license
This commit is contained in:
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5daf137e8c
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@ -45,6 +45,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
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PROGRAMS
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src/bellande_2d_computer_vision_prediction.py
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src/bellande_2d_computer_vision_face_detection.py
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src/bellande_2d_computer_vision_object_detection.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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endif()
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@ -53,11 +54,13 @@ endif()
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if($ENV{ROS_VERSION} EQUAL "1")
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install(PROGRAMS src/bellande_2d_computer_vision_prediction.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_2d_computer_vision_object_detection.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 ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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else()
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install(PROGRAMS src/bellande_2d_computer_vision_prediction.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_2d_computer_vision_face_detection.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_2d_computer_vision_object_detection.py DESTINATION lib/${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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@ -0,0 +1,101 @@
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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 os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
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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", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.launch"] + args
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roslaunch_command.extend([
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"usb_cam", "usb_cam_node", "name:=camera",
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"video_device:=/dev/video0",
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"image_width:=640",
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"image_height:=480",
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"pixel_format:=yuyv",
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"camera_frame_id:=usb_cam",
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"io_method:=mmap"
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])
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roslaunch_command.extend([
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"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
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])
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roslaunch_command.extend([
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"rviz", "rviz", "name:=rviz",
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"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
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])
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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nodes_to_launch = []
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nodes_to_launch.append(Node(
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package='usb_cam',
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executable='usb_cam_node',
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name='camera',
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output='screen',
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parameters=[{
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'video_device': '/dev/video0',
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'image_width': 640,
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'image_height': 480,
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'pixel_format': 'yuyv',
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'camera_frame_id': 'usb_cam',
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'io_method': 'mmap'
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}]
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))
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nodes_to_launch.append(Node(
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package='ros_web_api_bellande_2d_computer_vision',
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executable='bellande_2d_computer_vision_face_detection.py',
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name='face_detection_node',
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output='screen',
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remappings=[('camera/image_raw', '/usb_cam/image_raw')]
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))
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nodes_to_launch.append(Node(
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package='rviz2',
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executable='rviz2',
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name='rviz',
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arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
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))
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return LaunchDescription(nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,36 @@
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<?xml version="1.0"?>
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<!--
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Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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Licensed under the Apache License, Version 2.0 (the "License"); you may not
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use this file except in compliance with the License. You may obtain a copy of
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the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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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 name="camera" pkg="usb_cam" type="usb_cam_node" output="screen">
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<param name="video_device" value="/dev/video0" />
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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<param name="pixel_format" value="yuyv" />
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<param name="camera_frame_id" value="usb_cam" />
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<param name="io_method" value="mmap" />
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</node>
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<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision"
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type="bellande_2d_computer_vision_object_detection.py"
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output="screen">
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<remap from="camera/image_raw" to="/usb_cam/image_raw" />
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</node>
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<node name="rviz" pkg="rviz" type="rviz"
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args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
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</launch>
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@ -18,7 +18,7 @@ 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_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py'],
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scripts=['src/bellande_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py', 'src/bellande_2d_computer_vision_object_detection.py'],
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packages=['ros_web_api_bellande_2d_computer_vision'],
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package_dir={'': 'src'},
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)
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@ -0,0 +1,115 @@
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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 cv2
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import numpy as np
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import base64
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from sensor_msgs.msg import Image
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from cv_bridge import CvBridge
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def object_detection(image):
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bridge = CvBridge()
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cv_image = bridge.imgmsg_to_cv2(image, desired_encoding="bgr8")
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_, img_encoded = cv2.imencode('.jpg', cv_image)
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img_base64 = base64.b64encode(img_encoded).decode('utf-8')
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payload = {
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"image": img_base64,
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"task": "object_detection"
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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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for obj in result['objects']:
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label = obj['label']
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confidence = obj['confidence']
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x, y, w, h = obj['bbox']
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cv2.rectangle(cv_image, (x, y), (x+w, y+h), (0, 255, 0), 2)
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cv2.putText(cv_image, f"{label}: {confidence:.2f}", (x, y-10),
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cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
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return bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
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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 image_callback(msg):
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processed_img = object_detection(msg)
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if processed_img:
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pub.publish(processed_img)
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def main():
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global api_url, api_access_key ,pub
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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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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']["object_detection"]
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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('object_detection_node', anonymous=True)
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pub = rospy.Publisher('object_detection_result', Image, queue_size=10)
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sub = rospy.Subscriber('camera/image_raw', Image, image_callback)
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elif ros_version == "2":
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rclpy.init()
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node = rclpy.create_node('object_detection_node')
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pub = node.create_publisher(Image, 'object_detection_result', 10)
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sub = node.create_subscription(Image, 'camera/image_raw', image_callback, 10)
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api_url = f"{url}{endpoint_path}"
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try:
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print("Object detection 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 object detection 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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if ros_version == "1":
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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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@ -59,21 +59,19 @@ def image_callback(msg):
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def main():
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global api_url, pub
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global api_url, api_access_key ,pub
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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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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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api_access_key = config["Bellande_Framework_Access_Key"]
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# Initialize ROS node
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if ros_version == "1":
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rospy.init_node('prediction_node', anonymous=True)
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pub = rospy.Publisher('prediction_result', String, queue_size=10)
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