From 2572ae016a1645327e3bce20bf8cc7cb32c4d0cc Mon Sep 17 00:00:00 2001
From: jerry <jerrykuo820@gmail.com>
Date: Fri, 1 Nov 2019 14:01:29 -0700
Subject: [PATCH] remove .pyc files

---
 .gitignore                                    |   2 +
 README.md                                     |  20 ++++++++++
 get_obj_dist/src/depth_filter.py              |  13 ++++++
 get_obj_dist/src/object_to_distance.py        |  37 +++++++++++-------
 .../src/analysis_tools/__init__.pyc           | Bin 190 -> 0 bytes
 .../src/analysis_tools/data_grapher.pyc       | Bin 2446 -> 0 bytes
 human_detection/src/analysis_tools/define.pyc | Bin 588 -> 0 bytes
 .../src/object_detection/__init__.pyc         | Bin 192 -> 0 bytes
 .../src/object_detection/core/__init__.pyc    | Bin 197 -> 0 bytes
 .../core/__pycache__/__init__.cpython-35.pyc  | Bin 119 -> 0 bytes
 .../standard_fields.cpython-35.pyc            | Bin 10659 -> 0 bytes
 .../object_detection/core/standard_fields.pyc | Bin 11512 -> 0 bytes
 .../src/object_detection/protos/__init__.pyc  | Bin 199 -> 0 bytes
 .../__pycache__/__init__.cpython-35.pyc       | Bin 121 -> 0 bytes
 .../string_int_label_map_pb2.cpython-35.pyc   | Bin 3091 -> 0 bytes
 .../protos/string_int_label_map_pb2.pyc       | Bin 3700 -> 0 bytes
 .../src/object_detection/utils/__init__.pyc   | Bin 198 -> 0 bytes
 .../utils/__pycache__/__init__.cpython-35.pyc | Bin 120 -> 0 bytes
 .../__pycache__/label_map_util.cpython-35.pyc | Bin 8207 -> 0 bytes
 .../utils/__pycache__/ops.cpython-35.pyc      | Bin 41000 -> 0 bytes
 .../__pycache__/shape_utils.cpython-35.pyc    | Bin 17438 -> 0 bytes
 .../spatial_transform_ops.cpython-35.pyc      | Bin 17862 -> 0 bytes
 .../__pycache__/static_shape.cpython-35.pyc   | Bin 2002 -> 0 bytes
 .../visualization_utils.cpython-35.pyc        | Bin 37812 -> 0 bytes
 .../object_detection/utils/label_map_util.pyc | Bin 9726 -> 0 bytes
 .../object_detection/utils/shape_utils.pyc    | Bin 18758 -> 0 bytes
 .../object_detection/utils/static_shape.pyc   | Bin 2714 -> 0 bytes
 .../utils/visualization_utils.pyc             | Bin 41812 -> 0 bytes
 human_detection/src/webcam.py                 |   4 +-
 29 files changed, 60 insertions(+), 16 deletions(-)
 delete mode 100644 human_detection/src/analysis_tools/__init__.pyc
 delete mode 100644 human_detection/src/analysis_tools/data_grapher.pyc
 delete mode 100644 human_detection/src/analysis_tools/define.pyc
 delete mode 100644 human_detection/src/object_detection/__init__.pyc
 delete mode 100644 human_detection/src/object_detection/core/__init__.pyc
 delete mode 100644 human_detection/src/object_detection/core/__pycache__/__init__.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/core/__pycache__/standard_fields.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/core/standard_fields.pyc
 delete mode 100644 human_detection/src/object_detection/protos/__init__.pyc
 delete mode 100644 human_detection/src/object_detection/protos/__pycache__/__init__.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/protos/__pycache__/string_int_label_map_pb2.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/protos/string_int_label_map_pb2.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__init__.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/__init__.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/label_map_util.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/ops.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/shape_utils.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/spatial_transform_ops.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/static_shape.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/__pycache__/visualization_utils.cpython-35.pyc
 delete mode 100644 human_detection/src/object_detection/utils/label_map_util.pyc
 delete mode 100644 human_detection/src/object_detection/utils/shape_utils.pyc
 delete mode 100644 human_detection/src/object_detection/utils/static_shape.pyc
 delete mode 100644 human_detection/src/object_detection/utils/visualization_utils.pyc

diff --git a/.gitignore b/.gitignore
index 47ce3eb..30bd60e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,6 @@
 .idea
 *.bag
+*.pyc
 .catkin_workspace
+
 # *CMakeLists.txt
\ No newline at end of file
diff --git a/README.md b/README.md
index 89757aa..de6da4d 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,7 @@ Human detection model that runs on ROS
 This is a human detection mode that uses Intel RealSense D435 Camera and ROS Kinetic. Visit the GitHub page of
 Intel RealSense-ROS for more camera installation.
 
+## Installing The Workspace
 Run the following commands on terminal to get started.
 
 First we start a workspace
@@ -21,3 +22,22 @@ source ./devel/setup.bash
 ```
 
 *Something like that. I will fix it later.*
+
+## Sample Data Files
+Below are some links to example files. These bag files are too big for GitHub so I put them on Google Drive.
+Download them as you wish. Here are the types and the message topics.
+I recorded them with Intel RealSense D435 Camera at 60 fps (I think).
+
+```
+types:       sensor_msgs/Image       [060021388200f6f0f447d0fcd9c64743]
+             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
+topics:      /camera/color/image_raw           534 msgs    : sensor_msgs/Image      
+             /camera/depth/image_rect_raw      534 msgs    : sensor_msgs/Image      
+             /camera/depth_registered/points   525 msgs    : sensor_msgs/PointCloud2
+```
+
+1. Indoor settings
+- *Will update as I go*
+
+2. Outdoor settings
+- *Will update as I go*
\ No newline at end of file
diff --git a/get_obj_dist/src/depth_filter.py b/get_obj_dist/src/depth_filter.py
index e69de29..d9f3074 100644
--- a/get_obj_dist/src/depth_filter.py
+++ b/get_obj_dist/src/depth_filter.py
@@ -0,0 +1,13 @@
+import numpy.ma as ma
+import cv2
+
+
+def filter_background(roi):
+    ret_val = ma.masked_less(roi, 2900)
+    # roi[roi <= 2900]
+    return ret_val
+
+
+def mask_the_thing(image, mask):
+    cv2.bitwise_and(image, mask)
+
diff --git a/get_obj_dist/src/object_to_distance.py b/get_obj_dist/src/object_to_distance.py
index 286d722..1c0468a 100755
--- a/get_obj_dist/src/object_to_distance.py
+++ b/get_obj_dist/src/object_to_distance.py
@@ -6,12 +6,11 @@ import cv2
 import rospy
 import message_filters
 
-sys.path.append('/home/jerry/Documents/workspaces/ROS_human_detection/src/human_detection')
-
 from visualization_msgs.msg import Marker
 from sensor_msgs.msg import Image, PointCloud2
 from cv_bridge import CvBridge, CvBridgeError
-from human_detection.msg import bounding_box, box_list
+from human_detection.msg import box_list
+from depth_filter import *
 
 text_position = (10, 50)
 font = cv2.FONT_HERSHEY_SIMPLEX
@@ -19,43 +18,48 @@ font_scale = 0.75
 font_color = (255, 255, 255)
 line_type = 2
 
+
 class obj_dist:
     def __init__(self):
         # Initializing ROS Topics
         self.bridge = CvBridge()
         self.dist_pub = rospy.Publisher('/obj_to_dist/human_distance', Image, queue_size=10)
         self.render_pub = rospy.Publisher('/obj_to_dist/render_human', Marker, queue_size=10)
-
-        # self.bbx_sub = rospy.Subscriber('/human_detected_image/bounding_box', box_list, self.yea)
-        # self.human_image_sub = rospy.Subscriber('/human_detected_image/image', Image, self.yea1)
-        # self.depth_image_sub = rospy.Subscriber('/camera/depth/image_rect_raw', Image, self.yea2)
+        self.roi_pub = rospy.Publisher('/obj_to_dist/disappera', Image, queue_size=10)
 
         self.bbx_sub = message_filters.Subscriber('/human_detected_image/bounding_box', box_list)
         self.human_image_sub = message_filters.Subscriber('/human_detected_image/image', Image)
         self.depth_image_sub = message_filters.Subscriber('/camera/depth/image_rect_raw', Image)
-        self.pcl_sub = message_filters.Subscriber('/camera/depth_registered/points', PointCloud2)
+        # self.pcl_sub = message_filters.Subscriber('/camera/depth_registered/points', PointCloud2)
 
         ts = message_filters.ApproximateTimeSynchronizer([self.bbx_sub, self.human_image_sub,
-                                                          self.depth_image_sub, self.pcl_sub],
+                                                          self.depth_image_sub],
                                                          queue_size=10,
                                                          slop=1)
         ts.registerCallback(self.callback)
 
-    def callback(self, bbx, image, depth, point_cloud):
+    def callback(self, bbx, image, depth):
         if bbx.length:
             cv_depth = self.bridge.imgmsg_to_cv2(depth, 'passthrough')
             cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
+
             for box in bbx.people_list:
                 cood = self.get_human_distance(cv_depth, cv_image, box)
-                self.render_human(cood, point_cloud)
+                self.render_human(cood)
 
     def get_human_distance(self, cv_depth, cv_image, box):
-        roi_depth = cv_depth[box.xmin:box.xmax, box.ymin:box.ymax]
+        roi_depth = cv_depth[box.ymin:box.ymax, box.xmin:box.xmax]
 
-        filtered_depth = roi_depth[roi_depth <= 2900]
+        jk = np.shape(roi_depth)
+        jk = jk[0]*jk[1]
+        filtered_depth = filter_background(roi_depth)
         _size = len(filtered_depth)
 
+        print('size of original:  {}'.format(jk))
+        print('size of filtered:  {}'.format(_size))
+        print('')
         avg_distance = filtered_depth.sum() / _size / 1000
+
         x_meter = self.get_x_in_meters(box.xmin, box.xmax, avg_distance)
         cv2.putText(cv_image, '{} meters'.format(avg_distance),
                     (box.xmin, box.ymax - 100),
@@ -63,10 +67,14 @@ class obj_dist:
                     font_scale,
                     font_color,
                     line_type)
+
+        # self.roi_pub.publish(self.bridge.cv2_to_imgmsg(filtered_depth.data))
+        self.roi_pub.publish(self.bridge.cv2_to_imgmsg(roi_depth))
         self.dist_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
+
         return x_meter, 0, avg_distance
 
-    def render_human(self, cood, point_cloud):
+    def render_human(self, cood):
         marker = Marker()
         marker.header.frame_id = 'camera_color_optical_frame'
         marker.header.stamp = rospy.Time.now()
@@ -103,6 +111,7 @@ class obj_dist:
 
 def main(args):
     rospy.init_node('obj_dist', anonymous=True)
+    print("object_to_distance.py is running")
     _ = obj_dist()
     rospy.spin()
     cv2.destroyAllWindows()
diff --git a/human_detection/src/analysis_tools/__init__.pyc b/human_detection/src/analysis_tools/__init__.pyc
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diff --git a/human_detection/src/analysis_tools/data_grapher.pyc b/human_detection/src/analysis_tools/data_grapher.pyc
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diff --git a/human_detection/src/object_detection/__init__.pyc b/human_detection/src/object_detection/__init__.pyc
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diff --git a/human_detection/src/webcam.py b/human_detection/src/webcam.py
index d333adc..f26ca35 100755
--- a/human_detection/src/webcam.py
+++ b/human_detection/src/webcam.py
@@ -3,13 +3,13 @@ import time
 import sys
 import os
 import rospy
-from setuptools import setup, find_packages
+import numpy as np
 import tensorflow as tf
 
 sys.path.append('/home/jerry/Documents/workspaces/human_detection/src/ROS_human_detection/human_detection/src')
 
 # For performance analysis timing, import time.
-from analysis_tools.data_grapher import *
+# from analysis_tools.data_grapher import *
 from analysis_tools.define import *
 from human_detection.msg import bounding_box, box_list
 from sensor_msgs.msg import Image
-- 
GitLab