radius_estimation

radius_estimation/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(radius_estimation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  vision_msgs
+  #message_generation
+  cv_bridge
+  image_transport
+  message_filters
+  realsense2_camera
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+#add_message_files(
+#  FILES
+#)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+#generate_messages(
+#  DEPENDENCIES
+#  geometry_msgs
+#  sensor_msgs
+#  std_msgs
+#  vision_msgs
+#  radius_estimation
+#)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    CATKIN_DEPENDS message_runtime
+)
+#  INCLUDE_DIRS include
+#  LIBRARIES radius_estimation
+#  CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs vision_msgs
+#  DEPENDS system_lib
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/radius_estimation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/radius_estimation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_radius_estimation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

radius_estimation/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>radius_estimation</name>
+  <version>0.1.0</version>
+  <description>The radius_estimation package provides object detection and radius estimation using YOLOv7 and RealSense cameras in ROS environment.</description>
+
+  <maintainer email="[email protected]">Your Name</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>image_transport</depend>
+  <depend>message_filters</depend>
+  <depend>realsense2_camera</depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_depend>rospy</build_depend>
+  <exec_depend>rospy</exec_depend>
+</package>

radius_estimation/scripts/dataset_generator.py

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+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from pyrealsense2 import pyrealsense2 as rs
+from vision_msgs.msg import Detection2DArray
+import cv2
+import numpy as np
+import os
+
+class DatasetCreator:
+    def __init__(self):
+        self.bridge = CvBridge()
+        self.depth_scale = 0.001
+        self.previous_depth = None
+        self.image_sub = rospy.Subscriber('/yolov7/yolov7', Detection2DArray, self.detection_callback)
+        self.depth_image_sub = rospy.Subscriber('/camera/aligned_depth_to_color/image_raw', Image, self.depth_callback)
+        self.dataset_path = "/home/cenk/datasetxxxxxx/"
+        if not os.path.exists(self.dataset_path):
+            os.makedirs(self.dataset_path)
+
+    def detection_callback(self, detection_array):
+        radius = 6.685
+        for detection in detection_array.detections:
+            if detection.results[0].id == 32: # nesne ID'si 33 ise
+                print("detected")
+                bbox = detection.bbox
+                # Derinlik verisi mevcutsa
+                if hasattr(self, 'depth_image'):
+                    depth = (self.depth_image[int(bbox.center.y), int(bbox.center.x)]) * self.depth_scale
+                    print(depth)
+                    if self.previous_depth is not None and abs(depth - self.previous_depth) >= 0.10:
+                        print(f"Skipping image capture. Depth difference ({abs(depth - self.previous_depth):.2f}) exceeds threshold.")
+                        if abs(depth - self.previous_depth) >= 0.50:
+                            return
+                        self.previous_depth = depth
+                        return
+                    # Veriyi kaydet
+                    image = self.bridge.imgmsg_to_cv2(detection.source_img)
+                    try:
+                        cv2.imwrite(f'{self.dataset_path}/{rospy.get_rostime().to_nsec()}.jpg', image)
+                        with open(f'{self.dataset_path}/{rospy.get_rostime().to_nsec()}.txt', 'w') as f:
+                            f.write(f'{radius} {depth} {bbox.size_x} {bbox.size_y}')
+                    except:
+                        print("cant")
+                    self.previous_depth = depth
+
+    def depth_callback(self, depth_image):
+        self.depth_image = self.bridge.imgmsg_to_cv2(depth_image, desired_encoding="passthrough")
+
+if __name__ == '__main__':
+    rospy.init_node('dataset_creator')
+    dataset_creator = DatasetCreator()
+    rospy.spin()