diff --git a/radius_estimation/CMakeLists.txt b/radius_estimation/CMakeLists.txt new file mode 100644 index 0000000..e86c4aa --- /dev/null +++ b/radius_estimation/CMakeLists.txt @@ -0,0 +1,217 @@ +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) diff --git a/radius_estimation/package.xml b/radius_estimation/package.xml new file mode 100644 index 0000000..528243e --- /dev/null +++ b/radius_estimation/package.xml @@ -0,0 +1,22 @@ + + + radius_estimation + 0.1.0 + The radius_estimation package provides object detection and radius estimation using YOLOv7 and RealSense cameras in ROS environment. + + Your Name + MIT + + catkin + message_runtime + roscpp + std_msgs + sensor_msgs + cv_bridge + image_transport + message_filters + realsense2_camera + rospy + rospy + rospy + \ No newline at end of file diff --git a/radius_estimation/scripts/dataset_generator.py b/radius_estimation/scripts/dataset_generator.py new file mode 100755 index 0000000..0677290 --- /dev/null +++ b/radius_estimation/scripts/dataset_generator.py @@ -0,0 +1,55 @@ +#!/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()