add image_saver package

.gitignore

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+.cache
+build
+devel
+cmake-build-*
+.catkin_workspace
+/src/CMakeLists.txt

README.md

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+# 光珀项目感知算法
+
+
+## 功能包guangpo_yolo
+
+使用rk3588运行yolov5，订阅图像数据，识别电梯
+再根据识别到的人和电梯，得到电梯的拥挤度
+
+具体拥挤度原理：
+识别电梯和人后，根据高度进行单目深度估计
+根据估计到的深度和相机内参得到相机坐标系下的3d位置
+然后电梯和人距离在一定范围内，可以认定有关联
+
+
+## 功能包image_saver
+订阅图像数据，生成图片，方便录制数据包后标定数据
+
+配置文件在对应包路径下的yaml_config/yaml_config.yaml文件中，可以配置：
+1. 订阅的话题
+2. 间隔多少帧生成一张图片 
+3. 生成文件的保存路径

src/image_saver/.gitignore

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+/images
+images.*

src/image_saver/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(image_saver)
+
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  roscpp
+  sensor_msgs
+)
+
+
+find_package(yaml-cpp REQUIRED)
+find_package(OpenCV REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES image_saver
+#  CATKIN_DEPENDS cv_bridge roscpp sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+include
+  ${catkin_INCLUDE_DIRS}
+  yaml_config
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/image_saver.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cc yaml_config/yaml_config.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+  yaml-cpp
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_image_saver.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/image_saver/launch/run.launch

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+<launch>
+<node pkg="image_saver"  type="image_saver_node"  name="image_saver_node"  output="screen" ></node>
+</launch>

src/image_saver/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>image_saver</name>
+  <version>0.0.0</version>
+  <description>The image_saver package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/image_saver</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_export_depend>cv_bridge</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/image_saver/src/main.cc

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+#include <cv_bridge/cv_bridge.h>
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+
+#include <exception>
+#include <filesystem>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <string>
+
+#include "yaml_config.h"
+
+class ImageSaver {
+ public:
+  ImageSaver(ros::NodeHandle& nh) {
+    std::string subscribe_topic =
+        yaml_config["sub_image_topic"].as<std::string>();
+    std::cout << "subscribe_topic=" << subscribe_topic << std::endl;
+    // 订阅图像话题
+    image_sub_ =
+        nh.subscribe(subscribe_topic, 1, &ImageSaver::imageCallback, this);
+
+    // 设置保存图像的路径
+    save_path_ = yaml_config["save_path"].as<std::string>();
+    if (save_path_.empty()) {
+      std::filesystem::path current_dir =
+          std::filesystem::path(__FILE__).parent_path().parent_path();
+      std::filesystem::path yaml_path = current_dir / "images";
+      save_path_ = yaml_path;
+      if (!std::filesystem::exists(yaml_path)) {
+        if (std::filesystem::create_directory(yaml_path)) {
+          std::cout << "Created directory: " << yaml_path << std::endl;
+        } else {
+          std::cerr << "Failed to create directory: " << yaml_path << std::endl;
+          std::terminate();
+        }
+      }
+    }
+    std::cout << "save_path=" << save_path_ << std::endl;
+    frame_count_ = 0;
+
+    save_interval_ = yaml_config["save_interval"].as<int>();
+    std::cout << "save_interval=" << save_interval_ << std::endl;
+  }
+
+  void imageCallback(const sensor_msgs::ImageConstPtr& msg) {
+    // 每3帧保存一张图像
+    if (frame_count_ % save_interval_ == 0) {
+      cv_bridge::CvImagePtr cv_ptr;
+      try {
+        cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+      } catch (cv_bridge::Exception& e) {
+        ROS_ERROR("cv_bridge exception: %s", e.what());
+        return;
+      }
+
+      // 保存图像
+      std::string file_name =
+          save_path_ + "/" + "image_" + std::to_string(save_count_) + ".jpg";
+      cv::imwrite(file_name, cv_ptr->image);
+      save_count_++;
+      ROS_INFO("Saved image: %s", file_name.c_str());
+    }
+
+    frame_count_++;
+  }
+
+ private:
+  ros::Subscriber image_sub_;
+  std::string save_path_;
+  int frame_count_;
+  int save_count_ = 0;
+  int save_interval_;
+};
+
+int main(int argc, char** argv) {
+  ros::init(argc, argv, "image_saver");
+  ros::NodeHandle nh;
+
+  ImageSaver image_saver(nh);
+
+  ros::spin();
+
+  return 0;
+}

src/image_saver/yaml_config/yaml_config.cpp

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+#include "yaml_config.h"
+#include <iostream>
+#include <filesystem>
+
+YAML::Node ReadConfigYamlFile();
+
+// static std::string yaml_config_path =
+// "/media/Projects/guangpo_lidar/src/guangpo_lidar/yaml_config/yaml_config.yaml";
+static std::string yaml_config_path = []()->std::string{
+  std::filesystem::path current_dir =
+      std::filesystem::path(__FILE__).parent_path();
+  std::filesystem::path yaml_path = current_dir / "yaml_config.yaml";
+  std::cout << "yaml file path: " << yaml_path << std::endl;
+  return yaml_path;
+}();
+
+YAML::Node yaml_config = ReadConfigYamlFile();
+
+YAML::Node ReadConfigYamlFile() {
+  YAML::Node res;
+
+  std::cout << __PRETTY_FUNCTION__ << ": " << std::endl;
+  std::cout << "BEGIN READ FILE: " << yaml_config_path << std::endl;
+  bool read_successful_flag = false;
+  try {
+    // Load the YAML file
+    res = YAML::LoadFile(yaml_config_path);
+    read_successful_flag = true;
+  } catch (const YAML::Exception &e) {
+    std::cerr << "Error while reading the YAML file: " << yaml_config_path
+              << e.what() << std::endl;
+    // gDebugError("[GXT] : Error while reading the YAML file:") << e.what();
+  }
+  if (!read_successful_flag) {
+    // std::cerr << "backtrace:" << __PRETTY_FUNCTION__ << std::endl;
+    // std::cerr << "backtrace:" << __PRETTY_FUNCTION__ << std::endl;
+    // std::cerr << "backtrace:" << __PRETTY_FUNCTION__ << std::endl;
+    std::cerr << "Error while reading the YAML file!" << yaml_config_path
+              << std::endl;
+    std::cerr << "Error while reading the YAML file!" << yaml_config_path
+              << std::endl;
+    std::cerr << "Error while reading the YAML file!" << yaml_config_path
+              << std::endl;
+    std::terminate();
+  }
+  std::cout << "Read yaml config file successfully! " << yaml_config_path
+            << std::endl;
+  return res;
+}
+
+// __attribute((constructor)) inline bool
+// GxtReadConfigYamlFile(const std::string &yaml_config_path) {
+//   bool read_successful_flag = false;
+//   try {
+//     // Load the YAML file
+//     YAML::Node config = YAML::LoadFile(yaml_config_path);
+//
+//     read_successful_flag = true;
+//     // gDebugCol1("READ CONFIG FILE SUCCESSFULLY!");
+//
+//     auto quantize = config["quantize"];
+//     ADDCONFIG(quantize, quantize_pose_quaternion_bit_width);
+//     ADDCONFIG(quantize, quantize_pose_quaternion_il);
+//     ADDCONFIG(quantize, quantize_pose_quaternion_bit_width);
+//     ADDCONFIG(quantize, quantize_pose_quaternion_il);
+//
+//     ADDCONFIG(quantize, quantize_imu_speed_bit_width);
+//     ADDCONFIG(quantize, quantize_imu_speed_il);
+//     ADDCONFIG(quantize, quantize_imu_accbias_bit_width);
+//     ADDCONFIG(quantize, quantize_imu_accbias_il);
+//     ADDCONFIG(quantize, quantize_imu_gyrobias_bit_width);
+//     ADDCONFIG(quantize, quantize_imu_gyrobias_il);
+//
+//     ADDCONFIG(quantize, quantize_inverse_depth_bit_width);
+//     ADDCONFIG(quantize, quantize_inverse_depth_il);
+//
+//     ADDCONFIG(quantize, quantize_hessian_bit_width);
+//     ADDCONFIG(quantize, quantize_hessian_il);
+//     ADDCONFIG(quantize, quantize_b_bit_width);
+//     ADDCONFIG(quantize, quantize_b_il);
+//
+//     auto flag = config["flag"];
+//     ADDCONFIG(flag, use_gxt_backend);
+//     ADDCONFIG(flag, enable_quantize);
+//   } catch (const YAML::Exception &e) {
+//     // std::cerr << "Error while reading the YAML file: " << e.what() <<
+//     // std::endl;
+//     gDebugError("[GXT] : Error while reading the YAML file:") << e.what();
+//   }
+//
+//   if (!read_successful_flag) {
+//     gDebugCol3("\n\n\n==========================================");
+//     gDebugCol3("[GXT] : Error while reading the YAML file!");
+//     gDebugCol3("[GXT] : Error while reading the YAML file!");
+//     gDebugError("[GXT] : Error while reading the YAML file!");
+//     std::terminate();
+//   }
+//
+//   return 0;
+// }

src/image_saver/yaml_config/yaml_config.h

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+#pragma once
+
+#include <yaml-cpp/yaml.h>
+
+#include <string>
+
+
+extern YAML::Node yaml_config;

src/image_saver/yaml_config/yaml_config.yaml

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+# 基础ros设置
+sub_image_topic : "/usb_cam/image_raw"
+# 每隔多少图片保存一张
+save_interval : 5
+# 保存图片路径：（为空则默认保存在这个功能包的images目录下）
+save_path : ""