From ef0f61c32b752a9f4b0bd0daae58f6acf33fb4b9 Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Fri, 3 Nov 2023 23:43:06 -0700 Subject: [PATCH] Got Camera Feed Working With Republisher (#93) * Changed compressed img format to jpeg to align with web video server * Shfited camera feed to compressed image topic * Added a sample image with food on fork * Disaggregated MoveFromMouth text * Formatting --- .../data/resting_carrot_depth.png | Bin 0 -> 63238 bytes .../data/resting_carrot_rgb.jpg | Bin 0 -> 128371 bytes .../DummyRealSense.py | 25 ++++++---- feedingwebapp/src/Pages/Constants.js | 2 +- feedingwebapp/src/Pages/Home/Home.jsx | 4 +- .../Pages/Home/MealStates/BiteSelection.jsx | 47 +++--------------- feedingwebapp/src/Pages/Home/VideoFeed.jsx | 2 +- 7 files changed, 26 insertions(+), 54 deletions(-) create mode 100644 feeding_web_app_ros2_test/data/resting_carrot_depth.png create mode 100644 feeding_web_app_ros2_test/data/resting_carrot_rgb.jpg diff --git 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zi~(OT{?xzlK#$my#r79^r@${C+vu0fpnqrIYXG2Nx%nhecIS+OgnNu)zdTp=`1rij zndI?Z(<{Zap_JjUN$1y+e5r6;Q~AoTA5lKh_;Y6uy|VpV2tBA z&p}>?;*a$ X;g!^NU7Iew4kVP~m1O(fEl>a1lt^e* literal 0 HcmV?d00001 diff --git a/feeding_web_app_ros2_test/feeding_web_app_ros2_test/DummyRealSense.py b/feeding_web_app_ros2_test/feeding_web_app_ros2_test/DummyRealSense.py index c7139ec0..858e4bfa 100755 --- a/feeding_web_app_ros2_test/feeding_web_app_ros2_test/DummyRealSense.py +++ b/feeding_web_app_ros2_test/feeding_web_app_ros2_test/DummyRealSense.py @@ -146,26 +146,33 @@ def publish_frames(self): self.num_frames = 0 self.video.set(cv2.CAP_PROP_POS_FRAMES, self.num_frames) - # Publish the RGB Image message + # Configure the RGB Image message frame_msg = self.bridge.cv2_to_imgmsg(frame, "bgr8") frame_msg.header.frame_id = "camera_color_optical_frame" frame_msg.header.stamp = self.get_clock().now().to_msg() - self.image_publisher.publish(frame_msg) - # Publish the RGB CompressedImage message + # Configure the RGB CompressedImage message compressed_frame_msg = self.bridge.cv2_to_compressed_imgmsg(frame) compressed_frame_msg.header.frame_id = "camera_color_optical_frame" compressed_frame_msg.header.stamp = self.get_clock().now().to_msg() - self.compressed_image_publisher.publish(compressed_frame_msg) + compressed_frame_msg.format = ( + "jpeg" # web_video_server requires "jpeg" not "jpg" + ) - # Publish the depth Image message + # Configure the depth Image message depth_frame_msg = self.bridge.cv2_to_imgmsg(self.depth_frame, "passthrough") depth_frame_msg.header.frame_id = "camera_color_optical_frame" - depth_frame_msg.header.stamp = self.get_clock().now().to_msg() - self.aligned_depth_publisher.publish(depth_frame_msg) + depth_frame_msg.header.stamp = ( + self.get_clock().now() - rclpy.duration.Duration(seconds=0.15) + ).to_msg() + + # Configure the Camera Info + self.camera_info_msg.header.stamp = depth_frame_msg.header.stamp - # Publish the Camera Info - self.camera_info_msg.header.stamp = compressed_frame_msg.header.stamp + # Publish all topics + self.image_publisher.publish(frame_msg) + self.compressed_image_publisher.publish(compressed_frame_msg) + self.aligned_depth_publisher.publish(depth_frame_msg) self.camera_info_publisher.publish(self.camera_info_msg) rate.sleep() diff --git a/feedingwebapp/src/Pages/Constants.js b/feedingwebapp/src/Pages/Constants.js index 3c8ee19c..0f92f2e6 100644 --- a/feedingwebapp/src/Pages/Constants.js +++ b/feedingwebapp/src/Pages/Constants.js @@ -42,7 +42,7 @@ NON_MOVING_STATES.add(MEAL_STATE.U_PostMeal) export { NON_MOVING_STATES } // The names of the ROS topic(s) -export const CAMERA_FEED_TOPIC = '/camera/color/image_raw' +export const CAMERA_FEED_TOPIC = '/local/camera/color/image_raw' export const FACE_DETECTION_TOPIC = '/face_detection' export const FACE_DETECTION_TOPIC_MSG = 'ada_feeding_msgs/FaceDetection' export const FACE_DETECTION_IMG_TOPIC = '/face_detection_img' diff --git a/feedingwebapp/src/Pages/Home/Home.jsx b/feedingwebapp/src/Pages/Home/Home.jsx index 2561e62d..a63661dd 100644 --- a/feedingwebapp/src/Pages/Home/Home.jsx +++ b/feedingwebapp/src/Pages/Home/Home.jsx @@ -152,7 +152,7 @@ function Home(props) { */ let currentMealState = MEAL_STATE.R_MovingFromMouthToAbovePlate let nextMealState = MEAL_STATE.U_BiteSelection - let waitingText = 'Waiting to move above the plate...' + let waitingText = 'Waiting to move from your mouth to above the plate...' return ( { let { actionName, messageType } = ROS_ACTIONS_NAMES[MEAL_STATE.U_BiteSelection] let segmentFromPointAction = useRef(createROSActionClient(ros.current, actionName, messageType)) - /** - * Callback function for when the user indicates that they want to move the - * robot to locate the plate. - */ - const locatePlateClicked = useCallback(() => { - console.log('locatePlateClicked') - setMealState(MEAL_STATE.U_PlateLocator) - }, [setMealState]) - /** * Callback function for when the user indicates that they are done with their * meal. @@ -163,6 +154,7 @@ const BiteSelection = (props) => { setActionStatus({ actionStatus: ROS_ACTION_STATUS_SUCCEED }) + console.log('Got result', response.values) setActionResult(response.values) } else { if ( @@ -336,7 +328,7 @@ const BiteSelection = (props) => { width: Math.round(REALSENSE_WIDTH * maskScaleFactor), height: Math.round(REALSENSE_HEIGHT * maskScaleFactor) } - let imgSrc = `${props.webVideoServerURL}/stream?topic=${CAMERA_FEED_TOPIC}&width=${imgSize.width}&height=${imgSize.height}&quality=20` + let imgSrc = `${props.webVideoServerURL}/stream?topic=${CAMERA_FEED_TOPIC}&width=${imgSize.width}&height=${imgSize.height}&type=ros_compressed` return ( {actionResult.detected_items.map((detected_item, i) => ( @@ -434,40 +426,14 @@ const BiteSelection = (props) => { style={{ flex: 3, flexDirection: 'row', + justifyContent: 'center', alignItems: 'center', width: '100%' }} > - - - - - - + {/** * Below the buttons, one half of the screen will present the video feed. @@ -598,7 +564,6 @@ const BiteSelection = (props) => { ) }, [ - locatePlateClicked, doneEatingClicked, dimension, margin, diff --git a/feedingwebapp/src/Pages/Home/VideoFeed.jsx b/feedingwebapp/src/Pages/Home/VideoFeed.jsx index aa14150a..73ed461f 100644 --- a/feedingwebapp/src/Pages/Home/VideoFeed.jsx +++ b/feedingwebapp/src/Pages/Home/VideoFeed.jsx @@ -145,7 +145,7 @@ const VideoFeed = (props) => { // Render the component return (