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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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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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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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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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cmake_minimum_required(VERSION 3.0.2)
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project(humanoid_robot_intelligence_control_system_face_detector)
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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cv_bridge
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)
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catkin_package(
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CATKIN_DEPENDS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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cv_bridge
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)
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else()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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endif()
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_python_setup()
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catkin_install_python(PROGRAMS
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src/face_detection_processor.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY config launch rviz
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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else()
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ament_python_install_package(${PROJECT_NAME})
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install(PROGRAMS
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src/face_detection_processor.py
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY config launch rviz
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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endif()
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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 command
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_face_detector", "face_detector_processor.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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"humanoid_robot_intelligence_control_system_ball_detector", "face_detection_processor.py", "name:=face_detection_processor_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='humanoid_robot_intelligence_control_system_face_detector',
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executable='face_detection_processor.py',
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name='face_detection_processor_node',
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output='screen',
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parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
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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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<?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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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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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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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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-->
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<launch>
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<!-- Launch USB camera -->
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<node name="usb_cam" 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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<!-- Launch face detection node -->
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<node name="face_detection_node" pkg="ros_web_api_bellande_2d_computer_vision" type="bellande_2d_computer_vision_face_detection.py" 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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<!-- Launch face detection processor node -->
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<node name="face_detection_processor_node" pkg="humanoid_robot_intelligence_control_system_ball_detector" type="face_detection_processor.py" output="screen">
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<param name="yaml_path" value="$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml"/>
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</node>
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<!-- Launch RViz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
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</launch>
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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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<package format="3">
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<name>humanoid_robot_intelligence_control_system_face_detector</name>
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<version>0.0.1</version>
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<description>
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This Package is for Object Detection, detecting faces like tools, or utilities
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</description>
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<license>Apache 2.0</license>
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<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
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<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
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<!-- ROS 1 dependencies -->
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<depend condition="$ROS_VERSION == 1">rospy</depend>
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<depend condition="$ROS_VERSION == 1">std_msgs</depend>
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<depend condition="$ROS_VERSION == 1">sensor_msgs</depend>
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<depend condition="$ROS_VERSION == 1">geometry_msgs</depend>
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<depend condition="$ROS_VERSION == 1">cv_bridge</depend>
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<depend condition="$ROS_VERSION == 1">image_transport</depend>
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<depend condition="$ROS_VERSION == 1">dynamic_reconfigure</depend>
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<depend condition="$ROS_VERSION == 1">message_generation</depend>
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<depend condition="$ROS_VERSION == 1">message_runtime</depend>
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<!-- ROS 2 dependencies -->
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<depend condition="$ROS_VERSION == 2">rclpy</depend>
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<depend condition="$ROS_VERSION == 2">std_msgs</depend>
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<depend condition="$ROS_VERSION == 2">sensor_msgs</depend>
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<depend condition="$ROS_VERSION == 2">geometry_msgs</depend>
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<depend condition="$ROS_VERSION == 2">cv_bridge</depend>
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<depend condition="$ROS_VERSION == 2">image_transport</depend>
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<depend condition="$ROS_VERSION == 2">rosidl_default_generators</depend>
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<depend condition="$ROS_VERSION == 2">rosidl_default_runtime</depend>
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<!-- Common dependencies -->
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<depend>python3-opencv</depend>
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<depend>python3-yaml</depend>
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<depend>usb_cam</depend>
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<export>
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<build_type condition="$ROS_VERSION == 1">catkin</build_type>
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<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
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</export>
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</package>
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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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from distutils.core import setup
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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/face_detection_processor.py'],
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packages=['humanoid_robot_intelligence_control_system_face_detector'],
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package_dir={'': 'src'},
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)
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setup(**setup_args)
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#!/usr/bin/env python3
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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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||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import rospy
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import cv2
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import numpy as np
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from sensor_msgs.msg import Image, CameraInfo
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from std_msgs.msg import Bool, String
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from cv_bridge import CvBridge
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import yaml
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class ObjectDetectionProcessor:
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def __init__(self):
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rospy.init_node('face_detection_processor')
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self.bridge = CvBridge()
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self.enable = True
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self.new_image_flag = False
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self.load_params()
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self.setup_ros()
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def load_params(self):
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param_path = rospy.get_param('~yaml_path', '')
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if param_path:
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with open(param_path, 'r') as file:
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self.params = yaml.safe_load(file)
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else:
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self.set_default_params()
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def set_default_params(self):
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self.params = {
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'debug': False,
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'ellipse_size': 2,
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# Add other default parameters as needed
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}
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def setup_ros(self):
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self.image_pub = rospy.Publisher('image_out', Image, queue_size=10)
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self.camera_info_pub = rospy.Publisher('camera_info', CameraInfo, queue_size=10)
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rospy.Subscriber('enable', Bool, self.enable_callback)
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rospy.Subscriber('image_in', Image, self.image_callback)
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rospy.Subscriber('cameraInfo_in', CameraInfo, self.camera_info_callback)
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rospy.Subscriber('face_detection_result', String, self.face_detection_callback)
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def enable_callback(self, msg):
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self.enable = msg.data
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def image_callback(self, msg):
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if not self.enable:
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return
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self.cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
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self.new_image_flag = True
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self.image_header = msg.header
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def camera_info_callback(self, msg):
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if not self.enable:
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return
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self.camera_info_msg = msg
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def face_detection_callback(self, msg):
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if not self.enable or not hasattr(self, 'cv_image'):
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return
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faces = eval(msg.data) # Assuming the data is a string representation of a list
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self.process_detected_faces(faces)
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def process_detected_faces(self, faces):
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output_image = self.cv_image.copy()
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for obj in faces:
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x, y, w, h = obj['bbox']
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cv2.rectangle(output_image, (int(x), int(y)), (int(x+w), int(y+h)), (0, 255, 0), 2)
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cv2.putText(output_image, f"{obj['label']}: {obj['confidence']:.2f}",
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(int(x), int(y-10)), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
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self.publish_image(output_image)
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def publish_image(self, image):
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img_msg = self.bridge.cv2_to_imgmsg(image, encoding="bgr8")
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img_msg.header = self.image_header
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self.image_pub.publish(img_msg)
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if hasattr(self, 'camera_info_msg'):
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self.camera_info_pub.publish(self.camera_info_msg)
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def run(self):
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rate = rospy.Rate(30) # 30 Hz
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while not rospy.is_shutdown():
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if self.new_image_flag:
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# The processing is done in face_detection_callback
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self.new_image_flag = False
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rate.sleep()
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if __name__ == '__main__':
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try:
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processor = ObjectDetectionProcessor()
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processor.run()
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except rospy.ROSInterruptException:
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pass
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Block a user