first commit

Signed-off-by: Owen-Liuyuxuan <[email protected]>

.gitignore

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+*.pyc
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+# Usually these files are written by a python script from a template
+# before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+*.zip
+*.pt
+
+
+# config
+config/*.py
+log
+output
+.vscode
+resnet18*
+resnet34*
+resnet50*
+resnet101*
+resnet152*
+workdirs
+*.npy
+*.npz
+*.png
+*.pt
+*.pth
+*.ipynb
+*.onnx
+*.avi
+*_object.json
+*_val.json
+

launch/detect_seg_depth.launch.xml

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+<?xml version="1.0"?>
+<launch>
+ <let name="vision_factory" value="/home/yliuhb/vision_collection/src/learning/vision_factory"/>
+ <let name="mono3d_flag" value="true"/>
+ <!-- <let name="mono3d_cfg_file" value="/home/yliuhb/vision_collection/model/det3d/monoflex_cfg.py"/> -->
+ <!-- <let name="mono3d_ckpt_file" value="/home/yliuhb/vision_collection/model/det3d/monoflex_2d_center.pth"/> -->
+ <let name="mono3d_ckpt_file" value="/home/yliuhb/vision_collection/model/det3d/mono3d.onnx"/>
+
+ <let name="seg_flag" value="false"/>
+ <let name="seg_ckpt_file" value="/home/yliuhb/vision_collection/model/segmentation/bisenetv1.onnx"/>
+
+ <let name="monodepth_flag" value="false"/>
+ <let name="monodepth_cfg_file" value="/home/yliuhb/vision_collection/model/monodepth/res101_monodepth_large_cfg.py"/>
+ <let name="monodepth_ckpt_file" value="/home/yliuhb/vision_collection/model/monodepth/res101_monodepth_large.pth"/>
+
+ <let name="camera_topic" value="/kitti360/left_camera/image"/>
+ <let name="camera_param" value="/kitti360/left_camera/camera_info"/>
+ <let name="bbox_topic" value="/bboxes"/>
+
+ <node pkg="ros2_vision_inference" exec="vision_inference_node" name="vision_inference" output="screen">
+ <param name="VIS_FAC_PATH" value="$(var vision_factory)"/>
+ <param name="MONO3D_FLAG" value="$(var mono3d_flag)"/>
+ <!-- <param name="MONO3D_CFG_FILE" value="$(var mono3d_cfg_file)"/> -->
+ <param name="MONO3D_CKPT_FILE" value="$(var mono3d_ckpt_file)"/>
+
+ <param name="SEG_FLAG" value="$(var seg_flag)"/>
+ <param name="SEG_CKPT_FILE" value="$(var seg_ckpt_file)"/>
+
+ <param name="MONODEPTH_FLAG" value="$(var monodepth_flag)"/>
+ <param name="MONODEPTH_CFG_FILE" value="$(var monodepth_cfg_file)"/>
+ <param name="MONODEPTH_CKPT_FILE" value="$(var monodepth_ckpt_file)"/>
+
+
+ <remap from="/image_raw" to="$(var camera_topic)"/>
+ <remap from="/camera_info" to="$(var camera_param)"/>
+ <remap from="/bboxes" to="$(var bbox_topic)"/>
+ </node>
+
+</launch>

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http:https://download.ros.org/schema/package_format3.xsd" schematypens="http:https://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>ros2_vision_inference</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">yliuhb</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>