Merge pull request #29 from Alpaca-zip/feature/multiple_encoding

[noetic-devel] support multiple encoding

CMakeLists.txt

@@ -9,7 +9,7 @@ endif()
 find_package(catkin REQUIRED COMPONENTS
   rospy
   roscpp
-  ros_numpy
+  cv_bridge
   pcl_ros
   tf2_ros
   std_msgs
@@ -22,17 +22,17 @@ find_package(catkin REQUIRED COMPONENTS
   message_filters
 )
 
-find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(PCL REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
     include
-  LIBRARIES
-    ${PROJECT_NAME}
   CATKIN_DEPENDS
+    rospy
     roscpp
+    cv_bridge
     pcl_ros
     tf2_ros
     std_msgs
@@ -43,22 +43,20 @@ catkin_package(
     image_geometry
     image_transport
     message_filters
-  DEPENDS
-    PCL
 )
 
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
 )
 
 add_executable(tracker_with_cloud_node src/tracker_with_cloud_node.cpp)
 target_link_libraries(tracker_with_cloud_node
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
-  ${PCL_LIBRARIES}
   ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
 )

Dockerfile

@@ -1,4 +1,4 @@
-# Use tiryoh/ros-desktop-vnc:melodic as the base image
+# Use tiryoh/ros-desktop-vnc:noetic as the base image
 FROM tiryoh/ros-desktop-vnc:noetic
 
 # Set Environment Variables

README.md

@@ -1,10 +1,14 @@
 # ultralytics_ros [![ROS-noetic Docker Build Check](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
 ROS package for real-time object detection using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
 
-<img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/9da7dbbf-5cc0-41bc-be82-d481abbf552a" width="800px">
-<img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/158e7f0c-a823-4425-908d-1b63c11d6e51" width="800px">
+|  `tracker_node`  |  `tracker_with_cloud_node`  |
+| :------------: | :-----------------------: |
+| <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/9da7dbbf-5cc0-41bc-be82-d481abbf552a" width="450px"> | <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/158e7f0c-a823-4425-908d-1b63c11d6e51" width="450px"> |
 
-## Setup
+- The `tracker_node` provides real-time object detection on incoming ROS image messages using the Ultralytics YOLO model.
+- The `tracker_with_cloud_node` provides functionality for 3D object detection by integrating 2D detections, LiDAR data, and camera information.
+
+## Setup ⚙
 ```
 $ cd ~/catkin_ws/src
 $ git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
@@ -13,43 +17,65 @@ $ cd ~/catkin_ws
 $ rosdep install -r -y -i --from-paths .
 $ catkin build
 ```
-## Usage
-### Run tracker_node
+## Run 🚀
+**`tracker_node`**
 ```
 $ roslaunch ultralytics_ros tracker.launch debug:=true
 ```
-### Run tracker_node & tracker_with_cloud_node
+**`tracker_node` & `tracker_with_cloud_node`**
 ```
 $ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true
 ```
+## `tracker_node`
 ### Params
-- tracker_node
-  - `yolo_model`: Pre-trained Weights.  
-  For yolov8, you can choose `yolov8n.pt`, `yolov8s.pt`, `yolov8m.pt`, `yolov8l.pt`, `yolov8x.pt`.  
-  See also: https://docs.ultralytics.com/models/
-  - `image_topic`: Topic name for image. (sensor_msgs/Image)
-  - `detection_topic`: Topic name for 2D bounding box. (vision_msgs/Detection2DArray)
-  - `conf_thres`: Confidence threshold below which boxes will be filtered out.
-  - `iou_thres`: IoU threshold below which boxes will be filtered out during NMS.
-  - `max_det`: Maximum number of boxes to keep after NMS.
-  - `tracker`: Tracking algorithms.
-  - `classes`: List of class indices to consider.  
-  See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/datasets/coco128.yaml 
-  - `debug`:  If true, run simple viewer.
-  - `debug_conf`:  Whether to plot the detection confidence score.
-  - `debug_line_width`: Line width of the bounding boxes.
-  - `debug_font_size`: Font size of the text.
-  - `debug_labels`: Font to use for the text.
-  - `debug_font`: Whether to plot the label of bounding boxes.
-  - `debug_boxes`: Whether to plot the bounding boxes.
+- `yolo_model`: Pre-trained Weights.  
+For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`, `yolov8*-pose.pt`.
 
-- tracker_with_cloud_node
-  - `camera_info_topic`: Topic name for camera_info. (sensor_msgs/CameraInfo)
-  - `lidar_topic`: Topic name for lidar. (sensor_msgs/PointCloud2)
-  - `detection3d_topic`: Topic name for 3D bounding box. (vision_msgs/Detection3DArray)
-  - `cluster_tolerance`: Spatial cluster tolerance as a measure in the L2 Euclidean space.
-  - `min_cluster_size`: Minimum number of points that a cluster needs to contain.
-  - `max_cluster_size`: Maximum number of points that a cluster needs to contain.
+  |  YOLOv8  |  <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/08770080-bf20-470b-8269-eee7a7c41acc" width="350px">  |
+  | :-------------: | :-------------: |
+  |  **YOLOv8-seg**  |  <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/7bb6650c-769d-41c1-86f7-39fcbf01bc7c" width="350px">  |
+  |  **YOLOv8-pose**  |  <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/46d2a5ef-193b-4f83-a0b3-6cc0d5a3756c" width="350px">  |
+
+  See also: https://docs.ultralytics.com/models/
+- `image_topic`: Topic name for image.
+- `detection_topic`: Topic name for 2D bounding box.
+- `conf_thres`: Confidence threshold below which boxes will be filtered out.
+- `iou_thres`: IoU threshold below which boxes will be filtered out during NMS.
+- `max_det`: Maximum number of boxes to keep after NMS.
+- `tracker`: Tracking algorithms.
+- `classes`: List of class indices to consider.  
+See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/datasets/coco128.yaml 
+- `debug`:  If true, run simple viewer.
+- `debug_conf`:  Whether to plot the detection confidence score.
+- `debug_line_width`: Line width of the bounding boxes.
+- `debug_font_size`: Font size of the text.
+- `debug_labels`: Font to use for the text.
+- `debug_font`: Whether to plot the label of bounding boxes.
+- `debug_boxes`: Whether to plot the bounding boxes.
+### Topics
+- Subscribed Topics:
+  - Image data from `image_topic` parameter. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- Published Topics:
+  - Debug images to `/debug_image` topic. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+  - Detected objects(2D bounding box) to `detection_topic` parameter. ([vision_msgs/Detection2DArray](http://docs.ros.org/en/melodic/api/vision_msgs/html/msg/Detection2DArray.html))
+## `tracker_with_cloud_node`
+### Params
+- `camera_info_topic`: Topic name for camera info.
+- `lidar_topic`: Topic name for lidar.
+- `detection2d_topic`: Topic name for 2D bounding box.
+- `detection3d_topic`: Topic name for 3D bounding box.
+- `cluster_tolerance`: Spatial cluster tolerance as a measure in the L2 Euclidean space.
+- `min_cluster_size`: Minimum number of points that a cluster needs to contain.
+- `max_cluster_size`: Maximum number of points that a cluster needs to contain.
+### Topics
+- Subscribed Topics:
+  - Camera info from `camera_info_topic` parameter. ([sensor_msgs/CameraInfo](https://docs.ros.org/en/api/sensor_msgs/html/msg/CameraInfo.html))
+  - Lidar data from `lidar_topic` parameter. ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
+  - Detected objects(2D bounding box) from `detection2d_topic` parameter. ([vision_msgs/Detection2DArray](http://docs.ros.org/en/melodic/api/vision_msgs/html/msg/Detection2DArray.html))
+- Published Topics:
+  - Detected cloud points to `/detection_cloud` topic. ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
+  - Detected objects(3D bounding box) to `detection3d_topic` parameter. ([vision_msgs/Detection3DArray](http://docs.ros.org/en/lunar/api/vision_msgs/html/msg/Detection3DArray.html))
+  - Visualization markers to `/detection_marker` topic. ([visualization_msgs/MarkerArray](https://docs.ros.org/en/api/visualization_msgs/html/msg/MarkerArray.html))
 ## Docker with KITTI datasets 🐳
 [![dockeri.co](https://dockerico.blankenship.io/image/alpacazip/ultralytics_ros)](https://hub.docker.com/r/alpacazip/ultralytics_ros)
 
@@ -58,7 +84,6 @@ $ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true
 $ docker pull alpacazip/ultralytics_ros:noetic
 $ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:noetic
 ```
-
 ### Run tracker_node & tracker_with_cloud_node
 ```
 $ roslaunch ultralytics_ros kitti_tracker_with_cloud.launch

package.xml

@@ -8,7 +8,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>rospy</depend>
   <depend>roscpp</depend>
-  <depend>ros_numpy</depend>
+  <depend>cv_bridge</depend>
   <depend>pcl_ros</depend>
   <depend>tf2_ros</depend>
   <depend>std_msgs</depend>

requirements.txt

@@ -3,4 +3,4 @@ onnx==1.14.0
 urllib3==1.26.11
 numpy==1.23.4
 opencv-python==4.7.0.72
-ultralytics
+ultralytics

script/tracker_node.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-import ros_numpy
+import cv_bridge
 import roslib.packages
 import rospy
 from sensor_msgs.msg import Image
@@ -36,11 +36,11 @@ def __init__(self):
         self.detection_pub = rospy.Publisher(
             detection_topic, Detection2DArray, queue_size=1
         )
+        self.bridge = cv_bridge.CvBridge()
 
     def image_callback(self, msg):
         header = msg.header
-        encoding = msg.encoding
-        numpy_image = ros_numpy.numpify(msg)
+        numpy_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
         results = self.model.track(
             source=numpy_image,
             conf=self.conf_thres,
@@ -51,7 +51,7 @@ def image_callback(self, msg):
             verbose=False,
         )
         self.publish_detection(results, header)
-        self.publish_debug_image(results, encoding)
+        self.publish_debug_image(results, "bgr8")
 
     def publish_debug_image(self, results, encoding):
         if self.debug and results is not None:
@@ -63,8 +63,8 @@ def publish_debug_image(self, results, encoding):
                 labels=self.debug_labels,
                 boxes=self.debug_boxes,
             )
-            debug_image_msg = ros_numpy.msgify(
-                Image, plotted_image, encoding=encoding)
+            debug_image_msg = self.bridge.cv2_to_imgmsg(
+                plotted_image, encoding="bgr8")
             self.image_pub.publish(debug_image_msg)
 
     def publish_detection(self, results, header):