Initial package (#1)

* Initial package Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use latest vision_msgs with string id Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Tiny improvements Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add parser tests and ignore blank lines in class names Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Test when cfg file does not exist Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Rename test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * openrobotics_darknet_ros -> openrobotics::darknet_ros Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Added visibility files Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Rename files Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * darknet_node -> detector_node Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Rename files Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Rename files Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * DetectorNetwork and DetectorNode Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Simple readme Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add Example section Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Example actually works Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix link Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Linter tests pass Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
2019-10-04 14:59:05 -07:00
parent 9bcd4ff531
commit 9740b6209f
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+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
+#define OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/visibility.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "vision_msgs/msg/detection2_d_array.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+// Forward declaration
+class DetectorNetworkPrivate;
+
+class DetectorNetwork
+{
+public:
+  /// \brief load a network from disk
+  /// \param[in] config_file Path to a file describing the network
+  /// \param[in] weights_file Path to a file containing the network's weights
+  /// \param[in] classes Ordered list of class names the network can predict
+  DARKNET_ROS_PUBLIC
+  DetectorNetwork(
+    const std::string & config_file,
+    const std::string & weights_file,
+    const std::vector<std::string> & classes);
+
+  DARKNET_ROS_PUBLIC
+  ~DetectorNetwork();
+
+  /// \brief Detect objects in image
+  /// \param[in] image An image to analyze
+  /// \param[in] threshold How confident the network must be to detect something [0.0, 1.0]
+  /// \param[in] nms_threshold Non-Maximal Suppression threhsold [0.0, 1.0].
+  ///   When the intersection over union (iou) of two bounding boxes is greater than nms_threshold,
+  ///   the box with the lower objectness score is discarded.
+  /// \param[out] output_detections Things detected in the image (does not set source_img)
+  /// \return number of objects detected
+  DARKNET_ROS_PUBLIC
+  size_t
+  detect(
+    const sensor_msgs::msg::Image & image,
+    double threshold,
+    double nms_threshold,
+    vision_msgs::msg::Detection2DArray * output_detections);
+
+private:
+  std::unique_ptr<DetectorNetworkPrivate> impl_;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
@@ -0,0 +1,48 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node.hpp"
+#include "openrobotics_darknet_ros/visibility_node.hpp"
+
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+// Forward declaration
+class DetectorNodePrivate;
+
+class DetectorNode : public rclcpp::Node
+{
+public:
+  /// \brief Create a node that uses ROS parameters to get the network
+  DARKNET_ROS_NODE_PUBLIC
+  explicit DetectorNode(rclcpp::NodeOptions options);
+
+  DARKNET_ROS_NODE_PUBLIC
+  virtual ~DetectorNode();
+
+private:
+  std::unique_ptr<DetectorNodePrivate> impl_;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_
@@ -0,0 +1,36 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__PARSE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__PARSE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/visibility.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+/// \brief Read file containing class names, one per line
+/// \param[in] filename a path to a file containing classes a network can detect
+/// \return a container with all of the class names detected
+DARKNET_ROS_PUBLIC
+std::vector<std::string>
+parse_class_names(const std::string & filename);
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__PARSE_HPP_
@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_
+#define OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DARKNET_ROS_EXPORT __attribute__ ((dllexport))
+    #define DARKNET_ROS_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DARKNET_ROS_EXPORT __declspec(dllexport)
+    #define DARKNET_ROS_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DARKNET_ROS_BUILDING_LIBRARY
+    #define DARKNET_ROS_PUBLIC DARKNET_ROS_EXPORT
+  #else
+    #define DARKNET_ROS_PUBLIC DARKNET_ROS_IMPORT
+  #endif
+  #define DARKNET_ROS_PUBLIC_TYPE DARKNET_ROS_PUBLIC
+  #define DARKNET_ROS_LOCAL
+#else
+  #define DARKNET_ROS_EXPORT __attribute__ ((visibility("default")))
+  #define DARKNET_ROS_IMPORT
+  #if __GNUC__ >= 4
+    #define DARKNET_ROS_PUBLIC __attribute__ ((visibility("default")))
+    #define DARKNET_ROS_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DARKNET_ROS_PUBLIC
+    #define DARKNET_ROS_LOCAL
+  #endif
+  #define DARKNET_ROS_PUBLIC_TYPE
+#endif
+
+#endif  // OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_
@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DARKNET_ROS_NODE_EXPORT __attribute__ ((dllexport))
+    #define DARKNET_ROS_NODE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DARKNET_ROS_NODE_EXPORT __declspec(dllexport)
+    #define DARKNET_ROS_NODE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DARKNET_ROS_NODE_BUILDING_LIBRARY
+    #define DARKNET_ROS_NODE_PUBLIC DARKNET_ROS_NODE_EXPORT
+  #else
+    #define DARKNET_ROS_NODE_PUBLIC DARKNET_ROS_NODE_IMPORT
+  #endif
+  #define DARKNET_ROS_NODE_PUBLIC_TYPE DARKNET_ROS_NODE_PUBLIC
+  #define DARKNET_ROS_NODE_LOCAL
+#else
+  #define DARKNET_ROS_NODE_EXPORT __attribute__ ((visibility("default")))
+  #define DARKNET_ROS_NODE_IMPORT
+  #if __GNUC__ >= 4
+    #define DARKNET_ROS_NODE_PUBLIC __attribute__ ((visibility("default")))
+    #define DARKNET_ROS_NODE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DARKNET_ROS_NODE_PUBLIC
+    #define DARKNET_ROS_NODE_LOCAL
+  #endif
+  #define DARKNET_ROS_NODE_PUBLIC_TYPE
+#endif
+
+#endif  // OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_