latest pushes

web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_face_detection.launch.py

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+# 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", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.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([
+        "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_face_detection.py',
+        name='face_detection_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find 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)

web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_instance_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", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.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([
+        "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_face_detection.py',
+        name='face_detection_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find 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)

web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_object_detection.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", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.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([
+        "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_face_detection.py',
+        name='face_detection_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find 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)

web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_prediction.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", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.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([
+        "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.py", "name:=prediction_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_prediction.py',
+        name='prediction_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find 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)

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", "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([
+        "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 $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+    ])
+    
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='usb_cam',
+        executable='usb_cam_node',
+        name='camera',
+        output='screen',
+        parameters=[{
+            'video_device': '/dev/video0',
+            'image_width': 640,
+            'image_height': 480,
+            'pixel_format': 'yuyv',
+            'camera_frame_id': 'usb_cam',
+            'io_method': 'mmap'
+        }]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_2d_computer_vision',
+        executable='bellande_2d_computer_vision_semantic_segmentation.py',
+        name='face_detection_node',
+        output='screen',
+        remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find 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)

web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_face_detection.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+<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="web_api_bellande_2d_computer_vision"
+    type="bellande_2d_computer_vision_face_detection.py"
+    output="screen">
+    <remap from="camera/image_raw" to="/usb_cam/image_raw" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_instance_segmentation.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+<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="instance_segmentation_node" pkg="web_api_bellande_2d_computer_vision"
+    type="bellande_2d_computer_vision_instance_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 web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_object_detection.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+<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="object_detection_node" pkg="web_api_bellande_2d_computer_vision"
+    type="bellande_2d_computer_vision_object_detection.py"
+    output="screen">
+    <remap from="camera/image_raw" to="/usb_cam/image_raw" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_prediction.launch

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+<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="prediction_node" pkg="web_api_bellande_2d_computer_vision"
+    type="bellande_2d_computer_vision_prediction.py" output="screen">
+    <remap from="camera/image_raw" to="/usb_cam/image_raw" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_semantic_segmentation.launch

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!--
+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/>.
+-->
+<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="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 web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>