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License: BSD 2-Clause "Simplified" License

CMake 2.43% C++ 40.01% Python 0.66% PostScript 56.90%

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Update code to match ARMLab style guide

https://github.com/UM-ARM-Lab/documentation

Extract tag size from point cloud instead of parameter

Right now the code extracts the tag size from a ros parameter; this should found from the detection itself as we have a point cloud:

<param name="~default_tag_size" value="0.035"/>

...

node_->param("default_tag_size", default_tag_size_, DEFAULT_TAG_SIZE);

Includes are borked

Right now multiple files are included as if they are local and vice versa. This needs to be cleaned up. In addition, it's not clear which includes are still relevant and which are dead code.

Add nodelet support

It would be good if down the road we could use this inside of nodelet to avoid transferring the point cloud across the network down the road.

Exeception on closing program

Presumably a non-issue for now, but it may be relevant later, so documenting.

terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.

Convert apriltags.h and apriltags_kinect2.cpp into a proper class

Right now the .h file has tons of function and global variable definitions. This needs to be cleaned up.

ros::NodeHandlePtr node_;
boost::shared_ptr<image_transport::ImageTransport> image_;
sensor_msgs::CameraInfo camera_info_;

boost::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster_;

ros::Publisher marker_publisher_;
ros::Publisher apriltag_publisher_;
image_transport::Publisher image_publisher_;

ros::Subscriber info_subscriber;
ros::Subscriber cloud_subscriber;

// AprilTag parts
TagFamily* family_;
TagDetector* detector_;

TagDetectorParams tag_params;
std::string tag_data;
std::string tag_family_name_;
...

Enabling AprilTags and Kinect on Loki requires removing OpenCL

Right now, I have not found a way to build the Kinect software and the AprilTags software with OpenCV 3.2, while having OpenCL installed. One or the other has problems linking. The current hack is to just run the Kinect without OpenCL support, but this drops framerates to about 2 Hz when the AprilTag detection software is also running:

[Info] [CudaDepthPacketProcessor] avg. time: 0.796897ms -> ~1254.87Hz
Callback Duration: 142 milliseconds 
Callback Duration: 303 milliseconds 
[Info] [TurboJpegRgbPacketProcessor] avg. time: 15.5226ms -> ~64.4223Hz
Callback Duration: 175 milliseconds 
Callback Duration: 271 milliseconds 
Callback Duration: 283 milliseconds 
Callback Duration: 174 milliseconds 
[ros.kinect2_bridge]: [Kinect2Bridge::main] depth processing: ~462.086ms (~2.1641Hz) publishing rate: ~1.99407Hz
[ros.kinect2_bridge]: [Kinect2Bridge::main] color processing: ~18.8415ms (~53.0744Hz) publishing rate: ~1.99407Hz

This needs to be addressed at some point.

Resolve unused parameter and conversion warnings

In file included from /home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:70:0:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In function ‘void GetMarkerTransformUsingOpenCV(const TagDetection&, Eigen::Matrix4d&, cv::Mat&, cv::Mat&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:37:46: warning: conversion to ‘int’ from ‘size_t {aka long unsigned int}’ may alter its value [-Wconversion]
     double tag_size = GetTagSize(detection.id);
                                              ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:43:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     object_pts.push_back(cv::Point3f(-tag_radius, -tag_radius, 0));
                                                                 ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:43:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:44:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     object_pts.push_back(cv::Point3f( tag_radius, -tag_radius, 0));
                                                                 ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:44:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:45:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     object_pts.push_back(cv::Point3f( tag_radius,  tag_radius, 0));
                                                                 ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:45:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:46:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     object_pts.push_back(cv::Point3f(-tag_radius,  tag_radius, 0));
                                                                 ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:46:65: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:55:35: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
                            0, 0, 1);
                                   ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:55:35: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:55:35: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:55:35: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:57:106: warning: conversion to ‘float’ from ‘__gnu_cxx::__alloc_traits<std::allocator<double> >::value_type {aka double}’ may alter its value [-Wfloat-conversion]
     cv::Vec4f distortion_coeff(camera_info_.D[0], camera_info_.D[1], camera_info_.D[2], camera_info_.D[3]);
                                                                                                          ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:57:106: warning: conversion to ‘float’ from ‘__gnu_cxx::__alloc_traits<std::allocator<double> >::value_type {aka double}’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:57:106: warning: conversion to ‘float’ from ‘__gnu_cxx::__alloc_traits<std::allocator<double> >::value_type {aka double}’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:57:106: warning: conversion to ‘float’ from ‘__gnu_cxx::__alloc_traits<std::allocator<double> >::value_type {aka double}’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In member function ‘int KinectPoseImprovement::localize_2d(TagDetection&, geometry_msgs::Pose&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:126:5: warning: no return statement in function returning non-void [-Wreturn-type]
     }
     ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In member function ‘void KinectPoseImprovement::gen_tag_samples()’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:172:48: warning: conversion to ‘double’ from ‘std::size_t {aka long unsigned int}’ may alter its value [-Wconversion]
         at::real step = 2.0/ (m_num_samples - 1);
                                                ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:172:48: warning: conversion to ‘at::real {aka float}’ from ‘double’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:176:45: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
                 m_tag_space_samples[0][idx] = at::real(x) * step - 1.0;
                                             ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:177:45: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
                 m_tag_space_samples[1][idx] = at::real(y) * step - 1.0;
                                             ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In member function ‘pcl::PointCloud<pcl::PointXYZRGB>::Ptr KinectPoseImprovement::extract_corners(TagDetection&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:209:86: warning: conversion to ‘std::size_t {aka long unsigned int}’ from ‘float’ may alter its value [-Wfloat-conversion]
             out_cloud->points.push_back((*m_cloud)(detection.p[i].x, detection.p[i].y));
                                                                                      ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:209:86: warning: conversion to ‘std::size_t {aka long unsigned int}’ from ‘float’ may alter its value [-Wfloat-conversion]
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In member function ‘geometry_msgs::Point KinectPoseImprovement::centroid(const pcl::PointCloud<pcl::PointXYZRGB>&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:231:26: warning: conversion to ‘geometry_msgs::Point_<std::allocator<void> >::_x_type {aka double}’ from ‘long unsigned int’ may alter its value [-Wconversion]
         center.x = sum.x/n;
                          ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:232:26: warning: conversion to ‘geometry_msgs::Point_<std::allocator<void> >::_y_type {aka double}’ from ‘long unsigned int’ may alter its value [-Wconversion]
         center.y = sum.y/n;
                          ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:233:26: warning: conversion to ‘geometry_msgs::Point_<std::allocator<void> >::_z_type {aka double}’ from ‘long unsigned int’ may alter its value [-Wconversion]
         center.z = sum.z/n;
                          ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp: In member function ‘int KinectPoseImprovement::extractFrame(const pcl::ModelCoefficients&, pcl::PointCloud<pcl::PointXYZRGB>&, Eigen::Matrix3d&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:270:31: warning: variable ‘q3’ set but not used [-Wunused-but-set-variable]
         const Eigen::Vector3d q3 = project(corners.points[0], a, b, c, d);
                               ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/kinect_utilities.hpp:271:31: warning: variable ‘q4’ set but not used [-Wunused-but-set-variable]
         const Eigen::Vector3d q4 = project(corners.points[3], a, b, c, d);
                               ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp: In function ‘void DrawMarkerID(const TagDetection&, cv::Scalar, cv::Mat&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:196:14: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     center.x = center.x / 4.0;
              ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:197:14: warning: conversion to ‘float’ from ‘double’ may alter its value [-Wfloat-conversion]
     center.y = center.y / 4.0;
              ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp: In function ‘void getPointCloudCallback(const PointCloud2ConstPtr&)’:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:314:54: warning: conversion to ‘int’ from ‘size_t {aka long unsigned int}’ may alter its value [-Wconversion]
         double tag_size = GetTagSize(detections[i].id);
                                                      ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:328:29: warning: conversion to ‘visualization_msgs::Marker_<std::allocator<void> >::_id_type {aka int}’ from ‘size_t {aka long unsigned int}’ may alter its value [-Wconversion]
         marker_transform.id = detections[i].id;
                             ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:345:33: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
             if(detections[i].id == tf_marker_id_){
                                 ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:369:34: warning: conversion to ‘apriltag_kinect2::AprilKinectDetection_<std::allocator<void> >::_tag_size_type {aka float}’ from ‘double’ may alter its value [-Wfloat-conversion]
         aprilkinect_det.tag_size = tag_size;
                                  ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp: At global scope:
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:427:60: warning: unused parameter ‘info’ [-Wunused-parameter]
 void ConnectCallback(const ros::SingleSubscriberPublisher& info)
                                                            ^
/home/dmcconac/Dropbox/catkin_ws/src/robots_and_sensors/apriltag_kinect2/src/apriltags_kinect2.cpp:448:63: warning: unused parameter ‘info’ [-Wunused-parameter]
 void DisconnectCallback(const ros::SingleSubscriberPublisher& info)

Invalid data in output from detector

RViz is complaining on a regular basis about invalid data in the exported markers:

Contains invalid floating point values (nans or infs)

Given that the same transforms are used when exporting the detections themselves, this ought to be addressed.

Refine topic definitions and parameters to use one method consistently

Right now there is a combination of remap and parameter based setting of topic names. This ought to be a single method - ideally parameters.

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