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[WIP] Enable to publish rects #48

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[WIP] Enable to publish rects #48

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6 changes: 5 additions & 1 deletion node_script/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
from typing import Optional

import rospy
from jsk_recognition_msgs.msg import LabelArray, VectorArray
from jsk_recognition_msgs.msg import LabelArray, RectArray, VectorArray
from node_config import NodeConfig
from rospy import Publisher, Subscriber
from sensor_msgs.msg import Image
Expand All @@ -24,6 +24,7 @@ class DeticRosNode:
pub_segimg: Optional[Publisher]
pub_labels: Optional[Publisher]
pub_score: Optional[Publisher]
pub_rects: Optional[Publisher]

# otherwise, the following publisher will be used
pub_info: Optional[Publisher]
Expand All @@ -45,6 +46,7 @@ def __init__(self, node_config: Optional[NodeConfig] = None):
self.pub_segimg = rospy.Publisher('~segmentation', Image, queue_size=1)
self.pub_labels = rospy.Publisher('~detected_classes', LabelArray, queue_size=1)
self.pub_score = rospy.Publisher('~score', VectorArray, queue_size=1)
self.pub_rects = rospy.Publisher('~rects', RectArray, queue_size=1)
else:
self.pub_info = rospy.Publisher('~segmentation_info', SegmentationInfo,
queue_size=1)
Expand Down Expand Up @@ -77,9 +79,11 @@ def callback_image(self, msg: Image):
seg_img = raw_result.get_ros_segmentaion_image()
labels = raw_result.get_label_array()
scores = raw_result.get_score_array()
rects = raw_result.get_rect_array()
self.pub_segimg.publish(seg_img)
self.pub_labels.publish(labels)
self.pub_score.publish(scores)
self.pub_rects.publish(rects)
else:
assert self.pub_info is not None
seg_info = raw_result.get_segmentation_info()
Expand Down
16 changes: 14 additions & 2 deletions node_script/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
from cv_bridge import CvBridge
from detectron2.utils.visualizer import VisImage
from detic.predictor import VisualizationDemo
from jsk_recognition_msgs.msg import Label, LabelArray, VectorArray
from jsk_recognition_msgs.msg import Label, LabelArray, Rect, RectArray, VectorArray
from node_config import NodeConfig
from sensor_msgs.msg import Image
from std_msgs.msg import Header
Expand All @@ -28,6 +28,7 @@ class InferenceRawResult:
visualization: Optional[VisImage]
header: Header
detected_class_names: List[str]
boxes: List[List[float]]

def get_ros_segmentaion_image(self) -> Image:
seg_img = _cv_bridge.cv2_to_imgmsg(self.segmentation_raw_image, encoding="32SC1")
Expand Down Expand Up @@ -68,6 +69,14 @@ def get_segmentation_info(self) -> SegmentationInfo:
header=self.header)
return seg_info

def get_rect_array(self) -> RectArray:
rects = [Rect(x=int(box[0]),
y=int(box[1]),
width=int(box[2] - box[0]),
height=int(box[3] - box[1])) for box in self.boxes]
rec_arr = RectArray(header=self.header, rects=rects)
return rec_arr


class DeticWrapper:
predictor: VisualizationDemo
Expand Down Expand Up @@ -122,12 +131,14 @@ def infer(self, msg: Image) -> InferenceRawResult:
pred_masks = list(instances.pred_masks)
scores = instances.scores.tolist()
class_indices = instances.pred_classes.tolist()
boxes = list(instances.pred_boxes)

if len(scores) > 0 and self.node_config.output_highest:
best_index = np.argmax(scores)
pred_masks = [pred_masks[best_index]]
scores = [scores[best_index]]
class_indices = [class_indices[best_index]]
boxes = [boxes[best_index]]

if self.node_config.verbose:
rospy.loginfo("{} with highest score {}".format(self.class_names[class_indices[0]], scores[best_index]))
Expand All @@ -150,5 +161,6 @@ def infer(self, msg: Image) -> InferenceRawResult:
scores,
visualized_output,
msg.header,
detected_classes_names)
detected_classes_names,
boxes)
return result
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