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Only released in EOL distros:   electric fuerte

Overview

More information can be found here

Dependencies

• vslam : Really just the SBA package within this, but I find it easier (and more interesting) to just compile the whole thing.

• OpenCV

ROS Nodes

calibrator

For the geometric calibration of both thermal-infrared cameras and regular cameras (both intrinsic and extrinsic).

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~alpha (double, default: 0.0)

• Alpha level for undistortion and new cam mat Range: -1.0 to 1.0

~autoAlpha (bool, default: True)

• Automatically find best alpha level

~trackingMode (bool, default: False)

• Attempt to track pattern rather than redetect

~flowThreshold (double, default: 0.0001)

• Sensitivity for optical flow algorithm Range: 0.0 to 1.0

~maxFrac (double, default: 0.05)

• Maximum proportion of minor image dimension that points may drift between frames for tracking Range: 0.0 to 1.0

~errorThreshold (double, default: 0.0)

• Error threshold for feature exlusion from tracker Range: 0.0 to 200.0

~stopCapturing (bool, default: False)

• stopCapturing

~contrastLeft (double, default: 1.0)

• Contrast left Range: 0.0 to 10.0

~brightnessLeft (double, default: 0.0)

• Brightness left Range: -50.0 to 50.0

~normLeft (bool, default: False)

• Histogramm equalisation left

~invertLeft (bool, default: False)

• Invert left

~contrastRight (double, default: 1.0)

• Contrast left Range: 0.0 to 10.0

~brightnessRight (double, default: 0.0)

• Brightness right Range: -50.0 to 50.0

~normRight (bool, default: False)

• Histogramm equalisation right

~invertRight (bool, default: False)

• Invert left

~adjustMSERLeft (bool, default: False)

• adjustMSERLeft

~deltaLeft (int, default: 8)

• deltaLeft Range: 0 to 100

~maxVarLeft (double, default: 0.25)

• maxVarLeft Range: 0.0 to 2.0

~minDivLeft (double, default: 0.2)

• minDivLeft Range: 0.0 to 2.0

~areaThresholdLeft (double, default: 1.01)

• areaThresholdLeft Range: 0.0 to 5.0

~adjustMSERRight (bool, default: False)

• adjustMSERRight

~deltaRight (int, default: 8)

• deltaRight Range: 0 to 100

~maxVarRight (double, default: 0.25)

• maxVarRight Range: 0.0 to 2.0

~minDivRight (double, default: 0.2)

• minDivRight Range: 0.0 to 2.0

~areaThresholdRight (double, default: 1.01)

• areaThresholdRight Range: 0.0 to 5.0

Examples

For intrinsic calibration only:

$ roslaunch thermalvis calibrator_monoexample.launch

For stereo calibration:

$ roslaunch thermalvis calibrator_stereoexample.launch

streamer

For streaming from and controlling the Thermoteknix Miricle 110K and 307K cameras.

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~inputDatatype (int, default: 1)

• Pixel format of input Possible values are: 8bit (0): 8-bit single channel, raw (1): Raw 16-bit format, mm (2): 8-bit dual channel (multimodal), 16uc1 (3): 16-bit from kinect depth

~forceInputGray (bool, default: False)

• Forces color input to be converted to gray

~framerate (double, default: -1.0)

• Desired Framerate Range: -1.0 to 100.0

~normMode (int, default: 0)

• Histogram Normalization Mode Possible values are: standard (0): Standard dynamic range, equalize (1): Equalization, clahe (2): CLAHE, clahe_adaptive (3): Adaptive Contrast Enhancement, centralized (4): Centers intensities around median, expanded (5): Centers intensities around mid-range

~normFactor (double, default: 0.0)

• Normalization factor Range: 0.0 to 1.0

~filterMode (int, default: 0)

• Image Filtering Mode Possible values are: none (0): No filtering, gaussian (1): Gaussian Filter, bilateral (2): Bilateral Filter, adaptive_bilateral (3): Adaptive Bilateral Filter

~filterParam (double, default: 2.0)

• Filter param Range: 0.0 to 20.0

~output16bit (bool, default: True)

• Activate 16-bit (raw) output

~output8bit (bool, default: False)

• Activeate 8-bit (mono) output

~outputColor (bool, default: True)

• Activate color output

~map (int, default: 0)

• A color mapping parameter which is edited via an enum Possible values are: GRAYSCALE (0): Grayscale coloring, CIECOMP (1): CIECOMP coloring, BLACKBODY (2): Blackbody coloring, RAINBOW (3): Rainbow coloring, IRON (4): Iron coloring, BLUERED (5): Blue-red coloring, JET (6): Jet coloring, ICE (7): Ice coloring, ICEIRON (8): Ice and iron coloring, ICEFIRE (9): Ice and fire coloring, REPEATED (10): Ice and fire coloring, HIGHLIGHTED (11): Highlights dominant pixels as red

~extremes (bool, default: True)

• Allow b/w color mapping

~writeImages (bool, default: False)

• Activate write output

~outputFormat (int, default: 4)

• Output image format Possible values are: jpg (0): JPEG, pgm (1): PGM, bmp (2): BMP, ppm (3): PPM, png (4): PNG

~outputType (int, default: 2)

• Output image type Possible values are: CV_8UC1 (0): 8-bit single channel, CV_8UC3 (1): 8-bit triple channel, CV_16UC1 (2): 16-bit single channel

~writeQuality (double, default: 1.0)

• Write quality Range: 0.0 to 1.0

~keepOriginalNames (bool, default: True)

• Keep original names

~loopMode (bool, default: False)

• Re-loop once finished

~undistortImages (bool, default: False)

• Activate image undistortion

~rectifyImages (bool, default: False)

• Activate image rectification

~alpha (double, default: 0.0)

• Alpha level for undistortion Range: -1.0 to 1.0

~autoAlpha (bool, default: True)

• Automatically find best alpha level

~temporalSmoothing (bool, default: False)

• Regulate change in median intensity (8-bit only)

~maxShift (int, default: 2)

• Maximum amount of intensity shift (8-bit only) Range: 0 to 20

~temporalMemory (int, default: 5)

• Maximum amount of past frames to consider Range: 0 to 100

~removeDuplicates (bool, default: False)

• Remove consecutive duplicate frames

~markDuplicates (bool, default: False)

• Mark consecutive duplicate frames

~dumpDuplicates (bool, default: False)

• Output duplicates to a log-file

~dumpTimestamps (bool, default: False)

• Output timestamps to console

~fusionFactor (double, default: 0.6)

• Scaling range for modality fusion Range: 0.0 to 1.0

~syncMode (int, default: 0)

• Input synchronization mode Possible values are: hardSync (0): Image and camera_info topics must be fully synchronized, softSync (1): Image and camera_info topics do not have to be fully synchronized, imageOnly (2): To be used when no camera_info topic is present

~syncDiff (double, default: 0.005)

• Maximum difference in seconds for soft sync Range: 0.0 to 1.0

~readThermistor (bool, default: False)

• Read thermistor values

~shutterPeriod (int, default: 10)

• No. of polls between shutter switching Range: 0 to 1000

~serialPollingRate (double, default: 10.0)

• Rate (per sec) for serial polling Range: 0.0 to 100.0

~maxNucInterval (int, default: 45)

• Maximum NUC interval (in sec) Range: 5 to 300

~maxNucThreshold (double, default: 0.2)

• Maximum NUC threshold (in deg) Range: 0.0 to 5.0

~maxThermistorDiff (double, default: 0.5)

• Maximum temp difference between consecutive thermistor readings Range: 0.0 to 10.0

~verboseMode (bool, default: False)

• Display additional debug info

~drawReticle (bool, default: False)

• Overlay reticle

Examples

Should act as a driver for a Thermoteknix Miricle 110K or 307K camera, allowing the reading of the thermistor, and control of camera settings, along with streaming in the raw 14-bit/pixel mode.

$ roslaunch thermalvis streamer_example.launch

flow

Highly configurable sparse optical flow for thermal-infrared video.

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~softSync (bool, default: False)

• Attempt to pair images and camera info that may not be strictly sync'ed

~syncDiff (double, default: 0.005)

• Maximum difference in seconds for soft sync Range: 0.0 to 1.0

~detector_1 (int, default: 1)

• Detector #1 Possible values are: OFF (0): No detector implemented, GFTT (1): Hessian features (GFTT), FAST (2): FAST, HARRIS (3): Harris features (GFTT)

~sensitivity_1 (double, default: 0.1)

• Detector #1 sensitivity Range: 0.0 to 1.0

~detector_2 (int, default: 0)

• Detector #2 Possible values are: OFF (0): No detector implemented, GFTT (1): Hessian features (GFTT), FAST (2): FAST, HARRIS (3): Harris features (GFTT)

~sensitivity_2 (double, default: 0.1)

• Detector #2 sensitivity Range: 0.0 to 1.0

~detector_3 (int, default: 0)

• Detector #3 Possible values are: OFF (0): No detector implemented, GFTT (1): Hessian features (GFTT), FAST (2): FAST, HARRIS (3): Harris features (GFTT)

~sensitivity_3 (double, default: 0.1)

• Detector #3 sensitivity Range: 0.0 to 1.0

~maxFrac (double, default: 0.05)

• Maximum proportion of minor image dimension that points may drift between frames for tracking Range: 0.0 to 1.0

~maxFeatures (int, default: 100)

• Maximum number of features to attempt tracking Range: 0 to 500

~newDetectionFramecountTrigger (int, default: 10)

• Number of frames to wait before attempting re-detections Range: 0 to 100

~maximumDetectionFeatures (int, default: 300)

• Maximum number of features to allow detector to return Range: 0 to 1000

~minDistance (double, default: 5.0)

• Minimum spatial separation between features Range: 0.0 to 20.0

~flowThreshold (double, default: 0.0001)

• Sensitivity for optical flow algorithm Range: 0.0 to 1.0

~minTrackedFeaturesPerDetector (int, default: 50)

• Minimum number of features to be tracked by each detector Range: 0 to 500

~maxTrackedFeaturesPerDetector (int, default: 300)

• Maximum number of features to be tracked by each detector Range: 0 to 500

~nearSearchHistory (int, default: 5)

• How many frames to search back for recently lost features Range: 0 to 1000

~farSearchHistory (int, default: 48)

• How many frames to search back for historically lost features Range: 0 to 1000

~delayTimeout (double, default: 2.0)

• Timeout in seconds before NUC is assumed Range: 0.0 to 10.0

~maxProjectionsPerFeature (int, default: 10)

• Maximum number of projections of feature to publish Range: 0 to 100

~minPointsForWarning (int, default: 16)

• Minimum number of tracks below which a warning is triggered Range: 0 to 100

~drawingHistory (int, default: 10)

• Number of projections for the feature tail in the debug image Range: 0 to 100

~debugMode (bool, default: True)

• Publish output

Examples

Should publish a customized tracks topic containing sparse optical flow information.

$ roslaunch thermalvis flow_example.launch

monoslam

Monocular SLAM with a hand-held thermal-infrared camera.

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~minStartupScore (double, default: 0.8)

• Minimum keyframe pair score for initialization Range: 0.0 to 1.0

~flowback (int, default: 3)

• Flowback frames (per adjustment) Range: 0 to 10

~keyframeSpacing (int, default: 5)

• See the paper, variable K Range: 0 to 100

~maxKeyframeSeparation (int, default: 15)

• Maximum number of frames separating keyframes Range: 0 to 100

~minKeyframeScore (double, default: 20.0)

• Minimum required keyframe score Range: 0.0 to 100.0

~adjustmentFrames (int, default: 50)

• Adjustment frames Range: 1 to 100

~motionThreshold (double, default: 20.0)

• Maximum amount of tolerated motion Range: 1.0 to 100.0

~framesForTriangulation (int, default: 8)

• Number of frames a feature must appear in before it's triangulated Range: 1 to 100

~min3dPtsForPnP (int, default: 24)

• Minimum number of points to use to estimate pose of camera Range: 0 to 100

~camerasPerSys (int, default: 10)

• Cameras to consider for each bundle adjustment Range: 0 to 100

~minTrackedFeatures (int, default: 50)

• Minimum number of features that must be tracked Range: 0 to 500

~maxGuides (int, default: 5)

• Maximum number of camera views to consider for initial pose estimate Range: 0 to 100

~minGeometryScore (double, default: 30.0)

• Minimum required geometry score Range: 0.0 to 100.0

~requiredTrackFrac (double, default: 0.8)

• Required proportion of tracks to be maintained between frames Range: 0.0 to 1.0

~dataTimeout (double, default: 5.0)

• Time (sec) after which no data triggers program exit Range: 0.0 to 60.0

~initialStructureIterations (int, default: 1000)

• Number of iterations to perform finalizing initial structure Range: 0 to 1000

~poseEstimateIterations (int, default: 10)

• Number of iterations to perform when putatively estimating a camera pose Range: 0 to 1000

~fullSystemIterations (int, default: 10)

• Number of iterations to perform each cycle on the full system Range: 0 to 1000

~keyframeIterations (int, default: 10)

• Number of iterations to perform each cycle on the keyframes Range: 0 to 1000

~subsequenceIterations (int, default: 100)

• Number of iterations to perform each cycle on the subsequence Range: 0 to 1000

~debugMode (bool, default: False)

• Display additional debug info

~timeDebug (bool, default: False)

• Display timing information

~timeSpacing (int, default: 5)

• Number of frames to wait before publishing timing info Range: 0 to 100

Examples

I recommend making sure that you have got the flow node working effectively before trying to run the monoslam node.

$ roslaunch thermalvis monoslam_example.launch

depth

Real-time depth from stereo from thermal-infrared video [in progress].

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~alpha (double, default: 0.0)

• Alpha level for undistortion Range: -1.0 to 1.0

~autoAlpha (bool, default: True)

• Automatically find best alpha level

Examples

This should simply produce a depth map from two video streams.

$ roslaunch thermalvis depth_example.launch

listener

For processing 3D reconstruction datasets [in progress].

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~maxFrames (int, default: 10000)

• Maximum number of frames to extract Range: 0 to 10000

Examples

This node requires a bag file to exist which contains relevant topics for 3D thermal mapping.

$ roslaunch thermalvis listener_example.launch