latest pushes

web_api_bellande_3d_computer_vision/CMakeLists.txt

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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/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(web_api_bellande_3d_computer_vision)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts for both ROS 1
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_install_python(
+    PROGRAMS
+    src/bellande_3d_computer_vision_prediction.py
+    src/bellande_3d_computer_vision_object_detection.py
+    src/bellande_3d_computer_vision_instance_segmentation.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_3d_computer_vision_prediction.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(PROGRAMS src/bellande_3d_computer_vision_object_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(PROGRAMS src/bellande_3d_computer_vision_instance_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+else()
+    install(PROGRAMS src/bellande_3d_computer_vision_prediction.py DESTINATION lib/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_3d_computer_vision_object_detection.py DESTINATION lib/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_3d_computer_vision_instance_segmentation.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+    ament_package()
+endif()

web_api_bellande_3d_computer_vision/README.md

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+# Bellande 3D Computer Vision Web ROS/ROS2 API Intergration
+
+[Bellande 3D Computer Vision](https://github.com/RonaldsonBellande/bellande_3d_computer_vision)

web_api_bellande_3d_computer_vision/config/configs.json

@@ -0,0 +1,26 @@
+{
+  "license": [
+    "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/>.",
+    "GNU General Public License v3.0 or later"
+  ],
+  "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+  "endpoint_path": {
+    "prediction": "/api/Bellande_3D_Computer_Vision/bellande_classification_prediction",
+    "object_detection": "/api/Bellande_3D_Computer_Vision/bellande_object_detection",
+    "instance_segmentation": "/api/Bellande_3D_Computer_Vision/bellande_instance_segmentation",
+    "sementic_segmentation": "/api/Bellande_3D_Computer_Vision/bellande_sementic_segmentation"
+  },
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}

web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_instance_segmentation.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():
+    args = sys.argv[1:]
+    
+    roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
+    
+    roslaunch_command.extend([
+        "param", "config_file",
+        "value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
+    ])     
+    
+    roslaunch_command.extend([
+        "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
+    ])
+    
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_3d_computer_vision',
+        executable='bellande_3d_computer_vision_prediction.py',
+        name='pointcloud_prediction_node',
+        output='screen',
+        remappings=[('input_pointcloud', '/pointcloud_topic')],
+        parameters=[{'config_file': LaunchConfiguration('config_file')}]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_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_3d_computer_vision/launch/bellande_3d_computer_vision_object_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():
+    args = sys.argv[1:]
+    
+    roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.launch"] + args
+    
+    roslaunch_command.extend([
+        "param", "config_file",
+        "value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
+    ])    
+    
+    roslaunch_command.extend([
+        "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.py", "name:=pointcloud_object_detection_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
+    ])
+    
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_3d_computer_vision',
+        executable='pointcloud_object_detection_node.py',
+        name='pointcloud_object_detection_node',
+        output='screen',
+        remappings=[('input_pointcloud', '/pointcloud_topic')],
+        parameters=[{'config_file': LaunchConfiguration('config_file')}]
+    ))
+
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_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_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.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():
+    args = sys.argv[1:]
+    
+    roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
+    
+    roslaunch_command.extend([
+        "param", "config_file",
+        "value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
+    ])     
+    
+    roslaunch_command.extend([
+        "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
+    ])
+    
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
+    ])
+    
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    nodes_to_launch = []
+    
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_3d_computer_vision',
+        executable='bellande_3d_computer_vision_prediction.py',
+        name='pointcloud_prediction_node',
+        output='screen',
+        remappings=[('input_pointcloud', '/pointcloud_topic')],
+        parameters=[{'config_file': LaunchConfiguration('config_file')}]
+    ))
+    
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_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_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_instance_segmentation.launch

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+<?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>
+  <param name="config_file"
+    value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
+
+  <node name="pointcloud_prediction_node" pkg="web_api_bellande_3d_computer_vision"
+    type="bellande_3d_computer_vision_prediction.py" output="screen">
+    <remap from="input_pointcloud" to="/pointcloud_topic" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
+
+</launch>

web_api_bellande_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_object_detection.launch

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+<?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>
+  <param name="config_file"
+    value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
+
+  <node name="pointcloud_object_detection_node" pkg="web_api_bellande_3d_computer_vision"
+    type="pointcloud_object_detection_node.py" output="screen">
+    <remap from="input_pointcloud" to="/pointcloud_topic" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
+
+</launch>

web_api_bellande_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_prediction.launch

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+<?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>
+  <param name="config_file"
+    value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
+
+  <node name="pointcloud_prediction_node" pkg="web_api_bellande_3d_computer_vision"
+    type="bellande_3d_computer_vision_prediction.py" output="screen">
+    <remap from="input_pointcloud" to="/pointcloud_topic" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
+
+</launch>

web_api_bellande_3d_computer_vision/package.xml

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+<?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/>.
+-->
+
+<package format="3">
+  <name>web_api_bellande_3d_computer_vision</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>

web_api_bellande_3d_computer_vision/rviz/pointcloud_visualization.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /PointCloud22
+        - /PointCloud23
+        - /MarkerArray1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Original PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /pointcloud_topic
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: instance
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Instance Segmentation
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /pointcloud_instance_segmentation_result
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: semantic
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Semantic Segmentation
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /pointcloud_semantic_segmentation_result
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /pointcloud_object_detection_result
+      Name: Object Detection
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.785398006
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 65
+  Y: 60

web_api_bellande_3d_computer_vision/setup.py

@@ -0,0 +1,11 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    scripts=['src/bellande_3d_computer_vision_prediction.py', 'src/bellande_3d_computer_vision_object_detection.py', 'src/bellande_3d_computer_vision_instance_segmentation.py'],
+    packages=['web_api_bellande_3d_computer_vision'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_instance_segmentation.py

@@ -0,0 +1,111 @@
+# 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 numpy as np
+import base64
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs.point_cloud2 as pc2
+
+
+def pointcloud_instance_segmentation(cloud_msg):
+    points = np.array(list(pc2.read_points(cloud_msg, skip_nans=True, field_names=("x", "y", "z"))))
+    
+    points_base64 = base64.b64encode(points.tobytes()).decode('utf-8')
+
+    payload = {
+        "pointcloud": points_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()
+        instance_labels = np.array(result['instance_labels'])
+        
+        fields = [
+            pc2.PointField(name="x", offset=0, datatype=pc2.PointField.FLOAT32, count=1),
+            pc2.PointField(name="y", offset=4, datatype=pc2.PointField.FLOAT32, count=1),
+            pc2.PointField(name="z", offset=8, datatype=pc2.PointField.FLOAT32, count=1),
+            pc2.PointField(name="instance", offset=12, datatype=pc2.PointField.UINT32, count=1),
+        ]
+        
+        segmented_cloud = pc2.create_cloud(cloud_msg.header, fields, np.hstack((points, instance_labels.reshape(-1, 1))))
+        return segmented_cloud
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None
+
+
+def pointcloud_callback(msg):
+    segmented_cloud = pointcloud_instance_segmentation(msg)
+    if segmented_cloud:
+        pub.publish(segmented_cloud)
+
+
+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']["instance_segmentation"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    if ros_version == "1":
+        rospy.init_node('pointcloud_instance_segmentation_node', anonymous=True)
+        pub = rospy.Publisher('pointcloud_instance_segmentation_result', PointCloud2, queue_size=10)
+        sub = rospy.Subscriber('input_pointcloud', PointCloud2, pointcloud_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('pointcloud_instance_segmentation_node')
+        pub = node.create_publisher(PointCloud2, 'pointcloud_instance_segmentation_result', 10)
+        sub = node.create_subscription(PointCloud2, 'input_pointcloud', pointcloud_callback, 10)
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Pointcloud instance 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 pointcloud instance 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()

web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_object_detection.py

@@ -0,0 +1,121 @@
+# 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 numpy as np
+import base64
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs.point_cloud2 as pc2
+from visualization_msgs.msg import Marker, MarkerArray
+
+
+def pointcloud_object_detection(cloud_msg):
+    points = np.array(list(pc2.read_points(cloud_msg, skip_nans=True, field_names=("x", "y", "z"))))
+    
+    points_base64 = base64.b64encode(points.tobytes()).decode('utf-8')
+
+    payload = {
+        "pointcloud": points_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()
+        marker_array = MarkerArray()
+        for idx, obj in enumerate(result['objects']):
+            marker = Marker()
+            marker.header = cloud_msg.header
+            marker.ns = "object_detection"
+            marker.id = idx
+            marker.type = Marker.CUBE
+            marker.action = Marker.ADD
+            marker.pose.position.x = obj['centroid'][0]
+            marker.pose.position.y = obj['centroid'][1]
+            marker.pose.position.z = obj['centroid'][2]
+            marker.scale.x = obj['dimensions'][0]
+            marker.scale.y = obj['dimensions'][1]
+            marker.scale.z = obj['dimensions'][2]
+            marker.color.a = 0.5
+            marker.color.r = 1.0
+            marker.color.g = 0.0
+            marker.color.b = 0.0
+            marker_array.markers.append(marker)
+        return marker_array
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None
+
+
+def pointcloud_callback(msg):
+    markers = pointcloud_object_detection(msg)
+    if markers:
+        pub.publish(markers)
+
+
+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']["object_detection"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    if ros_version == "1":
+        rospy.init_node('pointcloud_object_detection_node', anonymous=True)
+        pub = rospy.Publisher('pointcloud_object_detection_result', MarkerArray, queue_size=10)
+        sub = rospy.Subscriber('input_pointcloud', PointCloud2, pointcloud_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('pointcloud_object_detection_node')
+        pub = node.create_publisher(MarkerArray, 'pointcloud_object_detection_result', 10)
+        sub = node.create_subscription(PointCloud2, 'input_pointcloud', pointcloud_callback, 10)
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Pointcloud object detection 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 pointcloud object detection 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()

web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_prediction.py

@@ -0,0 +1,103 @@
+# 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 numpy as np
+import base64
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs.point_cloud2 as pc2
+from std_msgs.msg import String
+
+
+def pointcloud_prediction(cloud_msg):
+    points = np.array(list(pc2.read_points(cloud_msg, skip_nans=True, field_names=("x", "y", "z"))))
+    
+    points_base64 = base64.b64encode(points.tobytes()).decode('utf-8')
+
+    payload = {
+        "pointcloud": points_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()
+        prediction = result['prediction']
+        confidence = result['confidence']
+        return String(f"Prediction: {prediction}, Confidence: {confidence:.2f}")
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None
+
+
+def pointcloud_callback(msg):
+    prediction = pointcloud_prediction(msg)
+    if prediction:
+        pub.publish(prediction)
+
+
+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']["pointcloud_api"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    if ros_version == "1":
+        rospy.init_node('pointcloud_prediction_node', anonymous=True)
+        pub = rospy.Publisher('pointcloud_prediction_result', String, queue_size=10)
+        sub = rospy.Subscriber('input_pointcloud', PointCloud2, pointcloud_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('pointcloud_prediction_node')
+        pub = node.create_publisher(String, 'pointcloud_prediction_result', 10)
+        sub = node.create_subscription(PointCloud2, 'input_pointcloud', pointcloud_callback, 10)
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Pointcloud prediction 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 pointcloud prediction 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()