Clean up

Author: hilary-luo

turtlebot4_vision_tutorials/launch/pose_detection.launch.py

@@ -16,7 +16,6 @@
 #
 # @author Hilary Luo (hluo@clearpathrobotics.com)
 
-# from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions.declare_launch_argument import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
@@ -25,38 +24,20 @@
 
 def generate_launch_description():
     namespace = LaunchConfiguration('namespace')
-    # ffmpeg_param_file = LaunchConfiguration('ffmpeg_param_file')
-
-    # turtlebot4_vision_tutorials = get_package_share_directory('turtlebot4_vision_tutorials')
-
-    # arg_parameters = DeclareLaunchArgument(
-    #     'ffmpeg_param_file',
-    #     default_value=PathJoinSubstitution(
-    #         [turtlebot4_vision_tutorials, 'config', 'ffmpeg.yaml']),
-    #     description='Turtlebot4 ffmpeg compression param file'
-    # )
 
     arg_namespace = DeclareLaunchArgument(
         'namespace',
         default_value='')
 
-    # parameters = RewrittenYaml(
-    #     source_file=ffmpeg_param_file,
-    #     root_key=namespace,
-    #     param_rewrites={},
-    #     convert_types=True)
-
-    ffmpeg_node = Node(
+    pose_node = Node(
         package='turtlebot4_vision_tutorials',
         executable='pose_detection',
         namespace=namespace,
         name='pose_detection',
-        # parameters=[parameters],
     )
 
     ld = LaunchDescription()
-    # ld.add_action(arg_parameters)
     ld.add_action(arg_namespace)
-    ld.add_action(ffmpeg_node)
+    ld.add_action(pose_node)
 
     return ld

turtlebot4_vision_tutorials/launch/video_decode.launch.py

@@ -29,22 +29,6 @@ def generate_launch_description():
         'namespace',
         default_value='')
 
-    parameters = {
-        "/cpr_donatello/ffmpeg_decoder": {
-            "ros__parameters": {
-                "qos_overrides": {
-                    "/cpr_donatello/oakd/rgb/preview/encoded/ffmpeg": {
-                        "subscriber": {
-                            "reliability": "best_effort",
-                            "depth": 10,
-                            "history": "keep_last"
-                        }
-                    }
-                }
-            }
-        }
-    }
-
     ffmpeg_node = Node(
         package='image_transport',
         executable='republish',
@@ -55,7 +39,6 @@ def generate_launch_description():
             ('out', "oakd/rgb/preview/ffmpeg_decoded"),
             ],
         arguments=['ffmpeg', 'raw'],
-        parameters=[parameters],
     )
 
     ld = LaunchDescription()

turtlebot4_vision_tutorials/templates/template_processing_script.py

@@ -1,3 +1,30 @@
+# Source: https://github.com/geaxgx/depthai_movenet/
+# Adapted by: Hilary Luo (hluo@clearpathrobotics.com)
+
+# Original source license:
+
+# MIT License
+
+# Copyright (c) [2021] [geax]
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
 """
 This file is the template of the scripting node source code in edge mode
 Substitution is made in MovenetDepthaiEdge.py

turtlebot4_vision_tutorials/turtlebot4_vision_tutorials/FPS.py

@@ -1,3 +1,30 @@
+# Source: https://github.com/geaxgx/depthai_movenet/
+# Adapted by: Hilary Luo (hluo@clearpathrobotics.com)
+
+# Original source license:
+
+# MIT License
+
+# Copyright (c) [2021] [geax]
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
 from collections import namedtuple
 from math import gcd
 import numpy as np
@@ -8,8 +35,6 @@
 import depthai as dai
 import marshal
 
-from turtlebot4_vision_tutorials.FPS import FPS
-
 from ament_index_python.packages import get_package_share_directory
 
 SHARE_DIR = get_package_share_directory('turtlebot4_vision_tutorials')
@@ -138,7 +163,6 @@ class MovenetDepthai:
     - internal_frame_height : when using the internal color camera, set the frame height
                               (calling setIspScale()). The width is calculated accordingly to
                               height and depends on value of 'crop'
-    - stats : True or False, when True, display the global FPS when exiting.
     """
     def __init__(self,
                  input_src="rgb",
@@ -147,8 +171,7 @@ def __init__(self,
                  crop=False,
                  smart_crop=True,
                  internal_fps=None,
-                 internal_frame_height=640,
-                 stats=True):
+                 internal_frame_height=640):
 
         self.model = model
 
@@ -166,14 +189,12 @@ def __init__(self,
                 self.pd_input_length = 256
         print(f"Using blob file : {self.model}")
 
-        print(f"MoveNet imput size : {self.pd_input_length}x{self.pd_input_length}x3")
+        print(f"MoveNet input size : {self.pd_input_length}x{self.pd_input_length}x3")
 
         self.score_thresh = score_thresh
-
         self.crop = crop
         self.smart_crop = smart_crop
         self.internal_fps = internal_fps
-        self.stats = stats
 
         if input_src is None or input_src == "rgb" or input_src == "rgb_laconic":
             self.input_type = "rgb"  # OAK* internal color camera
@@ -223,15 +244,8 @@ def __init__(self,
         if not self.laconic:
             self.q_video = self.device.getOutputQueue(name="cam_out", maxSize=1, blocking=False)
         self.q_processing_out = self.device.getOutputQueue(name="processing_out",
-                                                           maxSize=4,
+                                                           maxSize=1,
                                                            blocking=False)
-        # For debugging
-        # self.q_manip_out=self.device.getOutputQueue(name="manip_out", maxSize=1, blocking=False)
-
-        self.fps = FPS()
-
-        self.nb_frames = 0
-        self.nb_pd_inferences = 0
 
     def create_pipeline(self):
         print("Creating pipeline...")
@@ -349,14 +363,11 @@ def pd_postprocess(self, inference):
         return body
 
     def next_frame(self):
-        self.fps.update()
-
         # Get the device camera frame if wanted
         if self.laconic:
             frame = np.zeros((self.frame_size, self.frame_size, 3), dtype=np.uint8)
         else:
-            in_video = self.q_video.get()
-            frame = in_video.getCvFrame()
+            frame = self.q_video.get().getCvFrame()
 
         # For debugging
         # manip = self.q_manip_out.get().getCvFrame()
@@ -367,16 +378,4 @@ def next_frame(self):
         body = self.pd_postprocess(inference)
         self.crop_region = body.next_crop_region
 
-        size = (in_video.getWidth(), in_video.getHeight())
-
-        # Statistics
-        if self.stats:
-            self.nb_frames += 1
-            self.nb_pd_inferences += 1
-
-        return frame, body, size
-
-    def exit(self):
-        # Print some stats
-        if self.stats:
-            print(f"FPS: {self.fps.global_duration():.1f} f/s (# frames = {self.fps.nb_frames()})")
+        return frame, body