, set after the trigger is done
@@ -291,15 +298,23 @@ namespace industrial_extrinsic_cal
     bool  pullCameraInfo(double &fx, double &fy,	 double &cx,  double &cy,  double &k1,	 double &k2, double &k3,  double &p1,	 double &p2,
                          int &width, int &height);
 
+    void dynReConfCallBack(industrial_extrinsic_cal::circle_grid_finderConfig &config, uint32_t level);
+
   private:
+
     int image_number_; /**< a counter of images recieved */
     cv::Mat last_raw_image_; /**< the image last received */
     bool use_circle_detector_;
     bool white_blobs_;
     ros::ServiceClient client_;    
     sensor_msgs::SetCameraInfo srv_;
+    ros::NodeHandle *rnh_;
+    dynamic_reconfigure::Server<industrial_extrinsic_cal::circle_grid_finderConfig> *server_;
+
   };
 
+
 } //end industrial_extrinsic_cal namespace
 
+
 #endif /* ROS_CAMERA_OBSERVER_H_ */

industrial_extrinsic_cal/src/camera_yaml_parser.cpp

@@ -107,7 +107,7 @@ namespace industrial_extrinsic_cal {
       else{
 	temp_camera->pullTransform();
       }
-      temp_camera->camera_observer_ = boost::make_shared<ROSCameraObserver>(temp_topic);
+      temp_camera->camera_observer_ = boost::make_shared<ROSCameraObserver>(temp_topic, temp_name);
     }
     catch (YAML::ParserException& e){
       ROS_INFO_STREAM("Failed to read in moving cameras from yaml file ");

industrial_extrinsic_cal/src/ceres_blocks.cpp

@@ -453,6 +453,9 @@ bool CeresBlocks::writeAllStaticTransforms(string filePath)
       return false;
     }//end if writing to file
   outputFile << "<launch>\n";
+  outputFile << "# this file might be empty\n";
+  outputFile << "# It might contain static transform publishers that were updated through calibration\n";
+  outputFile << "# Often, transform interfaces use some other mechanism to update themselves\n";
   outputFile.close();
 
   bool rtn = true;