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Added 'position' sub-attribute to get coordinates from Detection2D ob… #10

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Jul 17, 2024
Merged

Added 'position' sub-attribute to get coordinates from Detection2D ob… #10

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26 changes: 15 additions & 11 deletions src/image_object_detection/image_object_detection_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,13 @@
import cv2

import cv_bridge
from cv_bridge import CvBridgeError
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy

import std_srvs.srv
from sensor_msgs.msg import CompressedImage, Image
from vision_msgs.msg import Detection2D, ObjectHypothesisWithPose

import torch
import torch.backends.cudnn as cudnn
Expand All @@ -27,7 +27,7 @@
from utils.general import check_img_size, non_max_suppression, scale_coords, xyxy2xywh, set_logging
from utils.plots import plot_one_box
from utils.torch_utils import select_device
from vision_msgs.msg import Detection2DArray, Detection2D
from vision_msgs.msg import Detection2D, Detection2DArray, ObjectHypothesisWithPose
from ament_index_python.packages import get_package_share_directory

PACKAGE_NAME = "image_object_detection"
Expand Down Expand Up @@ -102,7 +102,7 @@ def __init__(self):
self.get_parameter("subscribers.qos_policy").get_parameter_value().string_value
)

self.debug_image_output_format = "mono8" # "bgr8"
self.debug_image_output_format = "mono8" # "mono8" # "bgr8"

self.processing_enabled = self.get_parameter_or("processing_enabled", True)

Expand Down Expand Up @@ -215,13 +215,17 @@ def accomodate_image_to_model(self, img0):
def image_compressed_callback(self, msg):
if not self.processing_enabled:
return

try:
self.cv_img = self.bridge.compressed_imgmsg_to_cv2(msg, self.debug_image_output_format)
img = self.accomodate_image_to_model(self.cv_img)

self.cv_img = self.bridge.compressed_imgmsg_to_cv2(msg, self.debug_image_output_format)
img = self.accomodate_image_to_model(self.cv_img)

detections_msg, debugimg = self.predict(img, self.cv_img)
detections_msg, debugimg = self.predict(img, self.cv_img)

self.detection_publisher.publish(detections_msg)
self.detection_publisher.publish(detections_msg)
except CvBridgeError as e:
self.get_logger().error(f"Error converting image: {e}")
return

if debugimg is not None:
self.publish_debug_image(debugimg)
Expand Down Expand Up @@ -256,7 +260,7 @@ def publish_debug_image(self, debugimg):
elif self.debug_image_output_format == "rgba8":
debugimg = cv2.cvtColor(debugimg, cv2.COLOR_BGR2RGBA)
else:
self.logger.error(
self.get_logger().error(
"Unsupported debug image output format: {}".format(self.debug_image_output_format)
)
return
Expand Down Expand Up @@ -295,8 +299,8 @@ def predict(self, model_img, original_image):
detection2D_msg = Detection2D()
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()

detection2D_msg.bbox.center.x = xywh[0]
detection2D_msg.bbox.center.y = xywh[1]
detection2D_msg.bbox.center.position.x = xywh[0]
detection2D_msg.bbox.center.position.y = xywh[1]
detection2D_msg.bbox.size_x = xywh[2]
detection2D_msg.bbox.size_y = xywh[3]

Expand Down
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