panorama capture with ros
pano_ros exposes a set of tools and small ros nodes that enables acquiring data that is convenient for the pano_core stitching library.
Through the use of actionlib, pano_ros may be used to capture bagfiles that may then be stitched asynchronously or completely offline.
Pano quicky (using kinect and openni_camera)
roslaunch openni_camera openni_kinect.launch
Spin up the capture server.
rosrun pano_ros capture_server.py camera:=/camera/rgb
Monitor the stitch output with image_view
rosrun image_view image_view image:=/pano_capture/stitch
Try the time interval based capture client. Slowly pan around and a photo will be taken every 1 seconds. Stops after 10 photos.
rosrun pano_ros capture_client.py `pwd`/pano01.bag 10 1
You should see the stitch appear in the image_view window. Click on it to save.
Email the stitch to email@example.com as an attachment. You will receive a link like the following: http://botview.appspot.com/viewer/pan0.swf?panoSrc=/media/3736001&FOV=52
The capture server implements an action interface for writing camera images to a bag file. This bag file can then be passed to tools like stitch_client.py. The action server starts the capture process. You can then call the pano_capture/snap to capture another image to the bag, and you can call pano_capture/stop topics to stop the capture process. The action will complete when stop is called and will return the name of the bag file.
NOTE: the capture process may capture less images than requested via snap. This generally means that snap is being called faster than synchronized images can be acquired.
rosrun pano_ros capture_server.py camera:=/kinect/rgb
Testing in rosh
You'll need two rosh interpreters.
In : actions.pano_capture('camera/rgb')
Interpreter 2 (run snap as many times as you like):
In : topics.pano_capture.snap() In : topics.pano_capture.snap() In : topics.pano_capture.stop()
In the Interpreter 1 window, you should see:
In : actions.pano_capture('camera/rgb') Out: pano_id: 1292382284 n_captures: 6 bag_filename: /tmp/pano_1292382284.bag
The sample client takes the specified number of images, one per second.
rosrun pano_ros capture_client.py `pwd`/pano.bag 30
This will save all needed data for stitching in `pwd`/pano.bag. Notice the use of `pwd`/ as the bag name is absolute.
The following implements the simple time based capture client
1 import roslib; roslib.load_manifest('pano_ros') 2 import rospy 3 import sys 4 from pano_ros.msg import PanoCaptureResult 5 from pano_ros.capture_client_interface import CaptureClientInterface 6 7 8 class TimedCapture(object): 9 """ 10 Uses the CaptureClientInterface to take photos 11 regularly at a time interval and will snap until 12 the desired number of frames are taken 13 """ 14 def __init__(self): 15 #CaptureClientInterface does all of the setup 16 #for connecting to the pano_capture server 17 self._capture = CaptureClientInterface() 18 19 def capture(self,bag_filename, total_captures = 20, time_interval = 1): 20 """ 21 This is a timed interval capture. 22 total_captures the number of images to take 23 time_interval attempt to take an image at 24 this time interval, specified in seconds 25 """ 26 capture = self._capture 27 #start up the capture client, giving absolute path to a 28 #bag where the data will be stored 29 capture.start(bag_filename) 30 result = PanoCaptureResult() 31 try: 32 #we'll just capture total_captures images, 33 #1 every time_interval seconds 34 while ( capture.n_captures < total_captures 35 and not rospy.is_shutdown() ): 36 #request a snap 37 capture.snap() 38 #sleep for 1 seconds to allow the camera to be moved 39 rospy.sleep(time_interval) 40 finally: 41 tresult = capture.stop() 42 result = tresult if tresult else result 43 #this will return the PanoCapture result message 44 return result
The bag_stitcher.py is an actionlib server that does bag stitching, just start her up...
rosrun pano_ros bag_stitcher.py
Bag Stitcher Client
Now to stitch, run a client that uses actionlib to stitch with the bag_stitcher A very simple one is implemented already.
rosrun pano_ros stitch_client.py test_pano.bag stitch.jpg eog stitch.jpg
This will take the bag generated by the capture client and turn it into a beautiful spherical panorama.
Try emailing the pano as an attachment to firstname.lastname@example.org if you would like to see it projected onto a 3d sphere in your web browser.