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Dev remote #4

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kyuhyong Jun 27, 2022
7d92c8f
Fixed add bbox to image
kyuhyong Jun 29, 2022
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24 changes: 14 additions & 10 deletions yolov5_ros/launch/yolov5s_simple.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,22 +7,26 @@
def generate_launch_description():
yolox_ros_share_dir = get_package_share_directory('yolov5_ros')

webcam = launch_ros.actions.Node(
package="v4l2_camera", executable="v4l2_camera_node",
parameters=[
{"image_size": [640,480]},
],
)
#webcam = launch_ros.actions.Node(
# package="v4l2_camera", executable="v4l2_camera_node",
# parameters=[
# {"image_size": [640,480]},
# ],
#)

yolov5_ros = launch_ros.actions.Node(
package="yolov5_ros", executable="yolov5_ros",
parameters=[
{"view_img":False},
{"camera_topic":"camera/mat2image_image2mat"}
],
)

rqt_graph = launch_ros.actions.Node(
package="rqt_graph", executable="rqt_graph",
)
#rqt_graph = launch_ros.actions.Node(
# package="rqt_graph", executable="rqt_graph",
#)

return launch.LaunchDescription([
webcam,
#webcam,
yolov5_ros,
])
3 changes: 1 addition & 2 deletions yolov5_ros/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,7 @@
version='0.2.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name), glob('./launch/*.launch.py')),
# (os.path.join('share', package_name), glob('../weights/*.pth'))
Expand Down
48 changes: 27 additions & 21 deletions yolov5_ros/yolov5_ros/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@ def __init__(self, weights,
self.line_thickness = line_thickness
self.half = half
self.dnn = dnn

self.s = str()

self.load_model()
Expand Down Expand Up @@ -156,27 +155,27 @@ def image_callback(self, image_raw):
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist() # normalized xywh
save_conf = False
line = (cls, *xywh, conf) if save_conf else (cls, *xywh) # label format
if self.view_img: # Add bbox to image
c = int(cls) # integer class
label = f'{self.names[c]} {conf:.2f}'
annotator.box_label(xyxy, label, color=colors(c, True))

# print(xyxy, label)
class_list.append(self.names[c])
confidence_list.append(conf)
# tensor to float
x_min_list.append(xyxy[0].item())
y_min_list.append(xyxy[1].item())
x_max_list.append(xyxy[2].item())
y_max_list.append(xyxy[3].item())
#if self.view_img: # Add bbox to image
c = int(cls) # integer class
label = f'{self.names[c]} {conf:.2f}'
annotator.box_label(xyxy, label, color=colors(c, True))

# print(xyxy, label)
class_list.append(self.names[c])
confidence_list.append(conf)
# tensor to float
x_min_list.append(xyxy[0].item())
y_min_list.append(xyxy[1].item())
x_max_list.append(xyxy[2].item())
y_max_list.append(xyxy[3].item())

# Stream results
im0 = annotator.result()
if self.view_img:
cv2.imshow("yolov5", im0)
cv2.waitKey(1) # 1 millisecond

return class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list
return class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list, im0

class yolov5_ros(Node):
def __init__(self):
Expand All @@ -187,8 +186,7 @@ def __init__(self):
self.pub_bbox = self.create_publisher(BoundingBoxes, 'yolov5/bounding_boxes', 10)
self.pub_image = self.create_publisher(Image, 'yolov5/image_raw', 10)

self.sub_image = self.create_subscription(Image, 'image_raw', self.image_callback,10)


# parameter
FILE = Path(__file__).resolve()
ROOT = FILE.parents[0]
Expand All @@ -210,6 +208,8 @@ def __init__(self):
self.declare_parameter('line_thickness', 2)
self.declare_parameter('half', False)
self.declare_parameter('dnn', False)
self.declare_parameter('camera_topic', 'image_raw')
self.declare_parameter('img_flipped', False)

self.weights = self.get_parameter('weights').value
self.data = self.get_parameter('data').value
Expand All @@ -225,6 +225,9 @@ def __init__(self):
self.line_thickness = self.get_parameter('line_thickness').value
self.half = self.get_parameter('half').value
self.dnn = self.get_parameter('dnn').value
self.camera_topic = self.get_parameter('camera_topic').value

self.sub_image = self.create_subscription(Image, self.camera_topic, self.image_callback,10)

self.yolov5 = yolov5_demo(self.weights,
self.data,
Expand All @@ -239,7 +242,8 @@ def __init__(self):
self.agnostic_nms,
self.line_thickness,
self.half,
self.dnn)
self.dnn
)


def yolovFive2bboxes_msgs(self, bboxes:list, scores:list, cls:list, img_header:Header):
Expand All @@ -265,13 +269,15 @@ def yolovFive2bboxes_msgs(self, bboxes:list, scores:list, cls:list, img_header:H
def image_callback(self, image:Image):
image_raw = self.bridge.imgmsg_to_cv2(image, "bgr8")
# return (class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list)
class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list = self.yolov5.image_callback(image_raw)
class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list, im0 = self.yolov5.image_callback(image_raw)

msg = self.yolovFive2bboxes_msgs(bboxes=[x_min_list, y_min_list, x_max_list, y_max_list], scores=confidence_list, cls=class_list, img_header=image.header)
self.pub_bbox.publish(msg)

self.pub_image.publish(image)

output_img = self.bridge.cv2_to_imgmsg(im0, "bgr8")
self.pub_image.publish(output_img)
#self.pub_image.publish(image)

print("start ==================")
print(class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list)
print("end ====================")
Expand Down
8 changes: 4 additions & 4 deletions yolov5_ros/yolov5_ros/utils/general.py
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Original file line number Diff line number Diff line change
Expand Up @@ -373,10 +373,10 @@ def check_imshow():
try:
assert not is_docker(), 'cv2.imshow() is disabled in Docker environments'
assert not is_colab(), 'cv2.imshow() is disabled in Google Colab environments'
cv2.imshow('test', np.zeros((1, 1, 3)))
cv2.waitKey(1)
cv2.destroyAllWindows()
cv2.waitKey(1)
#cv2.imshow('test', np.zeros((1, 1, 3)))
#cv2.waitKey(1)
#cv2.destroyAllWindows()
#cv2.waitKey(1)
return True
except Exception as e:
LOGGER.warning(f'WARNING: Environment does not support cv2.imshow() or PIL Image.show() image displays\n{e}')
Expand Down
14 changes: 8 additions & 6 deletions yolov5_ros/yolov5_ros/utils/plots.py
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Expand Up @@ -105,13 +105,15 @@ def box_label(self, box, label='', color=(128, 128, 128), txt_color=(255, 255, 2
outside = p1[1] - h - 3 >= 0 # label fits outside box
p2 = p1[0] + w, p1[1] - h - 3 if outside else p1[1] + h + 3
cv2.rectangle(self.im, p1, p2, color, -1, cv2.LINE_AA) # filled
text_location = (p1[0], p1[1] - 2 if outside else p1[1] + h + 2)
cv2.putText(self.im,
label, (p1[0], p1[1] - 2 if outside else p1[1] + h + 2),
0,
self.lw / 3,
txt_color,
thickness=tf,
lineType=cv2.LINE_AA)
label, text_location,
0,
self.lw / 3,
txt_color,
thickness=tf,
lineType=cv2.LINE_AA)


def rectangle(self, xy, fill=None, outline=None, width=1):
# Add rectangle to image (PIL-only)
Expand Down