Intelligent-Behavior-Robots · pabloinigoblasco · Nov 11, 2024 · Nov 11, 2024
diff --git a/LICENSE → image_object_detection/LICENSE b/LICENSE → image_object_detection/LICENSE
diff --git a/README.md → image_object_detection/README.md b/README.md → image_object_detection/README.md
diff --git a/config/image_object_detection.yaml → ...ection/config/image_object_detection.yaml b/config/image_object_detection.yaml → ...ection/config/image_object_detection.yaml
diff --git a/launch/image_object_detection_launch.py → ...n/launch/image_object_detection_launch.py b/launch/image_object_detection_launch.py → ...n/launch/image_object_detection_launch.py
diff --git a/package.xml → image_object_detection/package.xml b/package.xml → image_object_detection/package.xml
@@ -18,8 +18,11 @@
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>vision_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>image_object_detection_msgs</depend>
 
   <export>
     <build_type>ament_python</build_type>
   </export>
 </package>
+
diff --git a/requirements.txt → image_object_detection/requirements.txt b/requirements.txt → image_object_detection/requirements.txt
diff --git a/resource/image_object_detection → ...detection/resource/image_object_detection b/resource/image_object_detection → ...detection/resource/image_object_detection
diff --git a/resource/models → image_object_detection/resource/models b/resource/models → image_object_detection/resource/models
diff --git a/resource/utils → image_object_detection/resource/utils b/resource/utils → image_object_detection/resource/utils
diff --git a/setup.cfg → image_object_detection/setup.cfg b/setup.cfg → image_object_detection/setup.cfg
diff --git a/setup.py → image_object_detection/setup.py b/setup.py → image_object_detection/setup.py
diff --git a/src/image_object_detection/__init__.py → ...on/src/image_object_detection/__init__.py b/src/image_object_detection/__init__.py → ...on/src/image_object_detection/__init__.py
diff --git a/..._detection/image_object_detection_node.py → ..._detection/image_object_detection_node.py b/..._detection/image_object_detection_node.py → ..._detection/image_object_detection_node.py
@@ -28,11 +28,12 @@
 from utils.plots import plot_one_box
 from utils.torch_utils import select_device
 from vision_msgs.msg import Detection2D, Detection2DArray, ObjectHypothesisWithPose
+from image_object_detection_msgs.srv import SetDetectionClasses
+
 from ament_index_python.packages import get_package_share_directory
 
 PACKAGE_NAME = "image_object_detection"
 
-
 class ImageDetectObjectNode(Node):
     def __init__(self):
         super().__init__("image_object_detection_node")
@@ -112,6 +113,13 @@ def __init__(self):
             callback=self.set_processing_enabled_callback,
         )
 
+        self.set_classes_service = self.create_service(
+            SetDetectionClasses,
+            'set_detection_classes',
+            self.set_detection_classes_callback
+        )
+
+
         if self.subscribers_qos == "best_effort":
             self.get_logger().info("Using best effort qos policy for subscribers")
             self.qos = QoSProfile(
@@ -166,6 +174,14 @@ def __init__(self):
 
         self.initialize_model()
 
+
+    def set_detection_classes_callback(self, request, response):
+        self.selected_detections = request.classes
+        self.get_logger().info(f"Updated selected_detections: {self.selected_detections}")
+        response.success = True
+        response.message = f"Successfully updated detection classes to {self.selected_detections}"
+        return response
+
     def initialize_model(self):
         with torch.no_grad():
             # Initialize

diff --git a/src/image_object_detection/test_publisher.py → .../image_object_detection/test_publisher.py b/src/image_object_detection/test_publisher.py → .../image_object_detection/test_publisher.py
diff --git a/src/models/__init__.py → ...e_object_detection/src/models/__init__.py b/src/models/__init__.py → ...e_object_detection/src/models/__init__.py
diff --git a/src/models/common.py → image_object_detection/src/models/common.py b/src/models/common.py → image_object_detection/src/models/common.py
diff --git a/src/models/detect.py → image_object_detection/src/models/detect.py b/src/models/detect.py → image_object_detection/src/models/detect.py
diff --git a/src/models/experimental.py → ...ject_detection/src/models/experimental.py b/src/models/experimental.py → ...ject_detection/src/models/experimental.py
diff --git a/src/models/yolo.py → image_object_detection/src/models/yolo.py b/src/models/yolo.py → image_object_detection/src/models/yolo.py
diff --git a/src/utils/__init__.py → image_object_detection/src/utils/__init__.py b/src/utils/__init__.py → image_object_detection/src/utils/__init__.py
diff --git a/src/utils/activations.py → ...object_detection/src/utils/activations.py b/src/utils/activations.py → ...object_detection/src/utils/activations.py
diff --git a/src/utils/add_nms.py → image_object_detection/src/utils/add_nms.py b/src/utils/add_nms.py → image_object_detection/src/utils/add_nms.py
diff --git a/src/utils/autoanchor.py → ..._object_detection/src/utils/autoanchor.py b/src/utils/autoanchor.py → ..._object_detection/src/utils/autoanchor.py
diff --git a/src/utils/aws/__init__.py → ...bject_detection/src/utils/aws/__init__.py b/src/utils/aws/__init__.py → ...bject_detection/src/utils/aws/__init__.py
diff --git a/src/utils/aws/mime.sh → image_object_detection/src/utils/aws/mime.sh b/src/utils/aws/mime.sh → image_object_detection/src/utils/aws/mime.sh
diff --git a/src/utils/aws/resume.py → ..._object_detection/src/utils/aws/resume.py b/src/utils/aws/resume.py → ..._object_detection/src/utils/aws/resume.py
diff --git a/src/utils/aws/userdata.sh → ...bject_detection/src/utils/aws/userdata.sh b/src/utils/aws/userdata.sh → ...bject_detection/src/utils/aws/userdata.sh
diff --git a/src/utils/datasets.py → image_object_detection/src/utils/datasets.py b/src/utils/datasets.py → image_object_detection/src/utils/datasets.py
diff --git a/src/utils/general.py → image_object_detection/src/utils/general.py b/src/utils/general.py → image_object_detection/src/utils/general.py
diff --git a/src/utils/google_app_engine/Dockerfile → ...on/src/utils/google_app_engine/Dockerfile b/src/utils/google_app_engine/Dockerfile → ...on/src/utils/google_app_engine/Dockerfile
diff --git a/...le_app_engine/additional_requirements.txt → ...le_app_engine/additional_requirements.txt b/...le_app_engine/additional_requirements.txt → ...le_app_engine/additional_requirements.txt
diff --git a/src/utils/google_app_engine/app.yaml → ...tion/src/utils/google_app_engine/app.yaml b/src/utils/google_app_engine/app.yaml → ...tion/src/utils/google_app_engine/app.yaml
diff --git a/src/utils/google_utils.py → ...bject_detection/src/utils/google_utils.py b/src/utils/google_utils.py → ...bject_detection/src/utils/google_utils.py
diff --git a/src/utils/loss.py → image_object_detection/src/utils/loss.py b/src/utils/loss.py → image_object_detection/src/utils/loss.py
diff --git a/src/utils/metrics.py → image_object_detection/src/utils/metrics.py b/src/utils/metrics.py → image_object_detection/src/utils/metrics.py
diff --git a/src/utils/plots.py → image_object_detection/src/utils/plots.py b/src/utils/plots.py → image_object_detection/src/utils/plots.py
diff --git a/src/utils/torch_utils.py → ...object_detection/src/utils/torch_utils.py b/src/utils/torch_utils.py → ...object_detection/src/utils/torch_utils.py
diff --git a/src/utils/wandb_logging/__init__.py → ...ction/src/utils/wandb_logging/__init__.py b/src/utils/wandb_logging/__init__.py → ...ction/src/utils/wandb_logging/__init__.py
diff --git a/src/utils/wandb_logging/log_dataset.py → ...on/src/utils/wandb_logging/log_dataset.py b/src/utils/wandb_logging/log_dataset.py → ...on/src/utils/wandb_logging/log_dataset.py
diff --git a/src/utils/wandb_logging/wandb_utils.py → ...on/src/utils/wandb_logging/wandb_utils.py b/src/utils/wandb_logging/wandb_utils.py → ...on/src/utils/wandb_logging/wandb_utils.py
diff --git a/test/test_copyright.py → ...e_object_detection/test/test_copyright.py b/test/test_copyright.py → ...e_object_detection/test/test_copyright.py
diff --git a/test/test_flake8.py → image_object_detection/test/test_flake8.py b/test/test_flake8.py → image_object_detection/test/test_flake8.py
diff --git a/test/test_pep257.py → image_object_detection/test/test_pep257.py b/test/test_pep257.py → image_object_detection/test/test_pep257.py
diff --git a/yolov7-tiny.pt → image_object_detection/yolov7-tiny.pt b/yolov7-tiny.pt → image_object_detection/yolov7-tiny.pt
diff --git a/image_object_detection_msgs/CMakeLists.txt b/image_object_detection_msgs/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.8)
+project(image_object_detection_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/SetDetectionClasses.srv"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+install(
+  DIRECTORY srv
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/image_object_detection_msgs/package.xml b/image_object_detection_msgs/package.xml
@@ -0,0 +1,18 @@
+<?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>image_object_detection_msgs</name>
+  <version>1.0.0</version>
+  <description>Messages for image object detection</description>
+  <maintainer email="pablo@ibrobotics.com">Pablo Iñigo Blasco</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/image_object_detection_msgs/srv/SetDetectionClasses.srv b/image_object_detection_msgs/srv/SetDetectionClasses.srv
@@ -0,0 +1,4 @@
+string[] classes
+---
+bool success
+string message
diff --git a/src/utils/wandb_logging/__pycache__/__init__.cpython-38.pyc b/src/utils/wandb_logging/__pycache__/__init__.cpython-38.pyc
diff --git a/src/utils/wandb_logging/__pycache__/wandb_utils.cpython-38.pyc b/src/utils/wandb_logging/__pycache__/wandb_utils.cpython-38.pyc