WIP: Stingray depth camera

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "src/serial"]
 	path = src/serial
 	url = https://github.com/wjwwood/serial.git
+[submodule "src/zed-ros-wrapper"]
+	path = src/zed-ros-wrapper
+	url = https://github.com/stereolabs/zed-ros-wrapper.git

README.md

@@ -3,20 +3,41 @@ Autonomous underwater vehicle platform based on ROS
 
 ## Building
 Install dependencies:
+
 ```bash
 sudo apt-get install ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-image-view ros-$ROS_DISTRO-actionlib ros-$ROS_DISTRO-smach ros-$ROS_DISTRO-smach-viewer
 ```
+
 Initialize and update git submodules used in project:
+
 ```bash
 git submodule init
 git submodule update
 ```
+
 Use following commands to build:
+
 ```bash
 source /opt/ros/$ROS_DISTRO/setup.bash
 catkin_make
 ```
+
+Build debug:
+```bash
+catkin_make -DCMAKE_BUILD_TYPE=Debug
+```
+
 Do not forget to setup workspace before you start to work:
 ```bash
 source devel/setup.bash
 ```
+
+## Cuda installation
+
+[NVIDIA CUDA Installation Guide for Linux](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html)
+
+## How to run tests
+
+```bash
+
+```

src/stingray_depth_vision/CMakeLists.txt

@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(stingray_depth_vision)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++17)
+
+## 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
+  roscpp
+  std_msgs
+  message_generation
+)
+
+## 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
+    Object.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()
+
+################################################
+## 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 stingray_depth_vision
+    CATKIN_DEPENDS message_runtime
+#  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/${PROJECT_NAME}/stingray_depth_vision.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/distance_measure.cpp)
+target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${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_stingray_depth_vision.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)

src/stingray_depth_vision/README.md

@@ -0,0 +1,9 @@
+# Stingray depth package
+
+## Run ZED nodes
+
+```bash
+$ cd zed-ros-wrapper
+$ source devel/setup.zsh
+$ roslaunch zed_wrapper zedm.launch
+```

src/stingray_depth_vision/include/depthcam.h

@@ -0,0 +1,64 @@
+#ifndef STINGRAY_DEPTH_VISION_INCLUDE_DEPTHCAM_H_
+#define STINGRAY_DEPTH_VISION_INCLUDE_DEPTHCAM_H_
+
+#include <memory>
+#include <boost/accumulators/accumulators.hpp>
+#include <boost/accumulators/statistics.hpp>
+
+namespace depth {
+
+typedef struct Point {
+    int32_t x;
+    int32_t y;
+};
+
+typedef struct ImageFrame {
+    Point topLeft;
+    Point bottomRight;
+};
+
+class DepthCamera {
+
+    static void depthCallback(const sensor_msgs::Image::ConstPtr& msg) {
+        float* depths = std::reinterpret_cast<float*>(&msg->data[0]);
+    }
+
+    static size_t getMean(const float const *image, const std::optional<ImageFrame> &frame, size_t stride=1) {
+#ifdef DEBUG
+        boost::accumulators::accumulator_set<float, features<boost::accumulators::tag::mean, boost::accumulators::tag::count>> acc;
+#else
+        boost::accumulators::accumulator_set<float, boost::accumulators::features<tag::mean>> acc;
+#endif
+        // TODO: create iterator on frame
+        for (size_t h = upper_y; h < lower_y; ++h) {
+            for (size_t w = frame.top_left_x; w < frame.bottom_right_x; ++w) {
+                if (depthIsValid(depths[w + (h - upper_y)*w])) {
+                    acc(depths[w + (h - upper_y)*w]);
+                }
+            }
+        }
+
+        if (count(acc) == 0)
+            ROS_WARN("All data is nan or inf");
+        else
+#ifdef DEBUG
+            ROS_INFO("Mean distance: %g, Counted: %ld", boost::accumulators::mean(acc), boost::accumulators::count(acc));
+#endif
+    }
+
+private:
+    std::unique_ptr<ImageFrame> frame;
+    std::unique_ptr<float> depths;
+
+    bool dataIsInitialized() const {
+        return (depths != nullptr && frame != nullptr);
+    }
+
+    bool depthIsValid(float value) const {
+        return (!std::isnan(value) && !std::isinf(value));
+    }
+};
+
+}  // namespace depth
+
+#endif  // STINGRAY_DEPTH_VISION_INCLUDE_DEPTHCAM_H_

src/stingray_depth_vision/msg/Object.msg

@@ -0,0 +1,6 @@
+string name
+float32 confidence
+int16 top_left_x
+int16 top_left_y
+int16 bottom_right_x
+int16 bottom_right_y

src/stingray_depth_vision/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>stingray_depth_vision</name>
+  <version>0.0.1</version>
+  <description>The stingray_depth_vision package</description>
+
+  <maintainer email="[email protected]">Sofin Vadim</maintainer>
+
+  <license>MIT</license>
+
+  <author email="[email protected]">Sofin Vadim</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <export></export>
+</package>

src/stingray_depth_vision/src/depthcam.cpp

@@ -0,0 +1,5 @@
+#include "depthcam.h"
+
+namespace depth {
+
+}  // namespace depth

src/stingray_depth_vision/src/distance_measure.cpp

@@ -0,0 +1,17 @@
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+#include "depthcam.h"
+#include "stingray_depth_vision/Object.h"
+
+void frameCallback(const distance_measure::Object::ConstPtr& msg) {
+
+}
+
+int main(int argc, char **argv) {
+    ros::init(argc, argv, "zed_subscriber");
+    ros::NodeHandle handle;
+    ros::Subscriber subDepth = handle.subscribe("/zedm/zed_node/depth/depth_registered", 10, depthCallback);
+    // TODO: publish distance
+    ros::spin();
+    return 0;
+}