From 53d17e91c296d08515345fea6d040892a9704a11 Mon Sep 17 00:00:00 2001 From: Shkoda Date: Tue, 3 Mar 2026 11:27:28 +0300 Subject: [PATCH 1/3] feat: test for new package image_folder_publisher --- .../image_folder_publisher/CMakeLists.txt | 206 ++++++++++ .../CMakeLists.txt:Zone.Identifier | 0 .../launch/system.launch | 33 ++ .../launch/system.launch:Zone.Identifier | 0 packages/image_folder_publisher/package.xml | 68 ++++ .../package.xml:Zone.Identifier | 0 .../scripts/__pycache__/nir.cpython-38.pyc | Bin 0 -> 8821 bytes .../nir.cpython-38.pyc:Zone.Identifier | 0 .../scripts/clear_nir.py | 55 +++ .../scripts/clear_nir.py:Zone.Identifier | 0 .../scripts/controller_node.py | 49 +++ .../controller_node.py:Zone.Identifier | 0 .../scripts/folder_image_node.py | 59 +++ .../folder_image_node.py:Zone.Identifier | 0 .../scripts/image_processing_node.py | 179 +++++++++ .../image_processing_node.py:Zone.Identifier | 0 .../scripts/image_processing_node_old.py | 85 ++++ ...age_processing_node_old.py:Zone.Identifier | 0 .../image_folder_publisher/scripts/nir.py | 378 ++++++++++++++++++ .../scripts/nir.py:Zone.Identifier | 0 20 files changed, 1112 insertions(+) create mode 100644 packages/image_folder_publisher/CMakeLists.txt create mode 100644 packages/image_folder_publisher/CMakeLists.txt:Zone.Identifier create mode 100644 packages/image_folder_publisher/launch/system.launch create mode 100644 packages/image_folder_publisher/launch/system.launch:Zone.Identifier create mode 100644 packages/image_folder_publisher/package.xml create mode 100644 packages/image_folder_publisher/package.xml:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/__pycache__/nir.cpython-38.pyc create mode 100644 packages/image_folder_publisher/scripts/__pycache__/nir.cpython-38.pyc:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/clear_nir.py create mode 100644 packages/image_folder_publisher/scripts/clear_nir.py:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/controller_node.py create mode 100644 packages/image_folder_publisher/scripts/controller_node.py:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/folder_image_node.py create mode 100644 packages/image_folder_publisher/scripts/folder_image_node.py:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/image_processing_node.py create mode 100644 packages/image_folder_publisher/scripts/image_processing_node.py:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/image_processing_node_old.py create mode 100644 packages/image_folder_publisher/scripts/image_processing_node_old.py:Zone.Identifier create mode 100644 packages/image_folder_publisher/scripts/nir.py create mode 100644 packages/image_folder_publisher/scripts/nir.py:Zone.Identifier diff --git a/packages/image_folder_publisher/CMakeLists.txt b/packages/image_folder_publisher/CMakeLists.txt new file mode 100644 index 00000000..f2a2808d --- /dev/null +++ b/packages/image_folder_publisher/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(image_folder_publisher) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES image_folder_publisher +# CATKIN_DEPENDS rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/image_folder_publisher.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/image_folder_publisher_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_image_folder_publisher.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/packages/image_folder_publisher/CMakeLists.txt:Zone.Identifier b/packages/image_folder_publisher/CMakeLists.txt:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/launch/system.launch b/packages/image_folder_publisher/launch/system.launch new file mode 100644 index 00000000..6a88e8e8 --- /dev/null +++ b/packages/image_folder_publisher/launch/system.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/packages/image_folder_publisher/launch/system.launch:Zone.Identifier b/packages/image_folder_publisher/launch/system.launch:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/package.xml b/packages/image_folder_publisher/package.xml new file mode 100644 index 00000000..0154eef6 --- /dev/null +++ b/packages/image_folder_publisher/package.xml @@ -0,0 +1,68 @@ + + + image_folder_publisher + 0.0.0 + The image_folder_publisher package + + + + + user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + sensor_msgs + std_msgs + rospy + sensor_msgs + std_msgs + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git 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b/packages/image_folder_publisher/scripts/clear_nir.py @@ -0,0 +1,55 @@ +import cv2 +import numpy as np +from enum import Enum + +class ColorLine(Enum): + YELLOW = 1 + WHITE = 2 + + +class FastLaneDetector: + def __init__(self, width, height, color: ColorLine): + self.width = width + self.height = height + self.color = color + + # ROI + self.y_top = int(height * 0.55) + self.y_bottom = int(height * 0.90) + + # HSV masks + if color == ColorLine.YELLOW: + self.lower = np.array([20, 80, 80]) + self.upper = np.array([40, 255, 255]) + else: + self.lower = np.array([0, 0, 200]) + self.upper = np.array([180, 40, 255]) + + def process(self, image): + hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) + + mask = cv2.inRange(hsv, self.lower, self.upper) + + roi = mask[self.y_top:self.y_bottom, :] + + hist = np.sum(roi, axis=0) + + if np.max(hist) < 50: + return None, 0.0 + + xs = np.arange(self.width) + center_x = np.sum(xs * hist) / np.sum(hist) + + robot_center = self.width / 2 + error = (center_x - robot_center) / robot_center + + return center_x, error + + def draw(self, image, center_x): + if center_x is None: + return image + + x = int(center_x) + cv2.line(image, (x, self.y_top), (x, self.y_bottom), (0,255,0), 2) + cv2.rectangle(image, (0, self.y_top), (self.width, self.y_bottom), (255,0,0), 2) + return image \ No newline at end of file diff --git a/packages/image_folder_publisher/scripts/clear_nir.py:Zone.Identifier b/packages/image_folder_publisher/scripts/clear_nir.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/scripts/controller_node.py b/packages/image_folder_publisher/scripts/controller_node.py new file mode 100644 index 00000000..dd71e58d --- /dev/null +++ b/packages/image_folder_publisher/scripts/controller_node.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python3 +import rospy +from geometry_msgs.msg import Twist, Vector3 +from nir import PIDController + + +class ControllerNode: + def __init__(self): + rospy.init_node("pid_controller") + + self.pid = PIDController( + kp_horizontal=0.008, + ki_horizontal=0.0001, + kd_horizontal=0.0005, + kp_angular=0.3, + ki_angular=0.0001, + kd_angular=0.05, + max_linear_velocity=0.25, + max_angular_velocity=1.5 + ) + + self.sub = rospy.Subscriber("/lane_state", Vector3, self.callback, queue_size=1) + self.pub = rospy.Publisher("/cmd_vel", Twist, queue_size=1) + + rospy.loginfo("PID controller started") + + def callback(self, msg): + horizontal_error = msg.x + angular_error = msg.y + valid = msg.z > 0.5 + + if not valid: + self.publish(0.0, 0.0) + return + + v, w = self.pid.update(horizontal_error, angular_error) + self.publish(v, w) + + def publish(self, v, w): + cmd = Twist() + cmd.linear.x = v + cmd.angular.z = w + #rospy.loginfo(f"PID controller: v={v:.2f}, w={w:.2f}") + self.pub.publish(cmd) + + +if __name__ == "__main__": + ControllerNode() + rospy.spin() diff --git a/packages/image_folder_publisher/scripts/controller_node.py:Zone.Identifier b/packages/image_folder_publisher/scripts/controller_node.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/scripts/folder_image_node.py b/packages/image_folder_publisher/scripts/folder_image_node.py new file mode 100644 index 00000000..75ea4ea6 --- /dev/null +++ b/packages/image_folder_publisher/scripts/folder_image_node.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 +import rospy +from sensor_msgs.msg import Image +import cv2 +import os + + +class FolderImagePublisher: + def __init__(self): + rospy.init_node("folder_image_publisher") + + self.folder = rospy.get_param("~folder", "/home/user/images") + self.rate = rospy.get_param("~rate", 5) + + self.pub = rospy.Publisher("/image_raw", Image, queue_size=1) + + rospy.loginfo(f"Reading images from: {self.folder}") + self.files = sorted([ + f for f in os.listdir(self.folder) + if f.lower().endswith((".jpg", ".png", ".jpeg")) + ]) + + if not self.files: + rospy.logerr("No images found in folder") + exit(1) + + self.idx = 0 + self.run() + + def run(self): + r = rospy.Rate(self.rate) + + while not rospy.is_shutdown(): + path = os.path.join(self.folder, self.files[self.idx]) + img = cv2.imread(path) + + if img is None: + rospy.logwarn(f"Failed to load {path}") + continue + + msg = self.cv_to_imgmsg(img) + self.pub.publish(msg) + + rospy.loginfo(f"Published {self.files[self.idx]}") + + self.idx = (self.idx + 1) % len(self.files) + r.sleep() + + def cv_to_imgmsg(self, img): + msg = Image() + msg.height, msg.width, _ = img.shape + msg.encoding = "bgr8" + msg.step = msg.width * 3 + msg.data = img.tobytes() + return msg + + +if __name__ == "__main__": + FolderImagePublisher() diff --git a/packages/image_folder_publisher/scripts/folder_image_node.py:Zone.Identifier b/packages/image_folder_publisher/scripts/folder_image_node.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/scripts/image_processing_node.py b/packages/image_folder_publisher/scripts/image_processing_node.py new file mode 100644 index 00000000..a82764b9 --- /dev/null +++ b/packages/image_folder_publisher/scripts/image_processing_node.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python3 +import rospy +import cv2 +import numpy as np +import math + +from sensor_msgs.msg import Image +from geometry_msgs.msg import Vector3 +from cv_bridge import CvBridge + +from nir import ColorLine, warp_bird_eye + + +class ImageLineProcessingOptimized: + def __init__(self, width, height, color: ColorLine): + self.width = width + self.height = height + self.color = color + + if color == ColorLine.yellow: + self.lower = np.array([175,165,20], np.uint8) + self.upper = np.array([250,250,150], np.uint8) + self.left, self.right = 0.0, 0.8 + else: + self.lower = np.array([160,160,160], np.uint8) + self.upper = np.array([255,255,255], np.uint8) + self.left, self.right = 0.2, 1.0 + + self._roi_mask = None + self.image = None + + def _get_roi_mask(self): + if self._roi_mask is None: + mask = np.zeros((self.height, self.width), dtype=np.uint8) + vertices = np.array([[ + (int(self.width * self.left), int(self.height * 0.8)), + (int(self.width * self.left), int(self.height * 0.1)), + (int(self.width * self.right), int(self.height * 0.1)), + (int(self.width * self.right), int(self.height * 0.8)), + ]], np.int32) + cv2.fillPoly(mask, vertices, 255) + self._roi_mask = mask + return self._roi_mask + + def region_selection(self, color_mask): + return cv2.bitwise_and(color_mask, self._get_roi_mask()) + + def detect_line(self, binary): + edges = cv2.Canny(binary, 80, 160) + + lines = cv2.HoughLinesP( + edges, 1, np.pi/180, + threshold=20, minLineLength=30, maxLineGap=10 + ) + if lines is None: + return None + + pts = [] + for l in lines: + x1,y1,x2,y2 = l[0] + if abs(x2-x1) < 5 or abs((y2-y1)/(x2-x1+1e-5)) > 0.3: + pts.append((x1,y1)) + pts.append((x2,y2)) + + if len(pts) < 6: + return None + + pts = np.array(pts, np.float32) + vx, vy, x0, y0 = cv2.fitLine( + pts, cv2.DIST_L2, 0, 0.01, 0.01 + ) + vx, vy, x0, y0 = vx[0], vy[0], x0[0], y0[0] + + y1 = int(self.height * 0.78) + y2 = int(self.height * 0.55) + x1 = int((y1 - y0) * vx / vy + x0) + x2 = int((y2 - y0) * vx / vy + x0) + + return (x1,y1,x2,y2), float(vx/vy), float(x0 - (vx/vy)*y0) + + def process(self, image): + self.image = cv2.blur(image, (3,3)) + + mask = cv2.inRange(self.image, self.lower, self.upper) + roi = self.region_selection(mask) + _, binary = cv2.threshold(roi, 120, 255, cv2.THRESH_BINARY) + + result = self.detect_line(binary) + if result is None: + return {"valid": False, "line": None, "k": None, "b": None} + + line, k, b = result + return {"valid": True, "line": line, "k": k, "b": b} + + def x_at_y(self, model, y): + if not model["valid"]: + return None + return model["k"] * y + model["b"] + + def draw(self, image, model, color=(0,255,0), thickness=2): + if not model["valid"]: + return image + x1,y1,x2,y2 = model["line"] + return cv2.line(image, (x1,y1), (x2,y2), color, thickness) + + +class ImageProcessingNode: + def __init__(self): + rospy.init_node("image_processing_node") + + self.bridge = CvBridge() + + self.sub = rospy.Subscriber("/image_raw", Image, self.callback, queue_size=1) + self.pub_debug = rospy.Publisher("/lane_debug", Image, queue_size=1) + self.pub_state = rospy.Publisher("/lane_state", Vector3, queue_size=1) + + self.yellow = None + self.white = None + + rospy.loginfo("Optimized image processing node started") + + def callback(self, msg): + img = self.bridge.imgmsg_to_cv2(msg, "bgr8") + h, w, _ = img.shape + + bird = warp_bird_eye(img) + + if self.yellow is None: + self.yellow = ImageLineProcessingOptimized(w, h, ColorLine.yellow) + self.white = ImageLineProcessingOptimized(w, h, ColorLine.white) + + center_x = w / 2 + bottom_y = int(h * 0.78) + + y_model = self.yellow.process(bird) + w_model = self.white.process(bird) + + horizontal_error = 0.0 + angular_error = 0.0 + valid = False + + if y_model["valid"] and w_model["valid"]: + yx = self.yellow.x_at_y(y_model, bottom_y) + wx = self.white.x_at_y(w_model, bottom_y) + + lane_center = (yx + wx) / 2 + horizontal_error = lane_center - center_x + + ang = (math.atan(y_model["k"]) + math.atan(w_model["k"])) / 2 + angular_error = ang + valid = True + + elif y_model["valid"]: + yx = self.yellow.x_at_y(y_model, bottom_y) + horizontal_error = yx - (center_x - 100) + angular_error = math.atan(y_model["k"]) + valid = True + + elif w_model["valid"]: + wx = self.white.x_at_y(w_model, bottom_y) + horizontal_error = wx - (center_x + 100) + angular_error = math.atan(w_model["k"]) + valid = True + + state = Vector3() + state.x = horizontal_error + state.y = angular_error + state.z = 1.0 if valid else 0.0 + self.pub_state.publish(state) + + dbg = self.yellow.draw(bird.copy(), y_model, (0,255,255)) + dbg = self.white.draw(dbg, w_model, (255,255,255)) + + self.pub_debug.publish(self.bridge.cv2_to_imgmsg(dbg, "bgr8")) + + +if __name__ == "__main__": + ImageProcessingNode() + rospy.spin() \ No newline at end of file diff --git a/packages/image_folder_publisher/scripts/image_processing_node.py:Zone.Identifier b/packages/image_folder_publisher/scripts/image_processing_node.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/scripts/image_processing_node_old.py b/packages/image_folder_publisher/scripts/image_processing_node_old.py new file mode 100644 index 00000000..ed9b64b9 --- /dev/null +++ b/packages/image_folder_publisher/scripts/image_processing_node_old.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 +import rospy +import cv2 +import numpy as np +import math + +from sensor_msgs.msg import Image +from geometry_msgs.msg import Vector3 +from cv_bridge import CvBridge + +from nir import ImageLineProcessing, ColorLine, warp_bird_eye + + +class ImageProcessingNode: + def __init__(self): + rospy.init_node("image_processing_node") + + self.bridge = CvBridge() + + self.sub = rospy.Subscriber("/image_raw", Image, self.callback, queue_size=1) + self.pub_debug = rospy.Publisher("/lane_debug", Image, queue_size=1) + self.pub_state = rospy.Publisher("/lane_state", Vector3, queue_size=1) + + rospy.loginfo("Image processing node started") + + def callback(self, msg): + img = self.bridge.imgmsg_to_cv2(msg, "bgr8") + h, w, _ = img.shape + + bird = warp_bird_eye(img) + + center_x = w / 2 + bottom_y = int(h * 0.78) + + yellow = ImageLineProcessing(bird, w, h, ColorLine.yellow) + white = ImageLineProcessing(bird, w, h, ColorLine.white) + + y_model = yellow.process() + w_model = white.process() + + horizontal_error = 0.0 + angular_error = 0.0 + valid = False + + if y_model["valid"] and w_model["valid"]: + yx = yellow.x_at_y(y_model, bottom_y) + wx = white.x_at_y(w_model, bottom_y) + + lane_center = (yx + wx) / 2 + horizontal_error = lane_center - center_x + + ang = (math.atan(y_model["k"]) + math.atan(w_model["k"])) / 2 + angular_error = ang + + valid = True + + elif y_model["valid"]: + yx = yellow.x_at_y(y_model, bottom_y) + horizontal_error = yx - (center_x - 100) + angular_error = math.atan(y_model["k"]) + valid = True + + elif w_model["valid"]: + wx = white.x_at_y(w_model, bottom_y) + horizontal_error = wx - (center_x + 100) + angular_error = math.atan(w_model["k"]) + valid = True + + state = Vector3() + state.x = horizontal_error + state.y = angular_error + state.z = 1.0 if valid else 0.0 + self.pub_state.publish(state) + + # Debug image + dbg = yellow.draw(bird.copy(), y_model, (0,255,255)) + dbg = white.draw(dbg, w_model, (255,255,255)) + + dbg_msg = self.bridge.cv2_to_imgmsg(dbg, "bgr8") + self.pub_debug.publish(dbg_msg) + + +if __name__ == "__main__": + ImageProcessingNode() + rospy.spin() diff --git a/packages/image_folder_publisher/scripts/image_processing_node_old.py:Zone.Identifier b/packages/image_folder_publisher/scripts/image_processing_node_old.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/packages/image_folder_publisher/scripts/nir.py b/packages/image_folder_publisher/scripts/nir.py new file mode 100644 index 00000000..80ba25c7 --- /dev/null +++ b/packages/image_folder_publisher/scripts/nir.py @@ -0,0 +1,378 @@ +import cv2 +import numpy as np +import enum +import math +import os +import matplotlib.pyplot as plt + +@enum.unique +class ColorLine(enum.Enum): + yellow = 2 + white = 1 + + +class ImageLineProcessing: + def __init__(self, image, width, height, color: ColorLine): + self.image = image #cv2.GaussianBlur(image, (5, 5), 0) + self.width = width + self.height = height + self.color = color + + # Цветовая маска (BGR, Duckietown) + if color == ColorLine.yellow: + lower = np.array([175, 165, 20], dtype=np.uint8) + upper = np.array([250, 250, 150], dtype=np.uint8) + else: + lower = np.array([160, 160, 160], dtype=np.uint8) + upper = np.array([255, 255, 255], dtype=np.uint8) + + self.color_mask = cv2.inRange(self.image, lower, upper) + + # -------------------------------------------------- + # ROI + # -------------------------------------------------- + def region_selection(self): + mask = np.zeros_like(self.color_mask) + + rows, cols = self.color_mask.shape[:2] + + if self.color == ColorLine.yellow: + left, right = 0.0, 0.8 + else: + left, right = 0.2, 1.0 + + vertices = np.array([[ + (cols * left, rows * 0.8), + (cols * left, rows * 0.1), + (cols * right, rows * 0.1), + (cols * right, rows * 0.8), + ]], dtype=np.int32) + + cv2.fillPoly(mask, vertices, 255) + return cv2.bitwise_and(self.color_mask, mask) + + # -------------------------------------------------- + # Детекция линии (Hough) + # -------------------------------------------------- + def detect_line(self, binary): + edges = cv2.Canny(binary, 80, 160) + + params = dict( + threshold=20, + minLineLength=30, + maxLineGap=10 + ) + + lines = cv2.HoughLinesP(edges, 1, np.pi / 180, **params) + if lines is None: + return None + + # Фильтрация почти горизонтальных линий + candidates = [] + for l in lines: + x1, y1, x2, y2 = l[0] + if abs(x2 - x1) < 5: # почти вертикальная — ок + candidates.append((x1, y1, x2, y2)) + else: + slope = abs((y2 - y1) / (x2 - x1)) + if slope > 0.3: + candidates.append((x1, y1, x2, y2)) + + if not candidates: + return None + + # Усреднение по всем сегментам + xs, ys = [], [] + for x1, y1, x2, y2 in candidates: + xs += [x1, x2] + ys += [y1, y2] + + if len(xs) < 2: + return None + + # Линейная регрессия x(y) + fit = np.polyfit(ys, xs, 1) + k, b = fit + + y_bottom = int(self.height * 0.78) + y_top = int(self.height * 0.55) + + x_bottom = int(k * y_bottom + b) + x_top = int(k * y_top + b) + + return (x_bottom, y_bottom, x_top, y_top), k, b + + # -------------------------------------------------- + # Основной метод + # -------------------------------------------------- + def process(self): + roi = self.region_selection() + _, binary = cv2.threshold(roi, 120, 255, cv2.THRESH_BINARY) + + result = self.detect_line(binary) + if result is None: + return { + "valid": False, + "line": None, + "k": None, + "b": None + } + + line, k, b = result + return { + "valid": True, + "line": line, + "k": k, + "b": b + } + + def x_at_y(self, model, y): + if not model["valid"]: + return None + return model["k"] * y + model["b"] + + def draw(self, image, model, color=(0, 255, 0), thickness=2): + if not model["valid"]: + return image + x1, y1, x2, y2 = model["line"] + return cv2.line(image.copy(), (x1, y1), (x2, y2), color, thickness) + + +def get_bird_eye_transform(): + CAMERA_FOV_Y = 75.0 # градусы + CAMERA_ANGLE = 19.15 * math.pi / 180.0 # радианы + CAMERA_FLOOR_DIST = 0.108 # м + + DEFAULT_CAMERA_WIDTH = 640 + DEFAULT_CAMERA_HEIGHT = 480 + + w = DEFAULT_CAMERA_WIDTH + h = DEFAULT_CAMERA_HEIGHT + + # Вертикальное и горизонтальное поле зрения + fov_y = math.radians(CAMERA_FOV_Y) + fov_x = 2 * math.atan(math.tan(fov_y / 2) * (w / h)) + + # Фокальные расстояния в пикселях + fx = w / (2 * math.tan(fov_x / 2)) + fy = h / (2 * math.tan(fov_y / 2)) + + # Центр проекции + cx, cy = w / 2, h / 2 + + # 4 точки в нижней части изображения (трапеция дороги) + img_pts = np.float32([ + [w*0.2, h*0.9], # левый низ + [w*0.8, h*0.9], # правый низ + [w*0.45, h*0.6], # левый верх + [w*0.55, h*0.6] # правый верх + ]) + + def img_to_ground(u, v): + # нормализованные координаты + x_cam = (u - cx) / fx + y_cam = (v - cy) / fy + + # направляющий вектор луча в системе камеры + ray = np.array([x_cam, 1.0, y_cam]) # (x, forward, y) + + # поворот камеры вниз + R = np.array([ + [1, 0, 0], + [0, math.cos(-CAMERA_ANGLE), -math.sin(-CAMERA_ANGLE)], + [0, math.sin(-CAMERA_ANGLE), math.cos(-CAMERA_ANGLE)] + ]) + ray = R @ ray + + # пересечение с плоскостью z=0 + t = CAMERA_FLOOR_DIST / (-ray[2]) + X = ray[0]*t + Y = ray[1]*t + return [X, Y] + + world_pts = np.float32([img_to_ground(u, v) for (u, v) in img_pts]) + + minx, miny = np.min(world_pts, axis=0) + maxx, maxy = np.max(world_pts, axis=0) + + world_norm = (world_pts - [minx, miny]) / ([maxx-minx, maxy-miny]) + world_norm[:,0] *= w + world_norm[:,1] *= h + + M = cv2.getPerspectiveTransform(img_pts, world_norm) + return M + +DEFAULT_CAMERA_WIDTH = 640 +DEFAULT_CAMERA_HEIGHT = 480 +PI = 3.1415926 + +alpha = (13 - 90) * PI / 180 +beta = (89 - 90) * PI / 180 +gamma = (95 - 90) * PI / 180 +focalLength = 653 #cv2.getTrackbarPos("f", "Result") +dist = 666 #cv2.getTrackbarPos("Distance", "Result") + +image_size = (DEFAULT_CAMERA_WIDTH, DEFAULT_CAMERA_HEIGHT) +w, h = image_size + +A1 = np.array([[1, 0, -w / 2], + [0, 1, -h / 2], + [0, 0, 0], + [0, 0, 1]], dtype=np.float32) + +RX = np.array([[1, 0, 0, 0], + [0, math.cos(alpha), -math.sin(alpha), 0], + [0, math.sin(alpha), math.cos(alpha), 0], + [0, 0, 0, 1]], dtype=np.float32) + +RY = np.array([[math.cos(beta), 0, -math.sin(beta), 0], + [0, 1, 0, 0], + [math.sin(beta), 0, math.cos(beta), 0], + [0, 0, 0, 1]], dtype=np.float32) + +RZ = np.array([[math.cos(gamma), -math.sin(gamma), 0, 0], + [math.sin(gamma), math.cos(gamma), 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1]], dtype=np.float32) + +R = np.dot(np.dot(RX, RY), RZ) + +T = np.array([[1, 0, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, dist], + [0, 0, 0, 1]], dtype=np.float32) + +K = np.array([[focalLength, 0, w / 2, 0], + [0, focalLength, h / 2, 0], + [0, 0, 1, 0]], dtype=np.float32) + +transformationMat = np.dot(np.dot(np.dot(K, T), R), A1) + +def warp_bird_eye(image): + destination = cv2.warpPerspective(image, transformationMat, image_size, flags=cv2.INTER_CUBIC + cv2.WARP_INVERSE_MAP) + return destination + +import time +import math + +class PIDController: + def __init__(self, + kp_horizontal, ki_horizontal, kd_horizontal, + kp_angular, ki_angular, kd_angular, + max_linear_velocity=0.5, + max_angular_velocity=2.0): + """Initializes the PID controller. + + Args: + kp_horizontal (float): Proportional gain for horizontal error. + ki_horizontal (float): Integral gain for horizontal error. + kd_horizontal (float): Derivative gain for horizontal error. + kp_angular (float): Proportional gain for angular error. + ki_angular (float): Integral gain for angular error. + kd_angular (float): Derivative gain for angular error. + max_linear_velocity (float): Maximum allowed linear velocity (e.g., m/s). + max_angular_velocity (float): Maximum allowed angular velocity (e.g., rad/s). + """ + self.kp_h = kp_horizontal + self.ki_h = ki_horizontal + self.kd_h = kd_horizontal + + self.kp_a = kp_angular + self.ki_a = ki_angular + self.kd_a = kd_angular + + self.max_linear_v = max_linear_velocity + self.max_angular_v = max_angular_velocity + + # Internal state for horizontal error PID + self.prev_error_h = 0.0 + self.integral_h = 0.0 + + # Internal state for angular error PID + self.prev_error_a = 0.0 + self.integral_a = 0.0 + + self.last_time = None + + def update(self, horizontal_error, angular_error): + """Updates the PID controller with new errors and computes control outputs. + + Args: + horizontal_error (float): The horizontal deviation from the desired path (e.g., in pixels). + Positive if lane center is to the right of the robot's center. + angular_error (float): The angular deviation from the desired heading (e.g., in radians). + Positive if the lane is slanting to the right relative to robot's heading. + + Returns: + tuple: (linear_velocity, angular_velocity) in the robot's units. + """ + current_time = time.time() + if self.last_time is None: + # First call, initialize and return base velocities + self.last_time = current_time + self.prev_error_h = horizontal_error + self.prev_error_a = angular_error + return self.max_linear_v, 0.0 + + dt = current_time - self.last_time + if dt <= 0: + # Avoid division by zero or negative time step + return self.max_linear_v, 0.0 + + # PID for Horizontal Error (influences angular velocity) + self.integral_h += horizontal_error * dt + derivative_h = (horizontal_error - self.prev_error_h) / dt + output_h = self.kp_h * horizontal_error + self.ki_h * self.integral_h + self.kd_h * derivative_h + self.prev_error_h = horizontal_error + + # PID for Angular Error (influences angular velocity) + self.integral_a += angular_error * dt + derivative_a = (angular_error - self.prev_error_a) / dt + output_a = self.kp_a * angular_error + self.ki_a * self.integral_a + self.kd_a * derivative_a + self.prev_error_a = angular_error + + # Combine outputs to determine angular velocity + # Convention: Positive angular_velocity for left turn, negative for right turn. + # - A positive horizontal_error (lane right) requires a right turn (negative omega). + # - A positive angular_error (lane slanting right) requires a right turn (negative omega). + angular_velocity = -output_h - output_a + + # Constrain angular velocity to defined limits + angular_velocity = max(-self.max_angular_v, min(self.max_angular_v, angular_velocity)) + + # Linear velocity (can be constant or reduced based on angular_velocity) + linear_velocity = self.max_linear_v + # Optional: reduce linear velocity for sharp turns + # linear_velocity = self.max_linear_v * (1 - abs(angular_velocity) / (2 * self.max_angular_v)) + # linear_velocity = max(0.0, min(self.max_linear_v, linear_velocity)) + + self.last_time = current_time + return linear_velocity, angular_velocity + +P = 1/30 +I = 1/20 +D = 1/20 +pid_controller_old = PIDController( + kp_horizontal=0.02, ki_horizontal=0.0, kd_horizontal=0.001, # Example gains for horizontal control + kp_angular=0.5, ki_angular=0.0, kd_angular=0.1, # Example gains for angular control + max_linear_velocity=0.3, # Max linear velocity in m/s (adjust for Duckietown) + max_angular_velocity=2.0 # Max angular velocity in rad/s (adjust for Duckietown) +) + +pid_controller = PIDController( + kp_horizontal=0.008, # Уменьшил пропорциональную составляющую + ki_horizontal=0.0001, # Добавил небольшую интегральную + kd_horizontal=0.0005, # Уменьшил дифференциальную + + kp_angular=0.3, # Уменьшил для более плавного управления + ki_angular=0.0001, # Добавил интегральную для устранения статической ошибки + kd_angular=0.05, # Уменьшил дифференциальную + + max_linear_velocity=0.25, # Немного уменьшил скорость + max_angular_velocity=1.5 # Уменьшил максимальную угловую скорость +) +horizontal_error = 0.0 +angular_error = 0.0 +linear_velocity = 0.0 +angular_velocity = 0.0 + diff --git a/packages/image_folder_publisher/scripts/nir.py:Zone.Identifier b/packages/image_folder_publisher/scripts/nir.py:Zone.Identifier new file mode 100644 index 00000000..e69de29b From 827247a762579d93a63c71d44bf3775e5f53d007 Mon Sep 17 00:00:00 2001 From: Shkoda Date: Tue, 3 Mar 2026 13:09:32 +0300 Subject: [PATCH 2/3] feat: camera_node --- camera_view.py | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 camera_view.py diff --git a/camera_view.py b/camera_view.py new file mode 100644 index 00000000..1fa50fcf --- /dev/null +++ b/camera_view.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 + +import os +import rospy +from duckietown.dtros import DTROS, NodeType +from sensor_msgs.msg import CompressedImage + +import cv2 +from cv_bridge import CvBridge + +class CameraReaderNode(DTROS): + + def __init__(self, node_name): + # initialize the DTROS parent class + super(CameraReaderNode, self).__init__(node_name=node_name, node_type=NodeType.VISUALIZATION) + # static parameters + self._vehicle_name = os.environ['VEHICLE_NAME'] + self._camera_topic = f"/{self._vehicle_name}/camera_node/image/compressed" + # bridge between OpenCV and ROS + self._bridge = CvBridge() + # create window + self._window = "camera-reader" + cv2.namedWindow(self._window, cv2.WINDOW_AUTOSIZE) + # construct subscriber + self.sub = rospy.Subscriber(self._camera_topic, CompressedImage, self.callback) + + def callback(self, msg): + # convert JPEG bytes to CV image + image = self._bridge.compressed_imgmsg_to_cv2(msg) + # display frame + cv2.imshow(self._window, image) + cv2.waitKey(1) + +if __name__ == '__main__': + # create the node + node = 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