Road signs classifier

Dockerfile

@@ -135,6 +135,8 @@ RUN pip3 install \
     #
     autopep8 \
     #
+    inference-sdk \
+    #
     cmake_format==0.6.11 \
     #
     dictor \
@@ -239,8 +241,11 @@ RUN mkdir /lib/x86_64-linux-gnu/cmake/pcl/include && ln -s /usr/include/pcl-1.10
 
 # Lemon
 # Library for Efficient Modeling and Optimization in Networks. It is a C++ template library providing efficient implementations of common data structures and algorithms with focus on combinatorial optimization tasks connected mainly with graphs and networks.
-RUN wget http://lemon.cs.elte.hu/pub/sources/lemon-1.3.1.tar.gz && tar xvzf lemon-1.3.1.tar.gz && cd lemon-1.3.1 && mkdir build && cd build && cmake .. && make && make install
-
+RUN git clone https://github.com/The-OpenROAD-Project/lemon-graph.git && cd lemon-graph \
+    # This specific commit is for Lemon-1.3.1. See https://github.com/The-OpenROAD-Project/lemon-graph/commits/master.
+    && git checkout 62ac753 \
+    && mkdir build && cd build && cmake .. && make && make install
+
 # RUN useradd -ms /bin/bash docker
 RUN usermod -a -G dialout root
 RUN usermod -a -G tty root
@@ -251,4 +256,4 @@ ENV ROS_VERSION 2
 WORKDIR /navigator
 COPY ./docker/entrypoint.sh /opt/entrypoint.sh
 
-ENTRYPOINT [ "/opt/entrypoint.sh" ]
+ENTRYPOINT [ "/opt/entrypoint.sh" ]

launches/launch.perception.py

@@ -27,10 +27,11 @@ def generate_launch_description():
     return LaunchDescription([
         # image_segmentation,
         # semantic_projection,
-        ground_seg,
-        static_grid,
+        # ground_seg,
+        # static_grid,
         # *object3d_launch_entities,
         # traffic_light_detector,
         # prednet_inference,
         # driveable_area,
+        road_signs_classifier,
     ])

launches/launch_node_definitions.py

@@ -190,3 +190,10 @@
     package='traffic_light_detector',
     executable='traffic_light_node'
 )
+
+road_signs_classifier = Node(
+   	package='road_signs_classifier',
+   	executable='road_signs_classifier',
+   	name='road_signs_classifier',
+   	parameters=[],
+)

src/msg/navigator_msgs/msg/RoadSigns.msg

@@ -0,0 +1,7 @@
+# MSG for one specific road sign
+float32 x               # X-coordinate of the road sign bounding box
+float32 y               # Y-coordinate of the road sign bounding box
+float32 width           # Width of the road sign bounding box
+float32 height          # Height of the road sign bounding box
+string label            # Label indicating the type of road sign
+float32 confidence      # Confidence score of the road sign detection

src/msg/navigator_msgs/msg/RoadSignsDetection.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+RoadSigns[] road_signs  # Array of road sign detections

src/perception/road_signs_classifier/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>road_signs_classifier</name>
+  <version>1.0.0</version>
+  <description>Tools to perform road sign classifications</description>
+  <maintainer email="[email protected]">root</maintainer>
+  <license>MIT License</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>rclpy</depend>
+  <depend>rclpy.node</depend>
+  <depend>sensor_msgs.msg</depend>
+  <depend>cv_bridge</depend>
+  <depend>navigator_msgs</depend>
+  <depend>cv2</depend>
+  <depend>inference_sdk</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/perception/road_signs_classifier/road_signs_classifier/road_signs_classifier.py

@@ -0,0 +1,76 @@
+"""
+Package: road_signs_classifier
+File: road_signs_classifier.py
+Author: Pranav Boyapati
+"""
+
+import rclpy
+import base64
+import os
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from navigator_msgs.msg import RoadSigns
+from navigator_msgs.msg import RoadSignsDetection
+import cv2
+from inference_sdk import InferenceHTTPClient
+
+
+class road_signs_classifier(Node):
+    def __init__(self):
+        super().__init__('road_signs_classifier')
+
+        #instantiate model client
+        self.CLIENT = InferenceHTTPClient(api_url="http://localhost:6060", api_key="BmqYjCBXZD1iPIyq09sG")
+
+        #create subscriptions
+        self.camera_sub = self.create_subscription(Image, '/cameras/camera0', self.image_callback, 10)
+
+        #create variables to store subscription info
+        self.bridge = CvBridge()
+
+        #create publisher
+        self.road_signs_publisher = self.create_publisher(RoadSignsDetection, '/road_signs/detections', 10)
+
+
+    #callbacks for subscriptions
+    def image_callback(self, msg : Image):
+        cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough") 
+        cv2.imwrite("image.jpeg", cv_image) 
+        self.classify_sign()
+
+
+    #main control function
+    def classify_sign(self):
+        #gets prediction
+        if (os.path.exists("image.jpeg")):
+            with open("image.jpeg", "rb") as img_file:
+                img_base64 = base64.b64encode(img_file.read()).decode('utf-8')
+            result = self.CLIENT.infer(img_base64, model_id="us-road-signs/71")
+            print(result)
+
+        #create message and publish
+        if (len(result["predictions"]) > 0):
+
+            road_signs_detection_msg = RoadSignsDetection()
+            road_signs_detection_msg.header.stamp = self.get_clock().now().to_msg()
+            road_signs_detection_msg.header.frame_id = "camera_frame"
+
+            road_sign = RoadSigns()
+            road_sign.x = result["predictions"][0]['x']
+            road_sign.y = result["predictions"][0]['y']
+            road_sign.width = result["predictions"][0]['width']
+            road_sign.height = result["predictions"][0]['height']
+            road_sign.label = result["predictions"][0]['class']
+            road_sign.confidence = result["predictions"][0]['confidence']
+
+            road_signs_detection_msg.road_signs.append(road_sign)
+
+            self.road_signs_publisher.publish(road_signs_detection_msg)
+
+
+if __name__ == '__main__':
+    rclpy.init(args=None)
+    road_signs_classification = road_signs_classifier()
+    rclpy.spin(road_signs_classification)
+    rclpy.shutdown()

src/perception/road_signs_classifier/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/road_signs_classifier
+[install]
+install_scripts=$base/lib/road_signs_classifier

src/perception/road_signs_classifier/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'road_signs_classifier'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='[email protected]',
+    description='Tools to perform road sign classifications',
+    license='MIT License',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'road_signs_classifier = road_signs_classifier.road_signs_classifier:main'
+        ],
+    },
+)

src/perception/road_signs_classifier/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/perception/road_signs_classifier/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/perception/road_signs_classifier/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'