From 6ce298bd516ff4259c84fde8755e3646f1ceec1f Mon Sep 17 00:00:00 2001 From: jerry <jerrykuo820@gmail.com> Date: Sat, 27 Jun 2020 09:11:14 -0700 Subject: [PATCH] new launch file --- human_detection/launch/hdm_full.launch | 11 +- human_detection/src/webcam.py | 2 +- occupancy_grid/CMakeLists.txt | 205 +++++++++++++++++++++++++ occupancy_grid/package.xml | 65 ++++++++ occupancy_grid/src/occ_grid_lib.py | 10 ++ 5 files changed, 290 insertions(+), 3 deletions(-) create mode 100644 occupancy_grid/CMakeLists.txt create mode 100644 occupancy_grid/package.xml create mode 100644 occupancy_grid/src/occ_grid_lib.py diff --git a/human_detection/launch/hdm_full.launch b/human_detection/launch/hdm_full.launch index a0d3db1..809a9d9 100644 --- a/human_detection/launch/hdm_full.launch +++ b/human_detection/launch/hdm_full.launch @@ -1,4 +1,11 @@ <launch> + <arg name="debug" default="True"/> + <arg name="bag" default="/November\ 1/01.bag"/> + <arg name="path" default="/home/jerry/Documents/workspaces/human_detection/src/ROS_human_detection/rosbag"/> + + <group if="$(arg debug)"> + <node pkg="rosbag" type="play" args="-l -q $(arg path)$(arg bag)" output="screen" name="rosbag_playback"/> + </group> + <node pkg="human_detection" type="webcam.py" name="webcam"/> - <node pkg="get_obj_dist" type="object_to_distance.py" name="object_to_distance"/> -</launch> \ No newline at end of file +</launch> diff --git a/human_detection/src/webcam.py b/human_detection/src/webcam.py index 1075dcd..4c327f2 100755 --- a/human_detection/src/webcam.py +++ b/human_detection/src/webcam.py @@ -114,7 +114,7 @@ class human_detector: if len(run_time_list) > 10: del run_time_list[0] - if len(run_time_list) > 0: + if len(run_time_list): avg_run_time = round(sum(run_time_list) / len(run_time_list) * 1000, 1) cv2.putText(cv_image, 'Run Time: {}ms'.format(avg_run_time), text_position, diff --git a/occupancy_grid/CMakeLists.txt b/occupancy_grid/CMakeLists.txt new file mode 100644 index 0000000..b17946e --- /dev/null +++ b/occupancy_grid/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 2.8.3) +project(occupancy_grid) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES occupancy_grid +# CATKIN_DEPENDS rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/occupancy_grid.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/occupancy_grid_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_occupancy_grid.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/occupancy_grid/package.xml b/occupancy_grid/package.xml new file mode 100644 index 0000000..c2495a3 --- /dev/null +++ b/occupancy_grid/package.xml @@ -0,0 +1,65 @@ +<?xml version="1.0"?> +<package format="2"> + <name>occupancy_grid</name> + <version>0.0.0</version> + <description>The occupancy_grid package</description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="jerry@todo.todo">jerry</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>TODO</license> + + + <!-- Url tags are optional, but multiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/occupancy_grid</url> --> + + + <!-- Author tags are optional, multiple are allowed, one per tag --> + <!-- Authors do not have to be maintainers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + + + <!-- The *depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> + <!-- <depend>roscpp</depend> --> + <!-- Note that this is equivalent to the following: --> + <!-- <build_depend>roscpp</build_depend> --> + <!-- <exec_depend>roscpp</exec_depend> --> + <!-- Use build_depend for packages you need at compile time: --> + <!-- <build_depend>message_generation</build_depend> --> + <!-- Use build_export_depend for packages you need in order to build against this package: --> + <!-- <build_export_depend>message_generation</build_export_depend> --> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use exec_depend for packages you need at runtime: --> + <!-- <exec_depend>message_runtime</exec_depend> --> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <!-- Use doc_depend for packages you need only for building documentation: --> + <!-- <doc_depend>doxygen</doc_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <build_depend>rospy</build_depend> + <build_depend>std_msgs</build_depend> + <build_export_depend>rospy</build_export_depend> + <build_export_depend>std_msgs</build_export_depend> + <exec_depend>rospy</exec_depend> + <exec_depend>std_msgs</exec_depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- Other tools can request additional information be placed here --> + + </export> +</package> diff --git a/occupancy_grid/src/occ_grid_lib.py b/occupancy_grid/src/occ_grid_lib.py new file mode 100644 index 0000000..9700e8b --- /dev/null +++ b/occupancy_grid/src/occ_grid_lib.py @@ -0,0 +1,10 @@ +import numpy as np + + +class OccMap: + def __init__(self, row=100, col=100): + self.map = np.ones((row, col)) + + def get_map(self): + return self.map + -- GitLab