Open_cv ros2 node.

open_cv_node/README.md

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+# Integrating-Open-cv-with-ROS-2
+This package shows an integration of opencv (cv_bridge) with ROS 2 ,also face-dectection using ROS 2.
+# OPENCV ROS2 (FACE DETECTION).
+
+This package helps you integrate Opencv with ROS 2 and also face-detection.
+Install all dependecies:
+```
+   sudo apt install ros-<ros2-distro>-cv-bridge
+```  
+using the pip command:
+```
+   pip install opencv-python
+```
+NOTE: python3 has to be installed before this nodes can work.
+
+To run this Node.
+
+Create a workspace and clone the package into your src folder.
+
+Then:
+```
+   ros2 run ros2_cv face_detection 
+```
+
+Open rviz and visualize the image from your webcam.
+```
+   ros2 run rviz2 rviz2 
+```  
+set the image topic to "/webcam" 
+You will see as Video displayed below:
+
+
+[Screencast from 03-16-2023 12:54:55 AM.webm](https://user-images.githubusercontent.com/97457075/225474915-bcefc1c0-0e42-40a6-988c-16b32089fa94.webm)
+
+You can integrate this package in simulation and also can be used in a pysical robot with Opencv.
+
+
+
+[Screencast from 03-17-2023 02:15:13 AM.webm](https://user-images.githubusercontent.com/97457075/225787575-08a740c3-6f32-426f-b019-a367211019d9.webm)
+
+[Screencast from 03-17-2023 08:20:00 AM.webm](https://user-images.githubusercontent.com/97457075/225844009-1fcbccce-c65d-4a09-836b-0634536294e8.webm)
+
+

open_cv_node/build/.built_by

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+colcon

open_cv_node/build/ros2_cv/build/lib/ros2_cv/face_detection.py

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+import rclpy
+import cv2  
+from rclpy.node import Node
+from geometry_msgs.msg import Twist #A Twist messgage type to drive the robot.
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge,CvBridgeError
+
+#store the cvBridge, which is a type of the cv_bridge package.
+#create a class that stores all the object and the methods we will use.
+class program(Node):
+    def __init__(self):
+        super().__init__('face_detection')
+        self.pub_camera = self.create_publisher(Image,'/webcam',100) #publish the camera image data to the topic(Note:Make sure the topic name is not the same as your robot topic , so you can use the webcam)
+        self.image = cv2.VideoCapture(0) #reading from the webcam.
+        self.face_cascade = cv2.CascadeClassifier('/home/magnum/opencv_ws/src/ros2_cv/ros2_cv/facedetection.xml') #Add the path to your open_cv face detection.xml classifier.
+        print(self.image.isOpened())
+        self.store_bridge = CvBridge() 
+
+
+    #create a method that executes the code.
+    def show(self):
+
+        if not self.image.isOpened():
+            print("This camera can't be opened")
+
+        while True:
+            __ret,frame = self.image.read()
+            self.reading =self.face_cascade.detectMultiScale(frame)
+            cv2.imshow('frame_name',self.reading)
+            self.msg = self.store_bridge.cv2_to_imgmsg(self.reading,"bgr8") #This line is very important.
+            self.pub_camera.publish(self.msg) #publish the message over to ros2.
+            #cv2.imshow("frame_name",frame)
+
+
+            #if statement that tells what key to press to stop the node.
+            if cv2.waitKey(20) and 0xFF == ord('q'):
+                break
+
+        self.image.release()
+        #cv2.destroyAllWindows()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    store = program() #passing in an object.
+    # store.show()
+    rclpy.spin(store)
+
+
+if __name__ == '__main__':
+    main()

open_cv_node/build/ros2_cv/build/lib/ros2_cv/open_cv_integration.py

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+import rclpy
+import cv2  
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge,CvBridgeError
+
+ #store the cvBridge, which is a type of the cv_bridge package.
+#create a class that stores all the object and the methods we will use.
+class program(Node):
+    def __init__(self):
+        super().__init__('human_tracking')
+        self.pub_camera = self.create_publisher(Image,'/webcam',100) #publish the camera image data to the topic(Note:Make sure the topic name is not the same as your robot topic , so you can use the webcam)
+        self.image = cv2.VideoCapture(0) #reading from our webcam.
+        print(self.image.isOpened())
+        self.store_bridge = CvBridge()
+
+
+    #create a method that executes the code.
+    def show(self):
+
+        if not self.image.isOpened():
+            print("This camera can't be opened")
+
+        while True:
+            __ret,frame = self.image.read()
+            cv2.imshow("frame_name",frame)
+            msg = self.store_bridge.cv2_to_imgmsg(frame,"bgr8") #This line is very important.
+            self.pub_camera.publish(msg) #publish the message over to ros2.
+            # cv2.imshow("frame_name",frame)
+
+
+            #if statement that tells what key to press to stop the node.
+            if cv2.waitKey(20) and 0xFF == ord('q'):
+                break
+
+        self.image.release()
+        # cv2.destroyAllWindows()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    store = program() #passing in an object.
+    store.show()
+    rclpy.spin(store)
+
+
+if __name__ == '__main__':
+    main()

open_cv_node/build/ros2_cv/colcon_build.rc

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+0

open_cv_node/build/ros2_cv/colcon_command_prefix_setup_py.sh

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+# generated from colcon_core/shell/template/command_prefix.sh.em

open_cv_node/build/ros2_cv/colcon_command_prefix_setup_py.sh.env

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+AMENT_PREFIX_PATH=/home/magnum/opencv_ws/install/ros2_cv:/home/magnum/simuate_ws/install/robot:/home/magnum/simuate_ws/install/drive_robot:/opt/ros/foxy
+CHROME_DESKTOP=code-url-handler.desktop
+CMAKE_PREFIX_PATH=/home/magnum/simuate_ws/install/robot
+COLCON=1
+COLCON_PREFIX_PATH=/home/magnum/opencv_ws/install:/home/magnum/simuate_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DEFAULTS_PATH=/usr/share/gconf/ubuntu.default.path
+DESKTOP_SESSION=ubuntu
+DISPLAY=:1
+GDK_BACKEND=x11
+GDMSESSION=ubuntu
+GIO_LAUNCHED_DESKTOP_FILE_PID=3038
+GIT_ASKPASS=/usr/share/code/resources/app/extensions/git/dist/askpass.sh
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_MODULES=gail:atk-bridge
+HOME=/home/magnum
+IM_CONFIG_PHASE=1
+INVOCATION_ID=a486f43dbf9d499c98348f9f361804e3
+JOURNAL_STREAM=8:52967
+LANG=en_US.UTF-8
+LANGUAGE=en_NG:en
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=magnum
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=2449
+MANDATORY_PATH=/usr/share/gconf/ubuntu.mandatory.path
+NO_AT_BRIDGE=1
+OLDPWD=/home/magnum/opencv_ws/src/ros2_cv
+ORIGINAL_XDG_CURRENT_DESKTOP=ubuntu:GNOME
+PATH=/opt/ros/foxy/bin:/home/magnum/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/magnum/opencv_ws/src/build/ros2_cv
+PYTHONPATH=/home/magnum/opencv_ws/install/ros2_cv/lib/python3.8/site-packages:/home/magnum/simuate_ws/install/drive_robot/lib/python3.8/site-packages:/opt/ros/foxy/lib/python/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+QT_QPA_PLATFORMTHEME=qt5ct
+QT_STYLE_OVERRIDE=kvantum
+ROS_DISTRO=foxy
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robostek:@/tmp/.ICE-unix/2693,unix/robostek:/tmp/.ICE-unix/2693
+SHELL=/bin/bash
+SHLVL=2
+SSH_AGENT_PID=2620
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+TERM=xterm-256color
+TERMINATOR_DBUS_NAME=net.tenshu.Terminator23558193cd9818af7fe4d2c2f5bd9d00f
+TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
+TERMINATOR_UUID=urn:uuid:235e12da-744e-45c0-a1fd-dbd7bcb002ec
+TERM_PROGRAM=vscode
+TERM_PROGRAM_VERSION=1.74.2
+TURTLEBOT3_MODEL=burger
+USER=magnum
+USERNAME=magnum
+VSCODE_GIT_ASKPASS_EXTRA_ARGS=--ms-enable-electron-run-as-node
+VSCODE_GIT_ASKPASS_MAIN=/usr/share/code/resources/app/extensions/git/dist/askpass-main.js
+VSCODE_GIT_ASKPASS_NODE=/usr/share/code/code
+VSCODE_GIT_IPC_HANDLE=/run/user/1000/vscode-git-9919a58158.sock
+VTE_VERSION=6003
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=Unity
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon

open_cv_node/build/ros2_cv/install.log

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+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/__init__.py
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/open_cv_integration.py
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/face_detection.py
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/__pycache__/__init__.cpython-38.pyc
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/__pycache__/open_cv_integration.cpython-38.pyc
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv/__pycache__/face_detection.cpython-38.pyc
+/home/magnum/opencv_ws/src/install/ros2_cv/share/ament_index/resource_index/packages/ros2_cv
+/home/magnum/opencv_ws/src/install/ros2_cv/share/ros2_cv/package.xml
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/SOURCES.txt
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/entry_points.txt
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/PKG-INFO
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/top_level.txt
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/zip-safe
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/dependency_links.txt
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/python3.8/site-packages/ros2_cv-0.0.0-py3.8.egg-info/requires.txt
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/ros2_cv/face_detection
+/home/magnum/opencv_ws/src/install/ros2_cv/lib/ros2_cv/integration

open_cv_node/build/ros2_cv/prefix_override/sitecustomize.py

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+import sys
+sys.real_prefix = sys.prefix
+sys.prefix = sys.exec_prefix = '/home/magnum/opencv_ws/src/install/ros2_cv'

open_cv_node/build/ros2_cv/ros2_cv.egg-info/PKG-INFO

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+Metadata-Version: 1.2
+Name: ros2-cv
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: magnum
+Maintainer-email: [email protected]
+License: TODO: License declaration
+Description: UNKNOWN
+Platform: UNKNOWN

open_cv_node/build/ros2_cv/ros2_cv.egg-info/SOURCES.txt

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+package.xml
+setup.cfg
+setup.py
+../build/ros2_cv/ros2_cv.egg-info/PKG-INFO
+../build/ros2_cv/ros2_cv.egg-info/SOURCES.txt
+../build/ros2_cv/ros2_cv.egg-info/dependency_links.txt
+../build/ros2_cv/ros2_cv.egg-info/entry_points.txt
+../build/ros2_cv/ros2_cv.egg-info/requires.txt
+../build/ros2_cv/ros2_cv.egg-info/top_level.txt
+../build/ros2_cv/ros2_cv.egg-info/zip-safe
+resource/ros2_cv
+ros2_cv/__init__.py
+ros2_cv/face_detection.py
+ros2_cv/open_cv_integration.py
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

open_cv_node/build/ros2_cv/ros2_cv.egg-info/dependency_links.txt

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+

open_cv_node/build/ros2_cv/ros2_cv.egg-info/entry_points.txt

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+[console_scripts]
+face_detection = ros2_cv.face_detection:main
+integration = ros2_cv.open_cv_integration:main
+

open_cv_node/build/ros2_cv/ros2_cv.egg-info/requires.txt

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+setuptools

open_cv_node/build/ros2_cv/ros2_cv.egg-info/top_level.txt

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+ros2_cv

open_cv_node/build/ros2_cv/ros2_cv.egg-info/zip-safe

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+

open_cv_node/install/.colcon_install_layout

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+isolated