cv

ros_web_api_bellande_2d_computer_vision/CMakeLists.txt

@@ -47,6 +47,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
     src/bellande_2d_computer_vision_face_detection.py
     src/bellande_2d_computer_vision_object_detection.py
     src/bellande_2d_computer_vision_instance_segmentation.py
+    src/bellande_2d_computer_vision_semantic_segmentation.py
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   )
 endif()
@@ -57,6 +58,7 @@ if($ENV{ROS_VERSION} EQUAL "1")
     install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
     install(PROGRAMS src/bellande_2d_computer_vision_object_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
     install(PROGRAMS src/bellande_2d_computer_vision_instance_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(PROGRAMS src/bellande_2d_computer_vision_semantic_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
     install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
     install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
 else()
@@ -64,6 +66,7 @@ else()
     install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION lib/${PROJECT_NAME})
     install(PROGRAMS src/bellande_2d_computer_vision_object_detection.py DESTINATION lib/${PROJECT_NAME})
     install(PROGRAMS src/bellande_2d_computer_vision_instance_segmentation.py DESTINATION lib/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_2d_computer_vision_semantic_segmentation.py DESTINATION lib/${PROJECT_NAME})
     install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
     install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
     ament_package()

ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_semantic_segmentation.launch.py

@@ -0,0 +1,101 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+
+    # Construct the ROS 1 launch commandi
+    roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.launch"] + args
+
+    roslaunch_command.extend([
+        "usb_cam", "usb_cam_node", "name:=camera",
+        "video_device:=/dev/video0",
+        "image_width:=640",
+        "image_height:=480",
+        "pixel_format:=yuyv",
+        "camera_frame_id:=usb_cam",
+        "io_method:=mmap"
+    ])
+    
+    roslaunch_command.extend([
+        "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.py", "name:=face_detection_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_semantic_segmentation.py',
+        name='face_detection_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+    ))
+    
+    return LaunchDescription(nodes_to_launch)
+
+
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)

ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_semantic_segmentation.launch

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+<launch>
+  <node name="camera" pkg="usb_cam" type="usb_cam_node" output="screen">
+    <param name="video_device" value="/dev/video0" />
+    <param name="image_width" value="640" />
+    <param name="image_height" value="480" />
+    <param name="pixel_format" value="yuyv" />
+    <param name="camera_frame_id" value="usb_cam" />
+    <param name="io_method" value="mmap" />
+  </node>
+
+  <node name="face_detection_node" pkg="ros_web_api_bellande_2d_computer_vision"
+    type="bellande_2d_computer_vision_semantic_segmentation.py"
+    output="screen">
+    <remap from="camera/image_raw" to="/usb_cam/image_raw" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

ros_web_api_bellande_2d_computer_vision/setup.py

@@ -18,7 +18,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    scripts=['src/bellande_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py', 'src/bellande_2d_computer_vision_object_detection.py', 'src/bellande_2d_computer_vision_instance_segmentation.py'],
+    scripts=['src/bellande_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py', 'src/bellande_2d_computer_vision_object_detection.py', 'src/bellande_2d_computer_vision_instance_segmentation.py', 'src/bellande_2d_computer_vision_semantic_segmentation.py'],
     packages=['ros_web_api_bellande_2d_computer_vision'],
     package_dir={'': 'src'},
 )

ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_semantic_segmentation.py

@@ -0,0 +1,107 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import json
+import os
+import requests
+import cv2
+import numpy as np
+import base64
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+
+def semantic_segmentation(image):
+    bridge = CvBridge()
+    cv_image = bridge.imgmsg_to_cv2(image, desired_encoding="bgr8")
+
+    _, img_encoded = cv2.imencode('.jpg', cv_image)
+    img_base64 = base64.b64encode(img_encoded).decode('utf-8')
+
+    payload = {
+        "image": img_base64
+    }
+
+    headers = {
+        "Authorization": f"Bearer {api_access_key}"
+    }
+
+    response = requests.post(api_url, json=payload, headers=headers)
+
+    if response.status_code == 200:
+        result = response.json()
+        segmentation_map = np.array(result['segmentation_map'], dtype=np.uint8)
+        colored_segmentation = cv2.applyColorMap(segmentation_map, cv2.COLORMAP_JET)
+        cv_image = cv2.addWeighted(cv_image, 0.7, colored_segmentation, 0.3, 0)
+
+        return bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None
+
+
+def image_callback(msg):
+    processed_img = semantic_segmentation(msg)
+    if processed_img:
+        pub.publish(processed_img)
+
+
+def main():
+    global api_url, api_access_key, pub
+
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["vision_api"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    if ros_version == "1":
+        rospy.init_node('semantic_segmentation_node', anonymous=True)
+        pub = rospy.Publisher('semantic_segmentation_result', Image, queue_size=10)
+        sub = rospy.Subscriber('camera/image_raw', Image, image_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('semantic_segmentation_node')
+        pub = node.create_publisher(Image, 'semantic_segmentation_result', 10)
+        sub = node.create_subscription(Image, 'camera/image_raw', image_callback, 10)
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Semantic segmentation node is running. Ctrl+C to exit.")
+        if ros_version == "1":
+            rospy.spin()
+        elif ros_version == "2":
+            rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("Shutting down semantic segmentation node.")
+    except Exception as e:
+        print(f"An error occurred: {str(e)}")
+    finally:
+        if ros_version == "2":
+            node.destroy_node()
+            rclpy.shutdown()
+
+if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        import rclpy
+    main()