can you generate a complete demo that compute the camera pose in the CCTag coordinate frame in ROS C++? In this demo, includes the section of configurating camera parameters from a config file (e.g. camera_info.yaml). The example can test with a camera (e.g. webcam) and the CCTag has ID no. 5.
Tell me which CCTag library version you are using
Sure, I'll provide a complete demo for computing the camera pose in the CCTag coordinate frame using ROS and C++. This demo will include reading camera parameters from a configuration file and using a webcam for testing. We'll assume you are using the CCTag library version 3.0.0.
catkin_ws/
├── src/
│ ├── camera_pose_demo/
│ │ ├── CMakeLists.txt
│ │ ├── package.xml
│ │ ├── config/
│ │ │ └── camera_info.yaml
│ │ └── src/
│ │ └── camera_pose_demo.cpp
Navigate to your src
directory in your catkin workspace and create a new package:
cd ~/catkin_ws/src
catkin_create_pkg camera_pose_demo roscpp std_msgs sensor_msgs cv_bridge image_transport
Edit the CMakeLists.txt
to include necessary dependencies:
cmake_minimum_required(VERSION 3.0.2)
project(camera_pose_demo)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
sensor_msgs
cv_bridge
image_transport
)
find_package(OpenCV REQUIRED)
catkin_package()
include_directories(
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(camera_pose_demo src/camera_pose_demo.cpp)
target_link_libraries(camera_pose_demo ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
Create a camera_info.yaml
file in the config
directory:
camera_matrix:
rows: 3
cols: 3
data: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
distortion_coefficients:
rows: 1
cols: 5
data: [k1, k2, p1, p2, k3]
Replace fx
, fy
, cx
, cy
, k1
, k2
, p1
, p2
, k3
with your camera's intrinsic parameters.
Create a camera_pose_demo.cpp
file in the src
directory:
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <opencv2/opencv.hpp>
#include <yaml-cpp/yaml.h>
#include <fstream>
#include <cctag/CCTag.hpp>
cv::Mat cameraMatrix, distCoeffs;
void loadCameraParameters(const std::string& filename) {
YAML::Node config = YAML::LoadFile(filename);
std::vector<double> camera_matrix = config["camera_matrix"]["data"].as<std::vector<double>>();
std::vector<double> distortion_coefficients = config["distortion_coefficients"]["data"].as<std::vector<double>>();
cameraMatrix = cv::Mat(3, 3, CV_64F, camera_matrix.data()).clone();
distCoeffs = cv::Mat(1, 5, CV_64F, distortion_coefficients.data()).clone();
}
void imageCallback(const sensor_msgs::ImageConstPtr& msg) {
cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::Mat image = cv_ptr->image;
// Detect CCTag
cctag::CCTag cctag;
std::vector<cctag::CCTag::Detection> detections = cctag.detect(image);
for (const auto& detection : detections) {
if (detection.id == 5) {
std::vector<cv::Point2f> imagePoints = detection.corners;
std::vector<cv::Point3f> objectPoints = {
{0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {0, 1, 0}
};
cv::Mat rvec, tvec;
cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
cv::Mat R;
cv::Rodrigues(rvec, R);
ROS_INFO_STREAM("Rotation Matrix: " << R);
ROS_INFO_STREAM("Translation Vector: " << tvec);
}
}
}
int main(int argc, char** argv) {
ros::init(argc, argv, "camera_pose_demo");
ros::NodeHandle nh;
std::string config_file;
nh.param<std::string>("config_file", config_file, "config/camera_info.yaml");
loadCameraParameters(config_file);
image_transport::ImageTransport it(nh);
image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
ros::spin();
return 0;
}
package.xml
Ensure your package.xml
includes the necessary dependencies:
<package format="2">
<name>camera_pose_demo</name>
<version>0.0.0</version>
<description>The camera_pose_demo package</description>
<maintainer email="[email protected]">user</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>OpenCV</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>cv_bridge</exec_depend>
<exec_depend>image_transport</exec_depend>
<exec_depend>OpenCV</exec_depend>
</package>
Navigate to your catkin workspace and build the package:
cd ~/catkin_ws
catkin_make
source devel/setup.bash
Launch the node with the appropriate parameters:
rosrun camera_pose_demo camera_pose_demo _config_file:=/path/to/your/camera_info.yaml
Make sure to replace /path/to/your/camera_info.yaml
with the actual path to your camera_info.yaml
file.
Ensure your webcam is publishing images to the camera/image
topic. You can use usb_cam
or any other ROS package to publish webcam images.
This demo should now detect the CCTag with ID 5 in the webcam feed and compute the camera pose relative to the CCTag coordinate frame.