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Address PR comments, add perception_utils
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(perception_utils) | ||
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| # Find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(OpenCV REQUIRED) | ||
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| # Include header files | ||
| include_directories(include | ||
| ${OpenCV_INCLUDE_DIRS} | ||
| ) | ||
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| # Declare a C++ library | ||
| add_library(perception_utils SHARED | ||
| src/camera_utils.cpp | ||
| ) | ||
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| # Specify libraries to link a library or executable target against | ||
| ament_target_dependencies(perception_utils | ||
| rclcpp | ||
| OpenCV) | ||
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| install(TARGETS perception_utils | ||
| EXPORT export_perception_utils | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
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| ament_export_targets(export_perception_utils HAS_LIBRARY_TARGET) | ||
| ament_export_include_directories(include) | ||
| ament_export_dependencies(rclcpp) | ||
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| # Install header files | ||
| install(DIRECTORY include/ | ||
| DESTINATION include | ||
| ) | ||
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| ament_package() |
14 changes: 14 additions & 0 deletions
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src/perception/perception_utils/include/perception_utils/camera_utils.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| #ifndef CAMERA_UTILS_HPP_ | ||
| #define CAMERA_UTILS_HPP_ | ||
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| #include <opencv2/opencv.hpp> | ||
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| namespace CameraUtils { | ||
| // Swaps the channels of an image from HWC to CHW format | ||
| void hwc_img_2_chw_data(const cv::Mat& hwc_img, float* data); | ||
| cv::Mat resize_image_aspect_ratio(const cv::Mat& original_image, int max_width, int max_height); | ||
| cv::Mat resize_with_padding(const cv::Mat& original_image, int target_width, int target_height); | ||
| cv::Mat resize_from_center(const cv::Mat& original_image, int target_width, int target_height); | ||
| }; // namespace CameraUtils | ||
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| #endif // CAMERA_UTILS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="3"> | ||
| <name>perception_utils</name> | ||
| <version>0.0.1</version> | ||
| <description>A utility library for perception tasks in ROS 2.</description> | ||
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| <maintainer email="[email protected]">Justin Leung</maintainer> | ||
| <license>Apache-2.0</license> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <depend>rclcpp</depend> | ||
| <depend>opencv</depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
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| </package> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,97 @@ | ||
| #include "perception_utils/camera_utils.hpp" | ||
| #include <opencv2/opencv.hpp> | ||
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| // Swaps the channels of an image from HWC to CHW format | ||
| void CameraUtils::hwc_img_2_chw_data(const cv::Mat& hwc_img, float* data) { | ||
| int rows = hwc_img.rows; | ||
| int cols = hwc_img.cols; | ||
| int chs = hwc_img.channels(); | ||
| for (int i = 0; i < chs; ++i) { | ||
| cv::extractChannel(hwc_img, cv::Mat(rows, cols, CV_32FC1, data + i * rows * cols), i); | ||
| } | ||
| } | ||
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| cv::Mat CameraUtils::resize_image_aspect_ratio(const cv::Mat& original_image, int max_width, | ||
| int max_height) { | ||
| int original_width = original_image.cols; | ||
| int original_height = original_image.rows; | ||
| double original_aspect_ratio = (double)original_width / original_height; | ||
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| int new_width, new_height; | ||
| double max_aspect_ratio = (double)max_width / max_height; | ||
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| if (original_aspect_ratio > max_aspect_ratio) { | ||
| // Width is the limiting factor | ||
| new_width = max_width; | ||
| new_height = static_cast<int>(max_width / original_aspect_ratio); | ||
| } else { | ||
| // Height is the limiting factor | ||
| new_height = max_height; | ||
| new_width = static_cast<int>(max_height * original_aspect_ratio); | ||
| } | ||
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| cv::Mat resized_image; | ||
| cv::resize(original_image, resized_image, cv::Size(new_width, new_height)); | ||
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| return resized_image; | ||
| } | ||
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| cv::Mat CameraUtils::resize_with_padding(const cv::Mat& original_image, int target_width, | ||
| int target_height) { | ||
| int original_width = original_image.cols; | ||
| int original_height = original_image.rows; | ||
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| double target_ratio = (double)target_width / target_height; | ||
| double original_ratio = (double)original_width / original_height; | ||
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| int new_width, new_height; | ||
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| if (original_ratio > target_ratio) { | ||
| // Original is wider. Fit to width and pad height. | ||
| new_width = target_width; | ||
| new_height = | ||
| static_cast<int>(original_height * (static_cast<double>(target_width) / original_width)); | ||
| } else { | ||
| // Original is taller. Fit to height and pad width. | ||
| new_height = target_height; | ||
| new_width = | ||
| static_cast<int>(original_width * (static_cast<double>(target_height) / original_height)); | ||
| } | ||
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| cv::Mat resized_image; | ||
| cv::resize(original_image, resized_image, cv::Size(new_width, new_height)); | ||
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| int top = (target_height - new_height) / 2; | ||
| int bottom = target_height - new_height - top; | ||
| int left = (target_width - new_width) / 2; | ||
| int right = target_width - new_width - left; | ||
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| cv::Mat padded_image; | ||
| cv::copyMakeBorder(resized_image, padded_image, top, bottom, left, right, cv::BORDER_CONSTANT, | ||
| cv::Scalar(0, 0, 0)); | ||
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| return padded_image; | ||
| } | ||
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| cv::Mat CameraUtils::resize_from_center(const cv::Mat& original_image, int target_width, | ||
| int target_height) { | ||
| int original_width = original_image.cols; | ||
| int original_height = original_image.rows; | ||
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| // Calculate the new height maintaining the aspect ratio | ||
| double target_ratio = (double)target_width / target_height; | ||
| int new_height = static_cast<int>(original_width / target_ratio); | ||
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| // Calculate the cropping area | ||
| int startY = (original_height - new_height) / 2; | ||
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| // Crop the image from the center | ||
| cv::Rect roi(0, startY, original_width, new_height); | ||
| cv::Mat cropped_image = original_image(roi); | ||
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| // Resize the cropped image | ||
| cv::Mat resized_image; | ||
| cv::resize(cropped_image, resized_image, cv::Size(target_width, target_height)); | ||
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| return resized_image; | ||
| } |
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