Renamed ros packages.

extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py

@@ -0,0 +1,152 @@
+import json
+import os
+import sys
+import threading
+import time
+
+import cv2
+from matplotlib import pyplot as plt
+import numpy as np
+import rclpy
+from cv_bridge import CvBridge
+from rclpy.qos import QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from sensor_msgs.msg import Image
+from std_msgs.msg import String
+
+filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
+sys.path.append(filepath + "../../../../scripts/")
+import utils_pipeline
+
+from skelda import utils_view
+
+# ==================================================================================================
+
+bridge = CvBridge()
+node = None
+publisher_img = None
+
+cam_id = "camera01"
+img_input_topic = "/" + cam_id + "/pylon_ros2_camera_node/image_raw"
+pose_input_topic = "/poses/" + cam_id
+img_output_topic = "/" + cam_id + "/img_with_pose"
+
+last_input_image = None
+lock = threading.Lock()
+
+# ==================================================================================================
+
+
+def callback_images(image_data):
+    global last_input_image, lock
+
+    # Convert into cv images from image string
+    if image_data.encoding == "bayer_rggb8":
+        bayer_image = bridge.imgmsg_to_cv2(image_data, "bayer_rggb8")
+        color_image = utils_pipeline.bayer2rgb(bayer_image)
+    elif image_data.encoding == "mono8":
+        gray_image = bridge.imgmsg_to_cv2(image_data, "mono8")
+        color_image = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
+    elif image_data.encoding == "rgb8":
+        color_image = bridge.imgmsg_to_cv2(image_data, "rgb8")
+    else:
+        raise ValueError("Unknown image encoding:", image_data.encoding)
+
+    time_stamp = image_data.header.stamp.sec + image_data.header.stamp.nanosec / 1.0e9
+
+    with lock:
+        last_input_image = (color_image, time_stamp)
+
+
+# ==================================================================================================
+
+
+def callback_poses(pose_data):
+    global last_input_image, lock
+
+    ptime = time.time()
+    if last_input_image is None:
+        return
+
+    # Convert pose data from json string
+    poses = json.loads(pose_data.data)
+
+    # Collect inputs
+    images_2d = []
+    timestamps = []
+    with lock:
+        img = np.copy(last_input_image[0])
+        ts = last_input_image[1]
+        images_2d.append(img)
+        timestamps.append(ts)
+
+    # Visualize 2D poses
+    bodies2D = poses["bodies2D"]
+    colors = plt.cm.hsv(np.linspace(0, 1, len(bodies2D), endpoint=False)).tolist()
+    colors = [[int(c[0] * 255), int(c[1] * 255), int(c[2] * 255)] for c in colors]
+    for i, body in enumerate(bodies2D):
+        color = list(reversed(colors[i]))
+        img = utils_view.draw_body_in_image(img, body, poses["joints"], color)
+
+    # Publish image with poses
+    publish(img)
+
+    msg = "Visualization time: {:.3f}s"
+    print(msg.format(time.time() - ptime))
+
+
+# ==================================================================================================
+
+
+def publish(img):
+    # Publish image data
+    msg = bridge.cv2_to_imgmsg(img, "rgb8")
+    publisher_img.publish(msg)
+
+
+# ==================================================================================================
+
+
+def main():
+    global node, publisher_img
+
+    # Start node
+    rclpy.init(args=sys.argv)
+    node = rclpy.create_node("pose2d_visualizer")
+
+    # Quality of service settings
+    qos_profile = QoSProfile(
+        reliability=QoSReliabilityPolicy.RELIABLE,
+        history=QoSHistoryPolicy.KEEP_LAST,
+        depth=1,
+    )
+
+    # Create subscribers
+    _ = node.create_subscription(
+        Image,
+        img_input_topic,
+        callback_images,
+        qos_profile,
+    )
+    _ = node.create_subscription(
+        String,
+        pose_input_topic,
+        callback_poses,
+        qos_profile,
+    )
+
+    # Create publishers
+    publisher_img = node.create_publisher(Image, img_output_topic, qos_profile)
+
+    node.get_logger().info("Finished initialization of pose visualizer")
+
+    # Run ros update thread
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+# ==================================================================================================
+
+if __name__ == "__main__":
+    main()