yabloc_image_processing
This package contains some executable nodes related to image processing.
line_segment_detector
Purpose
This node extract all line segments from gray scale image.
| Name |
Type |
Description |
input/image_raw |
sensor_msgs::msg::Image |
undistorted image |
Output
| Name |
Type |
Description |
output/image_with_line_segments |
sensor_msgs::msg::Image |
image with line segments highlighted |
output/line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
detected line segments as point cloud. each point contains x,y,z, normal_x, normal_y, normal_z and z, and normal_z are always empty. |
graph_segmentation
Purpose
This node extract road surface region by graph-based-segmentation.
| Name |
Type |
Description |
input/image_raw |
sensor_msgs::msg::Image |
undistorted image |
Output
| Name |
Type |
Description |
output/mask_image |
sensor_msgs::msg::Image |
image with masked segments determined as road surface area |
output/segmented_image |
sensor_msgs::msg::Image |
segmented image for visualization |
Parameters
| Name |
Type |
Description |
target_height_ratio |
double |
height on the image to retrieve the candidate road surface |
target_candidate_box_width |
int |
size of the square area to search for candidate road surfaces |
pickup_additional_graph_segment |
bool |
if this is true, additional regions of similar color are retrieved |
similarity_score_threshold |
double |
threshold for picking up additional areas |
sigma |
double |
parameters for cv::ximgproc::segmentation |
k |
double |
parameters for cv::ximgproc::segmentation |
min_size |
double |
parameters for cv::ximgproc::segmentation |
segment_filter
Purpose
This is a node that integrates the results of graph_segment and lsd to extract road surface markings.
| Name |
Type |
Description |
input/line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
detected line segment |
input/mask_image |
sensor_msgs::msg::Image |
image with masked segments determined as road surface area |
input/camera_info |
sensor_msgs::msg::CameraInfo |
undistorted camera info |
Output
| Name |
Type |
Description |
output/line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
filtered line segments for visualization |
output/projected_image |
sensor_msgs::msg::Image |
projected filtered line segments for visualization |
output/projected_line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
projected filtered line segments |
Parameters
| Name |
Type |
Description |
min_segment_length |
double |
min length threshold (if it is negative, it is unlimited) |
max_segment_distance |
double |
max distance threshold (if it is negative, it is unlimited) |
max_lateral_distance |
double |
max lateral distance threshold (if it is negative, it is unlimited) |
publish_image_with_segment_for_debug |
bool |
toggle whether to publish the filtered line segment for debug |
max_range |
double |
range of debug projection visualization |
image_size |
int |
image size of debug projection visualization |
undistort
Purpose
This node performs image resizing and undistortion at the same time.
| Name |
Type |
Description |
input/camera_info |
sensor_msgs::msg::CameraInfo |
raw compressed image |
input/image_raw/compressed |
sensor_msgs::msg::CompressedImage |
raw sensor info |
Output
| Name |
Type |
Description |
output/camera_info |
sensor_msgs::msg::CameraInfo |
resized camera info |
output/image_raw |
sensor_msgs::msg::CompressedImage |
undistorted and resized image |
Parameters
| Name |
Type |
Description |
use_sensor_qos |
bool |
where to use sensor qos or not |
width |
int |
resized image width size |
override_frame_id |
string |
value for overriding the camera's frame_id. if blank, frame_id of static_tf is not overwritten |
about tf_static overriding
click to open
Some nodes requires `/tf_static` from `/base_link` to the frame_id of `/sensing/camera/traffic_light/image_raw/compressed` (e.g. `/traffic_light_left_camera/camera_optical_link`).
You can verify that the tf_static is correct with the following command.
ros2 run tf2_ros tf2_echo base_link traffic_light_left_camera/camera_optical_link
If the wrong `/tf_static` are broadcasted due to using a prototype vehicle, not having accurate calibration data, or some other unavoidable reason, it is useful to give the frame_id in `override_camera_frame_id`.
If you give it a non-empty string, `/image_processing/undistort_node` will rewrite the frame_id in camera_info.
For example, you can give a different tf_static as follows.
ros2 launch yabloc_launch sample_launch.xml override_camera_frame_id:=fake_camera_optical_link
ros2 run tf2_ros static_transform_publisher \
--frame-id base_link \
--child-frame-id fake_camera_optical_link \
--roll -1.57 \
--yaw -1.570
lanelet2_overlay
Purpose
This node overlays lanelet2 on the camera image based on the estimated self-position.
| Name |
Type |
Description |
input/pose |
geometry_msgs::msg::PoseStamped |
estimated self pose |
input/projected_line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
projected line segments including non-road markings |
input/camera_info |
sensor_msgs::msg::CameraInfo |
undistorted camera info |
input/image_raw |
sensor_msgs::msg::Image |
undistorted camera image |
input/ground |
std_msgs::msg::Float32MultiArray |
ground tilt |
input/ll2_road_marking |
sensor_msgs::msg::PointCloud2 |
lanelet2 elements regarding road surface markings |
input/ll2_sign_board |
sensor_msgs::msg::PointCloud2 |
lanelet2 elements regarding traffic sign boards |
Output
| Name |
Type |
Description |
output/lanelet2_overlay_image |
sensor_msgs::msg::Image |
lanelet2 overlaid image |
output/projected_marker |
visualization_msgs::msg::Marker |
3d projected line segments including non-road markings |
line_segments_overlay
Purpose
This node visualize classified line segments on the camera image
| Name |
Type |
Description |
input/line_segments_cloud |
sensor_msgs::msg::PointCloud2 |
classified line segments |
input/image_raw |
sensor_msgs::msg::Image |
undistorted camera image |
Output
| Name |
Type |
Description |
output/image_with_colored_line_segments |
sensor_msgs::msg::Image |
image with highlighted line segments |