From a94b93182d1691ff3ef9ebbbc61d0f1cca1ff493 Mon Sep 17 00:00:00 2001
From: Miguelmelon <m.colera.borras@student.tue.nl>
Date: Tue, 21 May 2024 09:14:10 +0200
Subject: [PATCH] First ROS package working

---
 people_tracking_v2/CMakeLists.txt             |  2 +-
 .../scripts/{yolo2.py => yolo.py}             |  2 +-
 .../launchers/yolo_launcher.launch            |  2 +-
 .../src/people_tracking/yolo.py               | 49 -------------------
 4 files changed, 3 insertions(+), 52 deletions(-)
 rename people_tracking_v2/scripts/{yolo2.py => yolo.py} (95%)
 delete mode 100644 people_tracking_v2/src/people_tracking/yolo.py

diff --git a/people_tracking_v2/CMakeLists.txt b/people_tracking_v2/CMakeLists.txt
index 5648818..b945c76 100644
--- a/people_tracking_v2/CMakeLists.txt
+++ b/people_tracking_v2/CMakeLists.txt
@@ -11,7 +11,7 @@ catkin_package()
 install(PROGRAMS
   scripts/face_recognition_node.py
   scripts/pose_estimation_node.py
-  scripts/yolo2.py
+  scripts/yolo.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/people_tracking_v2/scripts/yolo2.py b/people_tracking_v2/scripts/yolo.py
similarity index 95%
rename from people_tracking_v2/scripts/yolo2.py
rename to people_tracking_v2/scripts/yolo.py
index 11e4ed6..0a92c38 100755
--- a/people_tracking_v2/scripts/yolo2.py
+++ b/people_tracking_v2/scripts/yolo.py
@@ -12,7 +12,7 @@ def __init__(self):
         self.bridge = CvBridge()
         self.model = YOLO("yolov8l.pt")
 
-        self.image_sub = rospy.Subscriber("/cv_camera/image_raw", Image, self.image_callback)
+        self.image_sub = rospy.Subscriber("/Webcam/image_raw", Image, self.image_callback)
         self.detection_pub = rospy.Publisher("/yolo_detections", String, queue_size=10)
 
     def image_callback(self, data):
diff --git a/people_tracking_v2/src/people_tracking/launchers/yolo_launcher.launch b/people_tracking_v2/src/people_tracking/launchers/yolo_launcher.launch
index 35e85ef..6efcd9e 100644
--- a/people_tracking_v2/src/people_tracking/launchers/yolo_launcher.launch
+++ b/people_tracking_v2/src/people_tracking/launchers/yolo_launcher.launch
@@ -20,7 +20,7 @@
 
   <node
     pkg="people_tracking_v2"
-    type="yolo2.py"
+    type="yolo.py"
     name="People_detection"
     output="screen"
   />
diff --git a/people_tracking_v2/src/people_tracking/yolo.py b/people_tracking_v2/src/people_tracking/yolo.py
deleted file mode 100644
index 901bd2c..0000000
--- a/people_tracking_v2/src/people_tracking/yolo.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python
-
-import cv2
-from ultralytics import YOLO
-
-def main():
-    cap = cv2.VideoCapture(0)
-
-    model = YOLO("yolov8l.pt")
-    
-    while True:
-        ret, frame = cap.read()
-        if not ret:
-            break
-
-        # Run the YOLOv8 model on the frame
-        result = model(frame)[0]
-        
-        # Print the result to understand its structure
-        print(result)
-
-        # Extract the detections from the result
-        boxes = result.boxes.xyxy.cpu().numpy()
-        scores = result.boxes.conf.cpu().numpy()
-        labels = result.boxes.cls.cpu().numpy()
-
-        # Draw bounding boxes and labels on the frame
-        for box, score, label in zip(boxes, scores, labels):
-            x1, y1, x2, y2 = map(int, box)
-            color = (0, 255, 0)  # Set your desired color for bounding boxes
-            thickness = 3
-            frame = cv2.rectangle(frame, (x1, y1), (x2, y2), color, thickness)
-            frame = cv2.putText(
-                frame, f'{int(label)}: {score:.2f}', (x1, y1 - 10),
-                cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1
-            )
-
-        # Display the frame
-        cv2.imshow("YOLOv8", frame)
-
-        # Exit the loop if 'Esc' key is pressed
-        if cv2.waitKey(30) == 27:
-            break
-
-    cap.release()
-    cv2.destroyAllWindows()
-
-if __name__ == "__main__":
-    main()