(tracking) cleanup

people_tracking/CMakeLists.txt

@@ -2,26 +2,23 @@ cmake_minimum_required(VERSION 3.0.2)
 project(people_tracking)
 
 find_package(catkin REQUIRED COMPONENTS
-    rgbd
-    rgbd_image_buffer
-    roscpp
-    sensor_msgs
-    people_recognition_msgs
-
-    rospy
-    std_msgs
-    message_generation
+  message_generation
+  people_recognition_msgs
+  rgbd
+  rgbd_image_buffer
+  roscpp
+  sensor_msgs
+  visualization_msgs
 )
 
-# TODO still needed?
 catkin_python_setup()
 
 add_message_files(
-   FILES
-   detect_person.msg
-   DetectedPerson.msg
-   ColourCheckedTarget.msg
-   ColourTarget.msg
+  FILES
+  ColourCheckedTarget.msg
+  ColourTarget.msg
+  DetectPerson.msg
+  DetectedPerson.msg
 )
 
 add_service_files(
@@ -31,15 +28,11 @@ add_service_files(
 
 generate_messages(
   DEPENDENCIES
-  std_msgs
   sensor_msgs
 )
 
-
-
 catkin_package(
-    CATKIN_DEPENDS
-    message_runtime
+  CATKIN_DEPENDS message_runtime sensor_msgs
 )
 
 include_directories(

people_tracking/package.xml

@@ -20,17 +20,28 @@
 
   <buildtool_depend>python3-setuptools</buildtool_depend>
 
-  <depend>cv_bridge</depend>
-  <depend>image_recognition_msgs</depend>
-  <depend>image_recognition_util</depend>
-  <depend>people_recognition_msgs</depend>
-  <depend>rgbd</depend>
-  <depend>rgbd_image_buffer</depend>
-  <depend>rospy</depend>
   <depend>sensor_msgs</depend>
 
+  <build_depend>people_recognition_msgs</build_depend>
+  <build_depend>rgbd</build_depend>
+  <build_depend>rgbd_image_buffer</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+
   <build_depend>message_generation</build_depend>
+
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_recognition_util</exec_depend>
   <exec_depend>message_runtime</exec_depend>
+  <exec_depend>people_recognition_msgs</exec_depend>
+  <exec_depend>rgbd</exec_depend>
+  <exec_depend>rgbd_image_buffer</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+
+  <test_depend>catkin_lint_cmake</test_depend>
 
   <doc_depend>python3-sphinx</doc_depend>
   <doc_depend>python-sphinx-autoapi-pip</doc_depend>

people_tracking/src/listener.py → people_tracking/src/people_tracking/listener.py

@@ -5,7 +5,7 @@
 from ultralytics import YOLO
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
-from people_tracking.msg import detect_person
+from people_tracking.msg import DetectPerson
 
 laptop = True
 name_subscriber_RGB = '/hero/head_rgbd_sensor/rgb/image_raw' if not laptop else 'video_frames'
@@ -23,7 +23,7 @@ def __init__(self) -> None:
         rospy.init_node('listener', anonymous=True)
         self.publisher = rospy.Publisher('/hero/segmented_image', Image, queue_size=10)
         # self.subscriber = rospy.Subscriber(name_subscriber_RGB, Image, self.callback, queue_size=1)
-        self.publisher2 = rospy.Publisher('/hero/test_msg', detect_person, queue_size= 10)
+        self.publisher2 = rospy.Publisher('/hero/test_msg', DetectPerson, queue_size= 10)
 
 
         self.latest_image = None  # To store the most recent image
@@ -33,7 +33,7 @@ def __init__(self) -> None:
         self.subscriber = rospy.Subscriber(name_subscriber_RGB, Image, self.image_callback, queue_size=1)
 
     def msg_callback(self):
-        msg = detect_person()
+        msg = DetectPerson()
         msg.name = "hi"
         msg.age = 5
         self.publisher2.publish(msg)

people_tracking/src/yolo.py → people_tracking/src/people_tracking/yolo.py

@@ -1,38 +1,4 @@
 #!/usr/bin/env python
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2008, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-# Revision $Id$
-
 
 import rospy
 import cv2
@@ -42,12 +8,8 @@
 from sensor_msgs.msg import Image
 
 
-laptop = True
-name_subscriber_RGB = '/hero/head_rgbd_sensor/rgb/image_raw' if not laptop else 'video_frames'
-
-
 class PeopleTracker:
-    def __init__(self) -> None:
+    def __init__(self, name_subscriber_RGB: str) -> None:
 
         # Initialize YOLO
         model_path = "~/MEGA/developers/Donal/yolov8n-seg.pt"
@@ -59,11 +21,12 @@ def __init__(self) -> None:
         rospy.init_node('listener', anonymous=True)
         self.publisher = rospy.Publisher('/hero/segmented_image', Image)
         self.subscriber = rospy.Subscriber(name_subscriber_RGB, Image, self.callback, queue_size = 1)
+        self.cv_bridge = CvBridge()
 
     @staticmethod
     def detect(model, frame):
         """
-            Return segemented image per class type.
+        Return segemented image per class type.
         """
         results = model(frame)
         result = results[0]
@@ -74,8 +37,7 @@ def detect(model, frame):
     def callback(self, data):
         rospy.loginfo("got message")
         seconds = rospy.get_time()
-        bridge = CvBridge()
-        cv_image = bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
+        cv_image = self.cv_bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
         cv_image = cv2.GaussianBlur(cv_image, (5, 5), 0)
         # cv_image = cv2.cvtColor(cv_image, cv2.COLOR_RGB2BGR)
         rospy.loginfo("converted message")
@@ -99,9 +61,11 @@ def callback(self, data):
         self.publisher.publish(image_message)   # Send image with boundaries human
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
+    laptop = True
+    name_subscriber_RGB = "/hero/head_rgbd_sensor/rgb/image_raw" if not laptop else "video_frames"
     try:
-        node_pt = PeopleTracker()
+        node_pt = PeopleTracker(name_subscriber_RGB)
         rospy.spin()
     except rospy.exceptions.ROSInterruptException:
         pass