diff --git a/get_obj_dist/launch/node.launch b/get_obj_dist/launch/node.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ffc5dbe483d9b90839cc4faa4fc80734716a43e5
--- /dev/null
+++ b/get_obj_dist/launch/node.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="node_name" default="objetc_to_distance"/>
+ <arg name="output" default="screen"/>
+
+ <node pkg="get_obj_dist"
+ name="$(arg node_name)"
+ type="object_to_distance.py"
+ output="$(arg output)"
+ args="">
+ </node>
+
+</launch>
diff --git a/get_obj_dist/src/object_to_distance.py b/get_obj_dist/src/object_to_distance.py
index fb682489b0172209281521f8ea88090409d5cf5a..e382af0ac5bc5d1999ade10a7cd9fd04ffdb3311 100755
--- a/get_obj_dist/src/object_to_distance.py
+++ b/get_obj_dist/src/object_to_distance.py
@@ -46,7 +46,7 @@ class obj_dist:
ts.registerCallback(self.callback)
def callback(self, bbx, image, depth):
- print('working lol')
+ #print('working lol')
if bbx.length:
cv_depth = self.bridge.imgmsg_to_cv2(depth, 'passthrough')
cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
diff --git a/human_detection/launch/hdm_full.launch b/human_detection/launch/hdm_full.launch
deleted file mode 100644
index 809a9d990bb71f37bfa309c2f7977ace425d2abf..0000000000000000000000000000000000000000
--- a/human_detection/launch/hdm_full.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<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"/>
-</launch>
diff --git a/human_detection/launch/node.launch b/human_detection/launch/node.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f6149f428495187d7ccebcdfbbdc2c92b8572279
--- /dev/null
+++ b/human_detection/launch/node.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="node_name" default="human_detection"/>
+ <arg name="virtual_env_path" default="$(env HOME)/iri-lab/virtualenv/raadical_venv"/>
+ <arg name="output" default="screen"/>
+
+ <node pkg="human_detection"
+ name="$(arg node_name)"
+ type="human_detector.py"
+ output="$(arg output)"
+ args="--venv $(arg virtual_env_path)">
+ </node>
+
+</launch>
diff --git a/human_detection/launch/test_realsense.launch b/human_detection/launch/test_realsense.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7afacf9f0151f4ff52619aa1e834934a2dd20b4d
--- /dev/null
+++ b/human_detection/launch/test_realsense.launch
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="virtual_env_path" default="$(env HOME)/iri-lab/virtualenv/raadical_venv"/>
+ <arg name="output" default="screen"/>
+
+ <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
+ </include>
+
+ <include file="$(find human_detection)/launch/node.launch">
+ <arg name="node_name" value="human_detection"/>
+ <arg name="virtual_env_path" value="$(arg virtual_env_path)"/>
+ <arg name="output" value="$(arg output)"/>
+ </include>
+
+ <include file="$(find get_obj_dist)/launch/node.launch">
+ <arg name="node_name" value="object_to_distance"/>
+ <arg name="output" value="$(arg output)"/>
+ </include>
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find human_detection)/rviz/test.rviz"/>
+
+</launch>
diff --git a/human_detection/rviz/test.rviz b/human_detection/rviz/test.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..5da8adfccee24438c6e640f2c41627890205e9af
--- /dev/null
+++ b/human_detection/rviz/test.rviz
@@ -0,0 +1,218 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ Splitter Ratio: 0.5
+ Tree Height: 617
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: PointCloud2
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /camera/depth_registered/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ camera_aligned_depth_to_color_frame:
+ Value: true
+ camera_color_frame:
+ Value: true
+ camera_color_optical_frame:
+ Value: true
+ camera_depth_frame:
+ Value: true
+ camera_depth_optical_frame:
+ Value: true
+ camera_link:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ camera_link:
+ camera_aligned_depth_to_color_frame:
+ camera_color_optical_frame:
+ {}
+ camera_color_frame:
+ {}
+ camera_depth_frame:
+ camera_depth_optical_frame:
+ {}
+ Update Interval: 0
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /human_detected_image/image
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: DetectionImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /obj_to_dist/human_distance
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: DetectionDistanceImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /obj_to_dist/show_people_marker_array
+ Name: MarkerArray
+ Namespaces:
+ "": true
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: camera_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 9.410797119140625
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 2.791478395462036
+ Y: -0.4713762700557709
+ Z: 1.070740818977356
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.5697963237762451
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 3.145402669906616
+ Saved: ~
+Window Geometry:
+ DetectionDistanceImage:
+ collapsed: false
+ DetectionImage:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001b3000002f4fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001c0044006500740065006300740069006f006e0049006d006100670065010000003d000001780000001600fffffffb0000002c0044006500740065006300740069006f006e00440069007300740061006e006300650049006d00610067006501000001bb000001760000001600fffffffb0000000a0056006900650077007300000000ff000001ee000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006510000003efc0100000002fb0000000800540069006d0065000000000000000651000004f300fffffffb0000000800540069006d006501000000000000045000000000000000000000033c000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1617
+ X: 67
+ Y: 0
diff --git a/human_detection/src/webcam.py b/human_detection/src/human_detector.py
similarity index 92%
rename from human_detection/src/webcam.py
rename to human_detection/src/human_detector.py
index 61b84c999557fad8e195dc2dd839e2e2b4d489d1..ccefd91c7b15d2bc67a6240e73c6f8ca0ba74e24 100755
--- a/human_detection/src/webcam.py
+++ b/human_detection/src/human_detector.py
@@ -1,4 +1,8 @@
#!/usr/bin/env python
+
+from venv_utils import activate_virtual_env
+venv_status = activate_virtual_env()
+
import time
import sys
import os
@@ -139,17 +143,6 @@ class human_detector:
coordinates.ymax = int(boxes[0, counter, 2] * screen_height)
coordinates.xmax = int(boxes[0, counter, 3] * screen_width)
bbx_list.people_list.append(coordinates)
- rospy.wait_for_service('return_to_home')
- try:
- if spotted is False:
- rospy.loginfo("Human spotted! Returning home")
- return_to_home = rospy.ServiceProxy('return_to_home', Trigger)
- status = return_to_home()
- rospy.loginfo(status.message)
- spotted = True
-
- except:
- print("Service call failed: %s")
counter += 1
diff --git a/human_detection/src/venv_utils.py b/human_detection/src/venv_utils.py
new file mode 100755
index 0000000000000000000000000000000000000000..7332366b4b33595aaf969404c76aa3bcfbe4df20
--- /dev/null
+++ b/human_detection/src/venv_utils.py
@@ -0,0 +1,32 @@
+import sys
+
+
+def activate_virtual_env(path=None, arg='--venv'):
+ """
+ Activate Python Virtual Environment (virtualenv) within other python interpreter /or default interperter
+ @param path: An absolute path to virtual environment folder.
+ @param arg: an argument to parse virtual environment's absolute path, not used if param path is specified
+ @return: True if activation success, False otherwise
+ """
+ activate_this = "/bin/activate_this.py"
+ path_to_venv = None
+
+ if path is not None or len(sys.argv) > 1:
+ try:
+ # Non-restrict arg parse
+ args = sys.argv[1:]
+ path_to_venv = path.rstrip('/') if path is not None else args[args.index(arg) + 1].rstrip('/')
+ activate_this = path_to_venv + activate_this
+ print "Activate Python Virtual Environment at: " + str(path_to_venv)
+ execfile(activate_this, dict(__file__=activate_this))
+ return True
+ except ValueError:
+ print "WARNING: No input path to Virtual ENV, will use default python"
+ return False
+ except IOError:
+ print "WARNING: Wrong Input Path to Virtual ENV, will use default python"
+ return False
+ else:
+ print "WARNING: No input path to Virtual ENV, will use default python"
+ return False
+