easier readable Readme, Ros integration

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "${workspaceFolder}/ros/src/super_fast_object_detection"
+}

README.md

@@ -2,6 +2,7 @@
 
 [![python-image]][python-url]
 [![pytorch-image]][pytorch-url]
+![ubuntu-image]
 
 ---
 
@@ -34,9 +35,11 @@ The implementation is [here](https://github.com/maudzung/SFA3D/tree/ea0222c1b354
 The instructions for setting up a virtual environment is [here](https://github.com/maudzung/virtual_environment_python3).
 
 ```shell script
-git clone https://github.com/maudzung/SFA3D.git SFA3D
+
+git clone https://github.com/PanterSoft/SFA3D_ROS.git SFA3D_ROS
 cd SFA3D/
 pip install -r requirements.txt
+pip install .
 ```
 
 ### 2.2. Data Preparation
@@ -119,6 +122,68 @@ tensorboard --logdir=./
 
 - Then go to [http://localhost:6006/](http://localhost:6006/)
 
+## ROS Integration
+### Install dependancies for ROS packages:
+```
+sudo apt install ros-noetic-autoware-msgs
+```
+### Build Workspace
+```
+cd ros/
+catkin_make 
+```
+
+for some users you have to specify which python you want to use in this case execute
+```
+catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
+```
+
+## Run Inference Node
+```
+chmod +x /src/super_fast_object_detection/src/rosInference.py
+source devel/setup.bash
+rosrun super_fast_object_detection rosInference.py
+```
+## Run Detected Object Visualizer
+
+```
+# Terminal 1: Start ROS Master
+roscore
+
+# Terminal 2: Start Rviz
+rviz rviz
+
+# Terminal 3: Start Inference Node
+cd ros/
+source devel/setup.bash
+rosrun super_fast_object_detection rosInference.py
+
+# Terminal 4: Start Vizualisation Node
+cd ros/
+source devel/setup.bash
+roslaunch detected_objects_visualizer detected_objects_vis.launch
+
+# Terminal 5: Play Rosbag or Live Inference
+rosbag play xxxx.bag
+```
+
+### Running on Custom Dataset
+
+For running on custom dataset with custom messagenames edit ```rosInference.py``` in ```ros/src/super_fast_object_detection/```
+
+in Line 35-42: class names and the Id´s
+
+in Line 119: path to trained model
+
+in Line 123: cuda device
+
+in Line 131-134: Topic names and message typ
+
+## ROS Topics
+### Subscriber
+Topic Name: ```points_raw```, Message Type: ```sensor_msgs/PointCloud2```
+### Publisher
+Topic Name: ```detected_objects```, Message Type: ```autoware_msgs/DetectedObjectArray```
 
 ## Contact
 
@@ -207,3 +272,5 @@ ${ROOT}
 [python-url]: https://www.python.org/
 [pytorch-image]: https://img.shields.io/badge/PyTorch-1.5-2BAF2B.svg
 [pytorch-url]: https://pytorch.org/
+
+[ubuntu-image]: https://img.shields.io/static/v1?label=Ubuntu&message=20.04&color=orange

ros/src/detected_objects_visualizer/CHANGELOG.rst

@@ -0,0 +1,53 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package detected_objects_visualizer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.11.0 (2019-03-21)
+-------------------
+* [fix] Install commands for all the packages (`#1861 <https://github.com/CPFL/Autoware/issues/1861>`_)
+  * Initial fixes to detection, sensing, semantics and utils
+  * fixing wrong filename on install command
+  * Fixes to install commands
+  * Hokuyo fix name
+  * Fix obj db
+  * Obj db include fixes
+  * End of final cleaning sweep
+  * Incorrect command order in runtime manager
+  * Param tempfile not required by runtime_manager
+  * * Fixes to runtime manager install commands
+  * Remove devel directory from catkin, if any
+  * Updated launch files for robosense
+  * Updated robosense
+  * Fix/add missing install (`#1977 <https://github.com/CPFL/Autoware/issues/1977>`_)
+  * Added launch install to lidar_kf_contour_track
+  * Added install to op_global_planner
+  * Added install to way_planner
+  * Added install to op_local_planner
+  * Added install to op_simulation_package
+  * Added install to op_utilities
+  * Added install to sync
+  * * Improved installation script for pointgrey packages
+  * Fixed nodelet error for gmsl cameras
+  * USe install space in catkin as well
+  * add install to catkin
+  * Fix install directives (`#1990 <https://github.com/CPFL/Autoware/issues/1990>`_)
+  * Fixed installation path
+  * Fixed params installation path
+  * Fixed cfg installation path
+  * Delete cache on colcon_release
+* * Fixed launch file link on rtm
+  * display boxes when pose is reliable
+* Contributors: Abraham Monrroy Cano, amc-nu
+
+1.10.0 (2019-01-17)
+-------------------
+* Switch to Apache 2 license (develop branch) (`#1741 <https://github.com/CPFL/Autoware/issues/1741>`_)
+  * Switch to Apache 2
+  * Replace BSD-3 license header with Apache 2 and reassign copyright to the
+  Autoware Foundation.
+  * Update license on Python files
+  * Update copyright years
+  * Add #ifndef/define _POINTS_IMAGE_H\_
+  * Updated license comment
+* change package name to detected_objects_visualizer
+* Contributors: Esteve Fernandez, Yukihiro SAITO

ros/src/detected_objects_visualizer/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(detected_objects_visualizer)
+
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        autoware_msgs
+        geometry_msgs
+        sensor_msgs
+        tf
+        visualization_msgs
+        cv_bridge
+        image_transport
+        )
+
+catkin_package(
+        CATKIN_DEPENDS
+        roscpp
+        autoware_msgs
+        geometry_msgs
+        sensor_msgs
+        tf
+        visualization_msgs
+        cv_bridge
+        image_transport
+)
+
+find_package(OpenCV REQUIRED)
+
+find_package(Eigen3 QUIET)
+
+if (NOT EIGEN3_FOUND)
+    find_package(cmake_modules REQUIRED)
+    find_package(Eigen REQUIRED)
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+else ()
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif ()
+
+#Rviz Marker visualization
+add_executable(visualize_detected_objects
+        include/visualize_detected_objects.h
+        src/visualize_detected_objects_main.cpp
+        src/visualize_detected_objects.cpp
+        )
+
+target_include_directories(visualize_detected_objects PRIVATE
+        ${OpenCV_INCLUDE_DIR}
+        ${catkin_INCLUDE_DIRS}
+        ${Boost_INCLUDE_DIRS}
+        ${EIGEN3_INCLUDE_DIRS}
+        include
+        )
+
+target_link_libraries(visualize_detected_objects
+        ${OpenCV_LIBRARIES}
+        ${EIGEN3_LIBRARIES}
+        ${catkin_LIBRARIES}
+        )
+
+add_dependencies(visualize_detected_objects
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+
+#Image Rect Visualization
+add_executable(visualize_rects
+        include/visualize_rects.h
+        src/visualize_rects_main.cpp
+        src/visualize_rects.cpp
+        )
+
+target_include_directories(visualize_rects PRIVATE
+        ${OpenCV_INCLUDE_DIR}
+        ${catkin_INCLUDE_DIRS}
+        include
+        )
+
+target_link_libraries(visualize_rects
+        ${OpenCV_LIBRARIES}
+        ${catkin_LIBRARIES}
+        )
+
+add_dependencies(visualize_rects
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+install(TARGETS
+        visualize_detected_objects visualize_rects
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        )
+install(DIRECTORY models/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models
+        PATTERN ".svn" EXCLUDE)

ros/src/detected_objects_visualizer/README.md

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+# Detected Object Visualizer
+
+This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization.
+
+## Parameters
+
+Launch file available parameters:
+
+|Parameter| Type| Description|
+----------|-----|--------
+|`marker_display_duration`|*Double*|Time in ms to display the marker. Default `0.1`.|
+|`object_speed_threshold`|*Double* |Speed threshold to display. Default `0.1`.|
+|`arrow_speed_threshold`|*Double*|Arrow speed threshold to display. Default `0.25`.|
+|`label_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[255,255,255,1]`.|
+|`arrow_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[0,255,0,1,0.8]`.|
+|`hull_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,204,51,0.8]`.|
+|`box_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,128,204,0.8]`.|
+|`centroid_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[77,121,255,0.8]`.|
+
+
+### Subscribed topics
+
+|Topic|Type|Objective|
+------|----|---------
+|`ROS_NAMESPACE/objects`|`autoware_msgs/DetectedObjectArray`|Objects Array topic to visualize|
+
+### Published topics
+
+|Topic|Type|Objective|
+------|----|---------|
+|`ROS_NAMESPACE/objects_markers`|visualization_msgs::MarkerArray|A Label indicating the class and info of the object|
+
+The message includes each of the following namespaces:
+
+|Namespace|Objective|
+|------|---------|
+|`ROS_NAMESPACE/objects_arrows`|An arrow indicating the direction (`Marker::ARROW`)|
+|`ROS_NAMESPACE/objects_hulls`|Convex Hull, the containing polygon (`Marker::LINE_STRIP`)|
+|`ROS_NAMESPACE/objects_boxes`|Bounding box containing the object (`Marker::CUBE`)|
+|`ROS_NAMESPACE/objects_centroids`|Sphere representing the centroid of the object in space (`Marker::SPHERE`)|
+|`ROS_NAMESPACE/objects_mdoels`|Model representing the object in space (`Marker::MESH_RESOURCE`)|
+
+## Notes
+This node is already included in the perception nodes' launch file.
+
+If you need to use it manually, be sure to add the `ROS_NAMESPACE` if using `rosrun`.
+
+For launch files, add the following line to your launch file:
+```xml
+<node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="AN_INSTANCENAME_01"
+          output="screen" ns="ROS_NAMESPACE"/>
+```
+
+i.e. to visualize the output of the `lidar tracker` use `ROS_NAMESPACE=/detection/lidar_tracker` in rosrun or
+`ns="/detection/lidar_tracker"` in the launch file.