pose estination updated

ros2_ws/src/find-pose/src/FindObjectROS.cpp

@@ -59,9 +59,9 @@ FindObjectROS::FindObjectROS(rclcpp::Node * node) :
 	RCLCPP_INFO(node->get_logger(), "object_prefix = %s", objFramePrefix_.c_str());
 	RCLCPP_INFO(node->get_logger(), "pnp = %s", usePnP_?"true":"false");
         image_transport::TransportHints hints(node);
-        rgbSub_.subscribe(node, "/camera/color/image_raw", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
+        rgbSub_.subscribe(node, "rgb_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
-        depthSub_.subscribe(node, "/camera/aligned_depth_to_color/image_raw", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
+        depthSub_.subscribe(node, "/depth_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
-        cameraInfoSub_.subscribe(node, "/camera/color/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
+        cameraInfoSub_.subscribe(node, "/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
         bboxSub_.subscribe(node, "/bboxes", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
 
         approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_, bboxSub_);
@@ -78,6 +78,7 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
 		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
         const yolov3_msg::msg::BoundingBoxes::ConstSharedPtr bboxes)
 {
+    std::cout << "callback!!!!!!!!" << std::endl;
     if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 &&
         depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0)
     {
@@ -106,7 +107,8 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
                 
                 size_t num_detections = bboxes->bounding_boxes.size();
                 std::cout << "num_detections: " << num_detections << std::endl;
-                std::vector<geometry_msgs::msg::TransformStamped> pose_vec;
+                geometry_msgs::msg::TransformStamped left_trail;
+                geometry_msgs::msg::TransformStamped right_trail;
                 for(size_t i = 0; i < num_detections ; i++)
                 {
                     yolov3_msg::msg::BoundingBox object_bbox = bboxes->bounding_boxes[i];
@@ -120,12 +122,15 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
                     std::string object_class = object_bbox.class_id;
                     geometry_msgs::msg::TransformStamped pose = estimate_pose(image, ptrDepth->image, object_width, object_height, top_left, top_right, bottom_right, bottom_left);
                     pose.child_frame_id = object_class;
-                    pose_vec.push_back(pose);
+                    if (object_class == std::string("l_trail"))
+                        left_trail = pose;
+                    if (object_class == std::string("r_trail"))
+                        right_trail = pose;
                     std::cout << "Pose for "<<  object_class << " x: " << pose.transform.translation.x << " y: " << pose.transform.translation.y << " z: " << pose.transform.translation.z << std::endl;
                 }
                 // geometry_msgs::msg::TransformStamped right_trail = estimate_pose(image, ptrDepth->image, 115, 116, cv::Point2f(819,600), cv::Point2f(974,600), cv::Point2f(974,716), cv::Point2f(819,716));
                 // geometry_msgs::msg::TransformStamped left_trail = estimate_pose(image, ptrDepth->image, 160, 168, cv::Point2f(350,548), cv::Point2f(510,548), cv::Point2f(510,716), cv::Point2f(350,716));
-                // std::cout << "Distance in meters !!!!!!" << distance(left_trail, right_trail) << std::endl;
+                std::cout << "Distance in meters !!!!!!" << distance(left_trail, right_trail) << std::endl;
                 std::cout << std::endl;
         }
         catch(const cv_bridge::Exception & e)
@@ -195,7 +200,7 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
     cv::Mat tvec(1,3, CV_64FC1);
     cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
 
-    std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl;
+//     std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl;
 
     cv::Mat R;
     cv::Rodrigues(rvec, R);

ros2_ws/src/yolov3/detect_on_bag.py

@@ -43,6 +43,7 @@ from utils.augmentations import Albumentations, augment_hsv, copy_paste, letterb
 import numpy as np
 from yolov3_msg.msg import BoundingBox, BoundingBoxes
 from rclpy.clock import Clock
+from sensor_msgs.msg import CameraInfo
 
 @torch.no_grad()
 def run(weights=ROOT / 'yolov3.pt',  # model.pt path(s)
@@ -161,27 +162,59 @@ class DetectOnBag(Node):
 
     def __init__(self):
         super().__init__('detect_on_bag')
+        self.camera_info = None
+        self.depth_img = None
         self.subscription = self.create_subscription(
             Image,
             '/camera/color/image_raw',
             self.image_callback,
             10)
         self.subscription  # prevent unused variable warning
+        self.subscription = self.create_subscription(
+            Image,
+            '/camera/aligned_depth_to_color/image_raw',
+            self.image_depth_callback,
+            10)
+        self.subscription 
+        self.subscription = self.create_subscription(
+            CameraInfo,
+            '/camera/color/camera_info',
+            self.camera_info_callback,
+            10)
+        self.subscription 
         self.detected_img_pub = self.create_publisher(Image, '/detection_image', 10)
         self.bboxes_pub = self.create_publisher(BoundingBoxes, '/bboxes', 10)
+        self.depth_pub = self.create_publisher(Image, '/depth_img', 10)
+        self.img_pub = self.create_publisher(Image, '/rgb_img', 10)
+        self.info_pub = self.create_publisher(CameraInfo, '/camera_info', 10)
+    
+    def camera_info_callback(self, msg):
+        print("camera info cb")
+        # print(msg.header.stamp)
+        self.camera_info = msg
+    
+    def image_depth_callback(self, msg):
+        print("depth info cb")
+        # print(msg.header.stamp)
+        self.depth_img = msg
 
     def image_callback(self, msg):
-        self.get_logger().info('Image')
+        print("rgb img cb")
-        print(msg.header.stamp)
+        # print(msg.header.stamp)
 
         bridge = CvBridge()
         cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
-        detected_img, bboxes = run('src/yolov3/runs/train/exp14/weights/best.pt', cv_image)
+        detected_img, bboxes = run('src/yolov3/runs/train/exp15/weights/best.pt', cv_image)
         self.detected_img_pub.publish(self.numpy_array_to_image_msg(detected_img))
         bboxes.image_header = msg.header
         bboxes.header.stamp = msg.header.stamp
         bboxes.header.frame_id = 'detection'
         self.bboxes_pub.publish(bboxes)
+        if self.depth_img:
+            self.depth_pub.publish(self.depth_img)
+        self.img_pub.publish(msg)
+        if self.camera_info:
+            self.info_pub.publish(self.camera_info)
     
     def numpy_array_to_image_msg(self, numpy_array):
         # Create a CvBridge object