diff --git a/github_scripts/.gitignore b/github_scripts/.gitignore new file mode 100644 index 0000000..8054fff --- /dev/null +++ b/github_scripts/.gitignore @@ -0,0 +1,3 @@ +push.sh +fix_errors.sh +repository_recal.sh diff --git a/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt b/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt index 9fa2462..c120fe1 100644 --- a/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt +++ b/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt @@ -44,6 +44,7 @@ if($ENV{ROS_VERSION} EQUAL 1) catkin_install_python( PROGRAMS src/bellande_2d_computer_vision_prediction.py + src/bellande_2d_computer_vision_face_detection.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) endif() @@ -51,10 +52,12 @@ endif() # Install Python scripts, configuration files, and launch files if($ENV{ROS_VERSION} EQUAL "1") install(PROGRAMS src/bellande_2d_computer_vision_prediction.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) else() install(PROGRAMS src/bellande_2d_computer_vision_prediction.py DESTINATION lib/${PROJECT_NAME}) + install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION lib/${PROJECT_NAME}) install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config) install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch) ament_package() diff --git a/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_face_detection.launch.py b/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_face_detection.launch.py new file mode 100644 index 0000000..6371e39 --- /dev/null +++ b/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_face_detection.launch.py @@ -0,0 +1,86 @@ +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_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([ + "ros_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 $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" + ]) + + # Execute the launch command + subprocess.call(roslaunch_command) + + + +def ros2_launch_description(): + nodes_to_launch = [] + + nodes_to_launch.append(Node( + package='usb_cam', + executable='usb_cam_node', + name='camera', + output='screen', + parameters=[{ + 'video_device': '/dev/video0', + 'image_width': 640, + 'image_height': 480, + 'pixel_format': 'yuyv', + 'camera_frame_id': 'usb_cam', + 'io_method': 'mmap' + }] + )) + + nodes_to_launch.append(Node( + package='ros_web_api_bellande_2d_computer_vision', + executable='bellande_2d_computer_vision_face_detection.py', + name='prediction_node', + output='screen', + remappings=[('camera/image_raw', '/usb_cam/image_raw')] + )) + + nodes_to_launch.append(Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', '$(find 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) diff --git a/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_prediction.launch.py b/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_prediction.launch.py index a87c258..0ebfcde 100644 --- a/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_prediction.launch.py +++ b/ros_web_api_bellande_2d_computer_vision/launch/bellande_2d_computer_vision_prediction.launch.py @@ -12,14 +12,68 @@ def ros1_launch_description(): args = sys.argv[1:] # Construct the ROS 1 launch commandi - roslaunch_command = ["roslaunch", "bellande_2d_computer_vision_prediction", "bellande_step_api_2d.launch"] + args + roslaunch_command = ["roslaunch", "ros_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([ + "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.py", "name:=prediction_node" + ]) + + roslaunch_command.extend([ + "rviz", "rviz", "name:=rviz", + "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" + ]) + # Execute the launch command subprocess.call(roslaunch_command) + def ros2_launch_description(): - pass + nodes_to_launch = [] + + nodes_to_launch.append(Node( + package='usb_cam', + executable='usb_cam_node', + name='camera', + output='screen', + parameters=[{ + 'video_device': '/dev/video0', + 'image_width': 640, + 'image_height': 480, + 'pixel_format': 'yuyv', + 'camera_frame_id': 'usb_cam', + 'io_method': 'mmap' + }] + )) + + nodes_to_launch.append(Node( + package='ros_web_api_bellande_2d_computer_vision', + executable='bellande_2d_computer_vision_prediction.py', + name='prediction_node', + output='screen', + remappings=[('camera/image_raw', '/usb_cam/image_raw')] + )) + + nodes_to_launch.append(Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz'] + )) + + return LaunchDescription(nodes_to_launch) + + if __name__ == "__main__": ros_version = os.getenv("ROS_VERSION") diff --git a/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_face_detection.launch b/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_face_detection.launch new file mode 100644 index 0000000..71648d5 --- /dev/null +++ b/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_face_detection.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_prediction.launch b/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_prediction.launch index 5e5a7d2..921f2c7 100644 --- a/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_prediction.launch +++ b/ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_prediction.launch @@ -15,8 +15,21 @@ License for the specific language governing permissions and limitations under the License. --> - + + + + + + + + + + + + + + diff --git a/ros_web_api_bellande_2d_computer_vision/rviz/visualization.rviz b/ros_web_api_bellande_2d_computer_vision/rviz/visualization.rviz new file mode 100644 index 0000000..45cabe8 --- /dev/null +++ b/ros_web_api_bellande_2d_computer_vision/rviz/visualization.rviz @@ -0,0 +1,143 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image1 + - /Image2 + 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: Image +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: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /usb_cam/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Raw Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /processed_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Processed Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + 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: + 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 + Raw Image: + collapsed: false + Processed Image: + collapsed: false diff --git a/ros_web_api_bellande_2d_computer_vision/script/build.sh b/ros_web_api_bellande_2d_computer_vision/script/build.sh deleted file mode 100644 index 199fe0e..0000000 --- a/ros_web_api_bellande_2d_computer_vision/script/build.sh +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash - -# Create and navigate to build directory -mkdir -p build && cd build - -# Build package -if [ $ROS_VERSION -eq 1 ]; then - cmake -DROS_VERSION=1 .. - make -j$(nproc) -else - cmake -DROS_VERSION=2 .. - make -j$(nproc) -fi - -# Source package setup file -source devel/setup.bash - -# Run rosdep -rosdep install --from-paths ../src --ignore-src -y - -# Return to package root directory -cd .. diff --git a/ros_web_api_bellande_2d_computer_vision/setup.py b/ros_web_api_bellande_2d_computer_vision/setup.py index 767ef92..02eea37 100755 --- a/ros_web_api_bellande_2d_computer_vision/setup.py +++ b/ros_web_api_bellande_2d_computer_vision/setup.py @@ -3,7 +3,7 @@ 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'], + scripts=['src/bellande_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py'], packages=['ros_web_api_bellande_2d_computer_vision'], package_dir={'': 'src'}, ) diff --git a/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_face_detection.py b/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_face_detection.py new file mode 100755 index 0000000..93d60c8 --- /dev/null +++ b/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_face_detection.py @@ -0,0 +1,94 @@ +import json +import os +import requests +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge + + +def face_detection(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 + } + + response = requests.post(api_url, json=payload) + + if response.status_code == 200: + result = response.json() + + for face in result['faces']: + x, y, w, h = face['bbox'] + cv2.rectangle(cv_image, (x, y), (x+w, y+h), (0, 255, 0), 2) + + processed_msg = bridge.cv2_to_imgmsg(cv_image, encoding="bgr8") + return processed_msg + else: + print(f"Error: {response.status_code} - {response.text}") + return None + + +def image_callback(msg): + processed_img = face_detection(msg) + if processed_img: + pub.publish(processed_img) + + +def main(): + global api_url, pub + + # Get the absolute path to the config file + config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json') + # Check if the config file exists + if not os.path.exists(config_file_path): + print("Config file not found:", config_file_path) + return + # Read configuration from config.json + with open(config_file_path, 'r') as config_file: + config = json.load(config_file) + url = config['url'] + endpoint_path = config['endpoint_path']["face_detection"] + + # Initialize ROS node + if ros_version == "1": + rospy.init_node('face_detection_node', anonymous=True) + pub = rospy.Publisher('processed_image', Image, queue_size=10) + sub = rospy.Subscriber('camera/image_raw', Image, image_callback) + elif ros_version == "2": + rclpy.init() + node = rclpy.create_node('face_detection_node') + pub = node.create_publisher(Image, 'processed_image', 10) + sub = node.create_subscription(Image, 'camera/image_raw', image_callback, 10) + + api_url = f"{url}{endpoint_path}" + + + try: + print("Face 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 face 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() diff --git a/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_prediction.py b/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_prediction.py index f2d448a..50e1cdc 100755 --- a/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_prediction.py +++ b/ros_web_api_bellande_2d_computer_vision/src/bellande_2d_computer_vision_prediction.py @@ -1,22 +1,87 @@ import json import os import requests +import cv2 +import base64 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +from std_msgs.msg import String + + +def predict(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 + } + + response = requests.post(api_url, json=payload) + + if response.status_code == 200: + result = response.json() + prediction = result['prediction'] + confidence = result['confidence'] + + prediction_msg = f"Prediction: {prediction}, Confidence: {confidence:.2f}" + return String(prediction_msg) + else: + print(f"Error: {response.status_code} - {response.text}") + return None + + +def image_callback(msg): + prediction = predict(msg) + if prediction: + pub.publish(prediction) + def main(): - # Get the absolute path to the config file - config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json') + global api_url, pub - # Check if the config file exists + 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 - - # Read configuration from config.json + with open(config_file_path, 'r') as config_file: config = json.load(config_file) url = config['url'] - endpoint_path = config['endpoint_path']["2d"] + endpoint_path = config['endpoint_path']["prediction"] + # Initialize ROS node + if ros_version == "1": + rospy.init_node('prediction_node', anonymous=True) + pub = rospy.Publisher('prediction_result', String, queue_size=10) + sub = rospy.Subscriber('camera/image_raw', Image, image_callback) + elif ros_version == "2": + rclpy.init() + node = rclpy.create_node('prediction_node') + pub = node.create_publisher(String, 'prediction_result', 10) + sub = node.create_subscription(Image, 'camera/image_raw', image_callback, 10) + + api_url = f"{url}{endpoint_path}" + + try: + print("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 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") @@ -24,5 +89,4 @@ if __name__ == '__main__': import rospy elif ros_version == "2": import rclpy - main()