cv

2024-06-29 22:32:38 -04:00
parent 07528e66a6
commit 75b4bc32ea
6 changed files with 326 additions and 13 deletions
--- a/ros_web_api_bellande_3d_computer_vision/CMakeLists.txt
+++ b/ros_web_api_bellande_3d_computer_vision/CMakeLists.txt
@@ -44,6 +44,9 @@ 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
+    src/bellande_3d_computer_vision_semantic_segmentation.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )
 endif()
@@ -51,10 +54,17 @@ endif()
 # Install Python scripts, configuration files, and launch files
 if($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(PROGRAMS src/bellande_3d_computer_vision_semantic_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
-elseif($ENV{ROS_VERSION} EQUAL "2")
+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/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_3d_computer_vision_semantic_segmentation.py DESTINATION lib/${PROJECT_NAME})
    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+    ament_package()
 endif()
--- a/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py
+++ b/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py
@@ -12,7 +12,7 @@ def ros1_launch_description():
    args = sys.argv[1:]

    # Construct the ROS 1 launch commandi
-    roslaunch_command = ["roslaunch", "bellande_3d_computer_vision_prediction", "bellande_step_api_2d.launch"] + args
+    roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args

    # Execute the launch command
    subprocess.call(roslaunch_command)
--- a/ros_web_api_bellande_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_prediction.launch
+++ b/ros_web_api_bellande_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_prediction.launch
@@ -15,8 +15,21 @@ License for the specific language governing permissions and limitations under
 the License.
 -->
 <launch>
-  <node pkg="bellande_3d_computer_vision_prediction"
-    type="bellande_3d_computer_vision_prediction.py"
-    name="bellande_3d_computer_vision_prediction_node" output="screen">
+  <!-- Launch the point cloud source (adjust parameters as needed) -->
+  <node name="pointcloud_publisher" pkg="ros_web_api_bellande_3d_computer_vision"
+    type="pointcloud_pradiction_node"
+    output="screen">
+    <param name="frame_id" value="base_link" />
  </node>
+
+  <!-- Launch the prediction node -->
+  <node name="pointcloud_prediction_node" pkg="ros_web_api_bellande_3d_computer_vision"
+    type="pointcloud_prediction_node.py" output="screen">
+    <remap from="input_pointcloud" to="/pointcloud_topic" />
+  </node>
+
+  <!-- Launch RViz for visualization -->
+  <node name="rviz" pkg="rviz" type="rviz"
+    args="-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
+
 </launch>
--- a/ros_web_api_bellande_3d_computer_vision/rviz/pointcloud_visualization.rviz
+++ b/ros_web_api_bellande_3d_computer_vision/rviz/pointcloud_visualization.rviz
@@ -0,0 +1,215 @@
+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
--- a/ros_web_api_bellande_3d_computer_vision/setup.py
+++ b/ros_web_api_bellande_3d_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_3d_computer_vision_prediction.py'],
+    scripts=['src/bellande_3d_computer_vision_prediction.py', 'src/bellande_3d_computer_vision_object_detection.py', 'src/bellande_3d_computer_vision_instance_segmentation.py', 'src/bellande_3d_computer_vision_semantic_segmentation.py'],
    packages=['ros_web_api_bellande_3d_computer_vision'],
    package_dir={'': 'src'},
 )
--- a/ros_web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_prediction.py
+++ b/ros_web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_prediction.py
@@ -1,23 +1,99 @@
+# 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"))))
+    
+    # Convert pointcloud to base64 encoding
+    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():
-    # Get the absolute path to the config file
-    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+    global api_url, api_access_key, 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']["prediction"]
+        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")
@@ -25,5 +101,4 @@ if __name__ == '__main__':
        import rospy
    elif ros_version == "2":
        import rclpy
-
    main()