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FindPerson & FindNamedPerson (#138)
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* chore: build lasr_shapely.

* fix: typehints.

* fix: more typehints.

* WIP: FindPerson skill.

* chore: rollback python version.

* fix: FindPerson skill.

* fix: use nanmean.

* fix: tf.

* feat(still WIP): FindPerson skill.

* feat: navigation helpers package.

* feat: go to person.

* chore: bring back CATKIN_IGNORE.

* chore: regenerate requirements.txt.

* refactor: can import GoTo* skills again.

* WIP: additional FindPerson states.

* chore: catkin_python_setup.

* Still WIP.

* refactor/feat: slight cleanup + add hamiltionian path solver.

* feat: basic FindPerson.

* feat: option for fixed location.

* feat: face person.

* refactor: use GoToLocation.

* fix/feat: ensure pcl data is reshaped correctly and compute min/max in z axis.

* refactor/feat: tf whole pointcloud (it's more reliable) and output min/max points.

* fix: allow for overriding pcl height / width.

* fix: override width and height (tf flattens the pcl for some reason...)

* fix: remappings.

* feat: allow for fixed text.

* fix: import.

* WIP: FindNamedPerson.

* feat: FindPerson and FindNamedPerson.

* fix: setup input keys correctly.

* refactor: drop GoToPerson.

* fix: imports.

* refactor: some cleanup

* refactor: more cleanup!

* fix: handling of waypoints, etc.

* refactor: remove testing code.

* feat: logwarn when no people are detected.
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@jws-1
jws-1 authored Apr 18, 2024
1 parent a43e982 commit fa21561
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41 changes: 35 additions & 6 deletions common/helpers/cv2_pcl/src/cv2_pcl/__init__.py
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Expand Up @@ -3,17 +3,24 @@
import ros_numpy as rnp
import cv2

from typing import Tuple, Union

Mat = np.ndarray


def pcl_to_cv2(pcl: PointCloud2) -> Mat:
def pcl_to_cv2(
pcl: PointCloud2, height: Union[int, None] = None, width: Union[int, None] = None
) -> Mat:
"""
Convert a given PointCloud2 message to a cv2 image
"""

height = height or pcl.height
width = width or pcl.width

# Extract rgb image from pointcloud
frame = np.fromstring(pcl.data, dtype=np.uint8)
frame = frame.reshape(pcl.height, pcl.width, 32)
frame = frame.reshape(height, width, -1)
frame = frame[:, :, 16:19]

# Ensure array is contiguous
Expand All @@ -22,16 +29,25 @@ def pcl_to_cv2(pcl: PointCloud2) -> Mat:
return frame


def seg_to_centroid(pcl: PointCloud2, xyseg: np.ndarray) -> np.ndarray:
def seg_to_centroid(
pcl: PointCloud2,
xyseg: np.ndarray,
height: Union[int, None] = None,
width: Union[int, None] = None,
) -> np.ndarray:
"""
Computes the centroid of a given segment in a pointcloud
"""

height = height or pcl.height
width = width or pcl.width

# Convert xyseg to contours
contours = xyseg.reshape(-1, 2)

# cv2 image
cv_im = pcl_to_cv2(pcl)
cv_im = pcl_to_cv2(pcl, height, width)

# Compute mask from contours
mask = np.zeros(shape=cv_im.shape[:2])
cv2.fillPoly(mask, pts=[contours], color=(255, 255, 255))
Expand All @@ -44,23 +60,35 @@ def seg_to_centroid(pcl: PointCloud2, xyseg: np.ndarray) -> np.ndarray:

# Unpack pointcloud into xyz array
pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl, remove_nans=False)
pcl_xyz = pcl_xyz.reshape(height, width, 3)

# Extract points of interest
xyz_points = [pcl_xyz[x][y] for x, y in indices]

return np.nanmean(xyz_points, axis=0)


def bb_to_centroid(pcl: PointCloud2, x: int, y: int, w: int, h: int) -> np.ndarray:
def bb_to_centroid(
pcl: PointCloud2,
x: int,
y: int,
w: int,
h: int,
height: Union[int, None] = None,
width: Union[int, None] = None,
) -> np.ndarray:
"""
Computes the centroid of a given bounding box in a pointcloud
"""

height = height or pcl.height
width = width or pcl.width

# Convert xywh to bounding box coordinates.
x1, y1, x2, y2 = x, y, x + w, y + h

# cv2 image
frame = pcl_to_cv2(pcl)
frame = pcl_to_cv2(pcl, height, width)
# Compute mask from bounding box
mask = np.zeros(shape=frame.shape[:2])
mask[y1:y2, x1:x2] = 255 # bounding box dimensions
Expand All @@ -72,6 +100,7 @@ def bb_to_centroid(pcl: PointCloud2, x: int, y: int, w: int, h: int) -> np.ndarr

# Unpack pointcloud into xyz array
pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl, remove_nans=False)
pcl_xyz = pcl_xyz.reshape(height, width, 3)

# Extract points of interest
xyz_points = [pcl_xyz[x][y] for x, y in indices]
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202 changes: 202 additions & 0 deletions common/helpers/navigation_helpers/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(navigation_helpers)

## 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 geometry_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 # Or other packages containing 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 navigation_helpers
# CATKIN_DEPENDS other_catkin_pkg
# 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}/navigation_helpers.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/navigation_helpers_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
# catkin_install_python(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_navigation_helpers.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)
59 changes: 59 additions & 0 deletions common/helpers/navigation_helpers/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>navigation_helpers</name>
<version>0.0.0</version>
<description>The navigation_helpers package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">Jared Swift</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/navigation_helpers</url> -->


<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">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>


<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->

</export>
</package>
10 changes: 10 additions & 0 deletions common/helpers/navigation_helpers/setup.py
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#!/usr/bin/env python3

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup

setup_args = generate_distutils_setup(
packages=["navigation_helpers"], package_dir={"": "src"}
)

setup(**setup_args)
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