def callback(data):
header = data.header
frame = header.seq
boxes = BoundingBoxArray()
boxes.header = header
texts = PictogramArray()
texts.header = header
if kitti_data.has_key(frame) == True:
for b in kitti_data[frame]:
b.header = header
boxes.boxes.append(b)
str = b
rospy.loginfo(str)
if pictogram_texts.has_key(frame) == True:
for txt in pictogram_texts[frame]:
txt.header = header
texts.pictograms.append(txt)
str = txt
rospy.loginfo(str)
pub_boxes.publish(boxes)
pub_pictograms.publish(texts)
def callback(data):
header = data.header
frame = header.seq
boxes = BoundingBoxArray() #3D Boxes with JSK
boxes.header = header
rects = image_obj() #Rects Autoware
rects.header = header
rects.type = "car"
texts = PictogramArray() #Labels with JSK
texts.header = header
if kitti_data.has_key(frame) == True:
for b in kitti_data[frame]:
b.header = header
boxes.boxes.append(b)
if auto_boxes.has_key(frame) == True:
for rect in auto_boxes[frame]:
rects.obj.append(rect)
if pictogram_texts.has_key(frame) == True:
for txt in pictogram_texts[frame]:
txt.header = header
texts.pictograms.append(txt)
pub.publish(boxes)
pub_boxes.publish(rects)
pub_pictograms.publish(texts)
def callback(data): header = data.header frame = header.seq boxes = BoundingBoxArray() #3D Boxes with JSK boxes.header = header rects = ImageObj() #Rects Autoware rects.header = header rects.type = "car" texts = PictogramArray() #Labels with JSK texts.header = header if kitti_data.has_key(frame) == True: for b in kitti_data[frame]: b.header = header boxes.boxes.append(b) if auto_boxes.has_key(frame) == True: for rect in auto_boxes[frame]: rects.obj.append(rect) if pictogram_texts.has_key(frame) == True: for txt in pictogram_texts[frame]: txt.header = header texts.pictograms.append(txt) pub.publish(boxes) pub_boxes.publish(rects) pub_pictograms.publish(texts)
def callback(data):
header = data.header
frame = header.seq
boxes = BoundingBoxArray()
boxes.header = header
texts = PictogramArray()
texts.header = header
arrows = MarkerArray()
paths = MarkerArray()
if bounding_boxes.has_key(frame) == True:
for bbox in bounding_boxes[frame]:
bbox.header = header
boxes.boxes.append(bbox)
maxbox = len(boxes.boxes)
# print("maxbox: %s"%maxbox)
if pictogram_texts.has_key(frame) == True:
for txt in pictogram_texts[frame]:
txt.header = header
texts.pictograms.append(txt)
# str = txt
# rospy.loginfo(str)
if marker_arrows.has_key(frame) == True:
for arrow in marker_arrows[frame]:
arrow.header = header
arrows.markers.append(arrow)
maxarrow = len(arrows.markers)
# print("maxarrow: %s"%(maxarrow))
if marker_paths.has_key(frame) == True:
for predict in marker_paths[frame]:
predict.header = header
paths.markers.append(predict)
# print(predict)
pub_boxes.publish(boxes)
pub_pictograms.publish(texts)
pub_arrows.publish(arrows)
pub_paths.publish(paths)
def callback(ref, act):
"msgs = ContactStatesStamped"
if len(ref_contact_states_queue) > buffer_size - 1:
arr = PictogramArray()
arr.header.frame_id = "/odom"
arr.header.stamp = rospy.Time.now()
for i, (ref_st, act_st) in enumerate(zip(ref.states, act.states)):
picto = Pictogram()
if ref_st.state.state == act_st.state.state:
continue
else:
if [ref_st.state.state, act_st.state.state] == [ContactState.OFF, ContactState.ON]:
if [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.OFF] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.OFF] * buffer_size:
picto.character = "fa-long-arrow-down"
picto.size = 1
picto.pose.orientation = Quaternion(0, -1, 0, 1)
picto.action = Pictogram.ADD
picto.color = ColorRGBA(1.0, 0.0, 0.0, 0.8)
rospy.loginfo("%s early landing %s [s]", ref_st.header.frame_id, str(ref_st.state.remaining_time))
elif [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.ON] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.ON] * buffer_size:
picto.character = "up-bold"
picto.size = 1
picto.pose.orientation = Quaternion(0, -1, 0, 1)
picto.action = Pictogram.ADD
picto.color = ColorRGBA(0.0, 1.0, 0.0, 0.8)
rospy.loginfo("%s late taking off", ref_st.header.frame_id)
print "oso hanare"
else:
continue
elif [ref_st.state.state, act_st.state.state] == [ContactState.ON, ContactState.OFF]:
if [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.OFF] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.OFF] * buffer_size:
picto.character = "fa-long-arrow-down"
picto.size = 1
picto.pose.orientation = Quaternion(0, -1, 0, 1)
picto.action = Pictogram.ADD
picto.color = ColorRGBA(0.0, 1.0, 0.0, 0.8)
rospy.loginfo("%s late landing", ref_st.header.frame_id)
elif [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.ON] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.ON] * buffer_size:
picto.character = "up-bold"
picto.size = 1
picto.pose.orientation = Quaternion(0, -1, 0, 1)
picto.action = Pictogram.ADD
picto.color = ColorRGBA(1.0, 0.0, 0.0, 0.8)
rospy.loginfo("%s early taking off %s [s]", ref_st.header.frame_id, str(ref_st.state.remaining_time))
else:
continue
picto.header.frame_id = ref_st.header.frame_id
picto.header.stamp = ref_st.header.stamp
arr.pictograms.append(picto)
if len(arr.pictograms) > 0:
pub.publish(arr)
ref_contact_states_queue.pop(0)
act_contact_states_queue.pop(0)
ref_contact_states_queue.append(ref)
act_contact_states_queue.append(act)
def publish_messages(publishers, tracks, ego_state, timestamp):
global trajectories
# Generate ROS messages
grid = occupancy_grid.empty_grid()
tracker_array_msg = TrackArray()
label_array_msg = PictogramArray()
for track_id in tracks:
# Occupancy grid
state = tracks[track_id]['state']
state_cov = tracks[track_id]['state_cov']
grid = occupancy_grid.place(state[:2], 100, grid)
# grid = occupancy_grid.place_gaussian(state[:2], state_cov[:2, :2], 100, grid)
# Text marker
publishers['marker_pub'].publish(
make_label('ID ' + str(track_id),
np.r_[state[:2], 1],
frame_id=EGO_VEHICLE_FRAME,
marker_id=track_id))
# Label icon
label_array_msg.pictograms.append(
make_pictogram('fa-car',
np.r_[state[:2], 3],
frame_id=EGO_VEHICLE_FRAME))
# Tracker message
tracker_array_msg.tracks.append(
make_track_msg(track_id, state, state_cov, ego_state))
# Update and publish trajectory
publish_trajectory(publishers, track_id, state.copy(), tracks)
# Publish messages
grid_msg = occupancy_grid.refresh(grid, timestamp)
publishers['occupancy_pub'].publish(grid_msg)
label_array_msg.header.stamp = rospy.Time.now()
label_array_msg.header.frame_id = EGO_VEHICLE_FRAME
publishers['label_pub'].publish(label_array_msg)
tracker_array_msg.header.stamp = timestamp
tracker_array_msg.header.frame_id = EGO_VEHICLE_FRAME
publishers['track_pub'].publish(tracker_array_msg)
# Purge old trajectories
trajectories_ = {k: v for k, v in trajectories.iteritems()}
for track_id in trajectories_:
if track_id not in tracks: del trajectories[track_id]
def callback(self, front_MarkerArray, back_MarkerArray, TwistStamped):
# print("front",len(front_MarkerArray.markers)/4)
# print("back",len(back_MarkerArray.markers)/4)
# # Concat front and back MarkerArray Messages
add_MarkerArray = copy.deepcopy(front_MarkerArray)
for i in range(len(back_MarkerArray.markers)):
add_MarkerArray.markers.append(back_MarkerArray.markers[i])
# print("add",len(add_MarkerArray.markers)/4)
# print("done")
if len(add_MarkerArray.markers) == 0:
return
header = add_MarkerArray.markers[0].header
frame = header.seq
boxes = BoundingBoxArray() #3D Boxes with JSK
boxes.header = header
texts = PictogramArray() #Labels with JSK
texts.header = header
obj_ori_arrows = MarkerArray() #arrow with visualization_msgs
velocity_markers = MarkerArray() #text with visualization_msgs
obj_path_markers = MarkerArray() # passed path
warning_line_markers = MarkerArray()
dets = np.zeros((0, 9)) # (None, 9) : 9는 사용할 3d bbox의 파라미터 개수
obj_box_info = np.empty((0, 7))
obj_label_info = np.empty((0, 2))
# frame을 rviz에 출력
overlayTxt = OverlayText()
overlayTxt.left = 10
overlayTxt.top = 10
overlayTxt.width = 1200
overlayTxt.height = 1200
overlayTxt.fg_color.a = 1.0
overlayTxt.fg_color.r = 1.0
overlayTxt.fg_color.g = 1.0
overlayTxt.fg_color.b = 1.0
overlayTxt.text_size = 12
overlayTxt.text = "Frame_seq : {}".format(frame)
det_boxes = BoundingBoxArray() #3D Boxes with JSK
det_boxes.header = header
# Receive each objects info in this frame
for object_info in add_MarkerArray.markers:
#extract info [ frame,type(label),tx,ty,tz,h,w,l,ry ]
if object_info.ns == "/detection/lidar_detector/box_markers":
tx = object_info.pose.position.x
ty = object_info.pose.position.y
tz = object_info.pose.position.z
l = object_info.scale.x
w = object_info.scale.y
h = object_info.scale.z
quaternion_xyzw = [object_info.pose.orientation.x, object_info.pose.orientation.y, \
object_info.pose.orientation.z, object_info.pose.orientation.w]
rz = tf.transformations.euler_from_quaternion(
quaternion_xyzw)[2]
obj_box_info = np.append(
obj_box_info,
[[-ty, -tz, tx - 0.27, h, w, l, -rz + np.pi / 2]],
axis=0)
size_det = Vector3(l, w, h)
det_box = BoundingBox()
det_box.header = header
det_box.pose.position = Point(tx, ty, tz)
q_det_box = tf.transformations.quaternion_from_euler(
0.0, 0.0, rz) # 어쩔 수 없이 끝단에서만 90도 돌림
det_box.pose.orientation = Quaternion(*q_det_box)
det_box.dimensions = size_det
det_boxes.boxes.append(det_box)
elif object_info.ns == "/detection/lidar_detector/label_markers":
label = object_info.text.strip()
if label == '':
label = 'None'
obj_label_info = np.append(obj_label_info, [[frame, label]],
axis=0)
dets = np.concatenate((obj_label_info, obj_box_info), axis=1)
self.pub_det_markerarray.publish(det_boxes)
del current_id_list[:]
# All Detection Info in one Frame
bboxinfo = dets[dets[:, 0] == str(frame),
2:9] # [ tx, ty, tz, h, w, l, rz ]
additional_info = dets[dets[:, 0] == str(frame), 0:2] # frame, labe
reorder = [3, 4, 5, 0, 1, 2,
6] # [tx,ty,tz,h,w,l,ry] -> [h,w,l,tx,ty,tz,theta]
reorder_back = [3, 4, 5, 0, 1, 2,
6] # [h,w,l,tx,ty,tz,theta] -> [tx,ty,tz,h,w,l,ry]
reorder2velo = [2, 0, 1, 3, 4, 5, 6]
bboxinfo = bboxinfo[:,
reorder] # reorder bboxinfo parameter [h,w,l,x,y,z,theta]
bboxinfo = bboxinfo.astype(np.float64)
dets_all = {'dets': bboxinfo, 'info': additional_info}
# ObjectTracking from Detection
trackers = self.mot_tracker.update(dets_all) # h,w,l,x,y,z,theta
trackers_bbox = trackers[:, 0:7]
trackers_info = trackers[:, 7:10] # id, frame, label
trackers_bbox = trackers_bbox[:,
reorder_back] # reorder_back bboxinfo parameter [tx,ty,tz,h,w,l,ry]
trackers_bbox = trackers_bbox[:,
reorder2velo] # reorder coordinate system cam to velo
trackers_bbox = trackers_bbox.astype(np.float64)
trackers_bbox[:, 0] = trackers_bbox[:, 0]
trackers_bbox[:, 1] = trackers_bbox[:, 1] * -1
trackers_bbox[:, 2] = trackers_bbox[:, 2] * -1
trackers_bbox[:, 6] = trackers_bbox[:, 6] * -1
# for문을 통해 각 objects들의 정보를 추출하여 사용
for b, info in zip(trackers_bbox, trackers_info):
bbox = BoundingBox()
bbox.header = header
# parameter 뽑기 [tx,ty,tz,h,w,l,rz]
tx_trk, ty_trk, tz_trk = float(b[0]), float(b[1]), float(b[2])
rz_trk = float(b[6])
size_trk = Vector3(float(b[5]), float(b[4]), float(b[3]))
obj_id = info[0]
label_trk = info[2]
bbox_color = colorCategory20(int(obj_id))
odom_mat = get_odom(self.tf2, "velo_link", "map")
xyz = np.array(b[:3]).reshape(1, -1)
points = np.array((0, 3), float)
if odom_mat is not None:
points = get_transformation(odom_mat, xyz)
# 이전 x frame 까지 지나온 points들을 저장하여 반환하는 함수
# obj_id와 bbox.label은 단지 type차이만 날뿐 같은 데이터
# path_points_list = points_path(tx_trk, ty_trk, tz_trk, obj_id)
path_points_list = points_path(points[0, 0], points[0, 1],
points[0, 2], obj_id)
map_header = copy.deepcopy(header)
map_header.frame_id = "/map"
bbox_color = colorCategory20(int(obj_id))
path_marker = Marker(
type=Marker.LINE_STRIP,
id=int(obj_id),
lifetime=rospy.Duration(0.5),
# pose=Pose(Point(0,0,0), Quaternion(0, 0, 0, 1)), # origin point position
scale=Vector3(0.1, 0.0, 0.0), # line width
header=map_header,
color=bbox_color)
path_marker.points = path_points_list
obj_path_markers.markers.append(path_marker)
# Tracker들의 BoundingBoxArray 설정
bbox.pose.position = Point(tx_trk, ty_trk, tz_trk / 2.0)
q_box = tf.transformations.quaternion_from_euler(
0.0, 0.0, rz_trk + np.pi / 2) # 어쩔 수 없이 끝단에서만 90도 돌림
bbox.pose.orientation = Quaternion(*q_box)
bbox.dimensions = size_trk
bbox.label = int(obj_id)
boxes.boxes.append(bbox)
picto_text = Pictogram()
picto_text.header = header
picto_text.mode = Pictogram.STRING_MODE
picto_text.pose.position = Point(tx_trk, ty_trk, -tz_trk)
# q = tf.transformations.quaternion_from_euler(0.7, 0.0, -0.7)
picto_text.pose.orientation = Quaternion(0.0, -0.5, 0.0, 0.5)
picto_text.size = 4
picto_text.color = std_msgs.msg.ColorRGBA(1, 1, 1, 1)
picto_text.character = label_trk + ' ' + str(bbox.label)
texts.pictograms.append(picto_text)
# GPS sensor values
oxtLinear = TwistStamped.twist.linear
# oxtLinear = TwistStamped.twist.linear
# Tracker들의 속도 추정
obj_velo, dx_t, dy_t, dz_t = obj_velocity([tx_trk, ty_trk, tz_trk],
bbox.label, oxtLinear)
if obj_velo != None:
obj_velo = np.round_(obj_velo, 1) # m/s
obj_velo = obj_velo * 3.6 # km/h
obj_velo_scale = convert_velo2scale(obj_velo)
# # Tracker들의 Orientation
q_ori = tf.transformations.quaternion_from_euler(
0.0, 0.0, rz_trk + np.pi / 2) # 어쩔 수 없이 끝단에서만 90도 돌림
obj_ori_arrow = Marker(
type=Marker.ARROW,
id=bbox.label,
lifetime=rospy.Duration(0.2),
pose=Pose(Point(tx_trk, ty_trk, tz_trk / 2.0),
Quaternion(*q_ori)),
scale=Vector3(obj_velo_scale, 0.5, 0.5),
header=header,
# color=ColorRGBA(0.0, 1.0, 0.0, 0.8))
color=bbox_color)
obj_ori_arrows.markers.append(obj_ori_arrow)
obj_velo_marker = Marker(type=Marker.TEXT_VIEW_FACING,
id=bbox.label,
lifetime=rospy.Duration(0.5),
pose=Pose(Point(tx_trk, ty_trk, tz_trk),
Quaternion(0.0, -0.5, 0.0,
0.5)),
scale=Vector3(1.5, 1.5, 1.5),
header=header,
color=ColorRGBA(1.0, 1.0, 1.0, 1.0),
text="{}km/h".format(obj_velo))
velocity_markers.markers.append(obj_velo_marker)
current_id_list.append(bbox.label)
# Warning object line
warning_line = Marker(
type=Marker.LINE_LIST,
id=int(obj_id),
lifetime=rospy.Duration(0.2),
pose=Pose(Point(0, 0, 0),
Quaternion(0, 0, 0, 1)), # origin point position
scale=Vector3(0.2, 0.0, 0.0), # line width
header=header,
color=ColorRGBA(1.0, 0.0, 0.0, 1.0))
d = dist_from_objBbox(tx_trk, ty_trk, tz_trk, size_trk.x,
size_trk.y, size_trk.z)
if d < MIN_WARNING_DIST:
warning_line.points = Point(tx_trk, ty_trk,
tz_trk), Point(0.0, 0.0, 0.0)
warning_line_markers.markers.append(warning_line)
# Change Outer Circle Color
outer_circle_color = ColorRGBA(1.0 * 25 / 255, 1.0, 0.0, 1.0)
if len(warning_line_markers.markers) > 0:
outer_circle_color = ColorRGBA(1.0 * 255 / 255, 1.0 * 0 / 255,
1.0 * 0 / 255, 1.0)
# ego_vehicle's warning boundary
outer_circle = Marker(
type=Marker.CYLINDER,
id=int(obj_id),
lifetime=rospy.Duration(0.5),
pose=Pose(Point(0.0, 0.0, -2.0), Quaternion(0, 0, 0, 1)),
scale=Vector3(8.0, 8.0, 0.1), # line width
header=header,
color=outer_circle_color)
inner_circle = Marker(
type=Marker.CYLINDER,
id=int(obj_id),
lifetime=rospy.Duration(0.5),
pose=Pose(Point(0.0, 0.0, -1.8), Quaternion(0, 0, 0, 1)),
scale=Vector3(7.0, 7.0, 0.2), # line width
header=header,
color=ColorRGBA(0.22, 0.22, 0.22, 1.0))
# ego-vehicle velocity
selfvelo = np.sqrt(oxtLinear.x**2 + oxtLinear.y**2 + oxtLinear.z**2)
selfvelo = np.round_(selfvelo, 1) # m/s
selfvelo = selfvelo * 3.6 # km/h
oxtAngular = TwistStamped.twist.angular
q_gps = tf.transformations.quaternion_from_euler(
oxtAngular.x, oxtAngular.y, oxtAngular.z)
# # ego-vehicle 사진 출력
ego_car = Marker(type=Marker.MESH_RESOURCE,
id=0,
lifetime=rospy.Duration(0.5),
pose=Pose(Point(0.0, 0.0, -1.8),
Quaternion(0, 0, 0, 1)),
scale=Vector3(1.5, 1.5, 1.5),
header=header,
action=Marker.ADD,
mesh_resource=CAR_DAE_PATH,
color=ColorRGBA(1.0, 1.0, 1.0, 1.0))
# Self ego Velocity
text_marker = Marker(type=Marker.TEXT_VIEW_FACING,
id=0,
lifetime=rospy.Duration(0.5),
pose=Pose(Point(-7.0, 0.0, 0.0),
Quaternion(0, 0, 0, 1)),
scale=Vector3(1.5, 1.5, 1.5),
header=header,
color=ColorRGBA(1.0, 1.0, 1.0, 1.0),
text="{}km/h".format(selfvelo))
for i in prior_trk_xyz.keys():
if i not in current_id_list:
prior_trk_xyz.pop(i)
self.pub_frame_seq.publish(overlayTxt)
self.pub_boxes.publish(boxes)
self.pub_pictograms.publish(texts)
self.pub_selfvelo_text.publish(text_marker)
# self.pub_selfveloDirection.publish(arrow_marker)
self.pub_objs_ori.publish(obj_ori_arrows)
self.pub_objs_velo.publish(velocity_markers)
self.pub_path.publish(obj_path_markers)
self.pub_warning_lines.publish(warning_line_markers)
self.pub_ego_outCircle.publish(outer_circle)
self.pub_ego_innerCircle.publish(inner_circle)
self.pub_ego_car.publish(ego_car)
"fa-waze", "fa-yammer", "fa-git-alt", "fa-stackpath", "fa-biking",
"fa-border-all", "fa-border-none", "fa-border-style", "fa-fan", "fa-icons",
"fa-phone-alt", "fa-phone-square-alt", "fa-photo-video",
"fa-remove-format", "fa-sort-alpha-down-alt", "fa-sort-alpha-up-alt",
"fa-sort-amount-down-alt", "fa-sort-amount-up-alt",
"fa-sort-numeric-down-alt", "fa-sort-numeric-up-alt", "fa-spell-check",
"fa-voicemail", "fa-cotton-bureau", "fa-buy-n-large", "fa-hat-cowboy",
"fa-hat-cowboy-side", "fa-mdb", "fa-mouse", "fa-orcid", "fa-record-vinyl",
"fa-swift", "fa-umbraco", "fa-caravan", "fa-firefox-browser", "fa-ideal",
"fa-microblog", "fa-pied-piper-square", "fa-trailer", "fa-unity"
]
counter = 0
while not rospy.is_shutdown():
initial_x = -int(math.sqrt(len(pictograms))) / 2
arr = PictogramArray()
arr.header.frame_id = "base_link"
arr.header.stamp = rospy.Time.now()
prev_xyz = [initial_x, -10, 0]
for character in pictograms:
msg = Pictogram()
msg.header.frame_id = "base_link"
msg.action = choice(actions)
msg.header.stamp = rospy.Time.now()
msg.pose.position.x = prev_xyz[0] + 1
msg.pose.position.y = prev_xyz[1]
msg.pose.position.z = 0
msg.pose.orientation.w = 0.7
msg.pose.orientation.x = 0
msg.pose.orientation.y = -0.7
msg.pose.orientation.z = 0