CV

github_scripts/.gitignore

@@ -0,0 +1,3 @@
+push.sh
+fix_errors.sh
+repository_recal.sh

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()

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)

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")

ros_web_api_bellande_2d_computer_vision/launch/ros1/bellande_2d_computer_vision_face_detection.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_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 ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
+</launch>

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.
 -->
 <launch>
-  <node pkg="bellande_2d_computer_vision_prediction"
+  <node name="camera" pkg="usb_cam" type="usb_cam_node" output="screen">
-    type="bellande_2d_computer_vision_prediction.py"
+    <param name="video_device" value="/dev/video0" />
-    name="bellande_2d_computer_vision_prediction_node" output="screen">
+    <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="ros_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 ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
+
 </launch>

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: <Fixed 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: <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
+  Raw Image:
+    collapsed: false
+  Processed Image:
+    collapsed: false

ros_web_api_bellande_2d_computer_vision/script/build.sh

@@ -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 ..

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'},
 )

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()

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
+    global api_url, pub
-    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
 
-    # 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()