cv
This commit is contained in:
parent
07528e66a6
commit
75b4bc32ea
@ -44,6 +44,9 @@ if($ENV{ROS_VERSION} EQUAL 1)
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catkin_install_python(
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PROGRAMS
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src/bellande_3d_computer_vision_prediction.py
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src/bellande_3d_computer_vision_object_detection.py
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src/bellande_3d_computer_vision_instance_segmentation.py
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src/bellande_3d_computer_vision_semantic_segmentation.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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endif()
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@ -51,10 +54,17 @@ endif()
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# Install Python scripts, configuration files, and launch files
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if($ENV{ROS_VERSION} EQUAL "1")
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install(PROGRAMS src/bellande_3d_computer_vision_prediction.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_3d_computer_vision_object_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_3d_computer_vision_instance_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_3d_computer_vision_semantic_segmentation.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
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install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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elseif($ENV{ROS_VERSION} EQUAL "2")
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else()
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install(PROGRAMS src/bellande_3d_computer_vision_prediction.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_3d_computer_vision_object_detection.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_3d_computer_vision_instance_segmentation.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_3d_computer_vision_semantic_segmentation.py DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
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install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
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ament_package()
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endif()
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@ -12,7 +12,7 @@ def ros1_launch_description():
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args = sys.argv[1:]
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# Construct the ROS 1 launch commandi
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roslaunch_command = ["roslaunch", "bellande_3d_computer_vision_prediction", "bellande_step_api_2d.launch"] + args
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roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
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# Execute the launch command
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subprocess.call(roslaunch_command)
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@ -15,8 +15,21 @@ License for the specific language governing permissions and limitations under
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the License.
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-->
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<launch>
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<node pkg="bellande_3d_computer_vision_prediction"
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type="bellande_3d_computer_vision_prediction.py"
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name="bellande_3d_computer_vision_prediction_node" output="screen">
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<!-- Launch the point cloud source (adjust parameters as needed) -->
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<node name="pointcloud_publisher" pkg="ros_web_api_bellande_3d_computer_vision"
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type="pointcloud_pradiction_node"
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output="screen">
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<param name="frame_id" value="base_link" />
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</node>
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<!-- Launch the prediction node -->
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<node name="pointcloud_prediction_node" pkg="ros_web_api_bellande_3d_computer_vision"
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type="pointcloud_prediction_node.py" output="screen">
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<remap from="input_pointcloud" to="/pointcloud_topic" />
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</node>
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<!-- Launch RViz for visualization -->
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<node name="rviz" pkg="rviz" type="rviz"
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args="-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
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</launch>
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@ -0,0 +1,215 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /PointCloud21
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- /PointCloud22
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- /PointCloud23
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- /MarkerArray1
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Splitter Ratio: 0.5
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Tree Height: 549
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Original PointCloud
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Flat Squares
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Topic: /pointcloud_topic
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: instance
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Instance Segmentation
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Flat Squares
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Topic: /pointcloud_instance_segmentation_result
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: semantic
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Semantic Segmentation
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Flat Squares
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Topic: /pointcloud_semantic_segmentation_result
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /pointcloud_object_detection_result
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Name: Object Detection
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 10
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.785398006
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.785398006
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 846
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1200
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X: 65
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Y: 60
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@ -3,7 +3,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
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# fetch values from package.xml
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setup_args = generate_distutils_setup(
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scripts=['src/bellande_3d_computer_vision_prediction.py'],
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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'],
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packages=['ros_web_api_bellande_3d_computer_vision'],
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package_dir={'': 'src'},
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)
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@ -1,23 +1,99 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import json
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import os
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import requests
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import numpy as np
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import base64
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from sensor_msgs.msg import PointCloud2
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import sensor_msgs.point_cloud2 as pc2
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from std_msgs.msg import String
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def pointcloud_prediction(cloud_msg):
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points = np.array(list(pc2.read_points(cloud_msg, skip_nans=True, field_names=("x", "y", "z"))))
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# Convert pointcloud to base64 encoding
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points_base64 = base64.b64encode(points.tobytes()).decode('utf-8')
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payload = {
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"pointcloud": points_base64
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}
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headers = {
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"Authorization": f"Bearer {api_access_key}"
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}
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response = requests.post(api_url, json=payload, headers=headers)
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if response.status_code == 200:
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result = response.json()
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prediction = result['prediction']
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confidence = result['confidence']
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return String(f"Prediction: {prediction}, Confidence: {confidence:.2f}")
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else:
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print(f"Error: {response.status_code} - {response.text}")
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return None
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def pointcloud_callback(msg):
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prediction = pointcloud_prediction(msg)
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if prediction:
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pub.publish(prediction)
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def main():
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# Get the absolute path to the config file
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config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
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global api_url, api_access_key, pub
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# Check if the config file exists
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config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
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if not os.path.exists(config_file_path):
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print("Config file not found:", config_file_path)
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return
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# Read configuration from config.json
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with open(config_file_path, 'r') as config_file:
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config = json.load(config_file)
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url = config['url']
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endpoint_path = config['endpoint_path']["prediction"]
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endpoint_path = config['endpoint_path']["pointcloud_api"]
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api_access_key = config["Bellande_Framework_Access_Key"]
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if ros_version == "1":
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rospy.init_node('pointcloud_prediction_node', anonymous=True)
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pub = rospy.Publisher('pointcloud_prediction_result', String, queue_size=10)
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sub = rospy.Subscriber('input_pointcloud', PointCloud2, pointcloud_callback)
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elif ros_version == "2":
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rclpy.init()
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node = rclpy.create_node('pointcloud_prediction_node')
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pub = node.create_publisher(String, 'pointcloud_prediction_result', 10)
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sub = node.create_subscription(PointCloud2, 'input_pointcloud', pointcloud_callback, 10)
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api_url = f"{url}{endpoint_path}"
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try:
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print("Pointcloud prediction node is running. Ctrl+C to exit.")
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if ros_version == "1":
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rospy.spin()
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elif ros_version == "2":
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rclpy.spin(node)
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except KeyboardInterrupt:
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print("Shutting down pointcloud prediction node.")
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except Exception as e:
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print(f"An error occurred: {str(e)}")
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finally:
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if ros_version == "2":
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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ros_version = os.getenv("ROS_VERSION")
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@ -25,5 +101,4 @@ if __name__ == '__main__':
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import rospy
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elif ros_version == "2":
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import rclpy
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main()
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Block a user