Implementacion de vision por computador para deteccion simple de pelotas

Author: iesusdavila

auv_max_vision_opencv/auv_max_vision_opencv/__init__.py

@@ -0,0 +1,52 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+import numpy as np
+
+class BallDetector(Node):
+    def __init__(self):
+        super().__init__('ball_detector')
+        self.subscription = self.create_subscription(
+            Image,
+            '/model/auv_max/camera',
+            self.image_callback,
+            10)
+        self.bridge = CvBridge()
+        self.publisher = self.create_publisher(Image, '/detected_balls', 10)
+
+    def image_callback(self, msg):
+        # Convertir mensaje ROS Image a imagen para OpenCV
+        frame = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        
+        # Convertir a escala de grises
+        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        gray = cv2.GaussianBlur(gray, (15, 15), 0)
+
+        # Usar HoughCircles para detectar circulos
+        circles = cv2.HoughCircles(gray, cv2.HOUGH_GRADIENT, 1, 50, param1=100, param2=30, minRadius=10, maxRadius=100)
+
+        if circles is not None:
+            circles = np.uint16(np.around(circles))
+            for i in circles[0, :]:
+                # Dibujar un circulo exterior en la imagen
+                cv2.circle(frame, (i[0], i[1]), i[2], (0, 255, 0), 2)
+                # Dibujar un circulo en el centro del circulo exterior
+                cv2.circle(frame, (i[0], i[1]), 2, (0, 0, 255), 3)
+
+            self.get_logger().info('Bolas {} detectadas'.format(len(circles[0, :])))
+
+        # Convertir la imagen modificada a un mensaje ROS Image y publicarlo
+        image_message = self.bridge.cv2_to_imgmsg(frame, encoding='bgr8')
+        self.publisher.publish(image_message)
+
+def main(args=None):
+    rclpy.init(args=args)
+    ball_detector = BallDetector()
+    rclpy.spin(ball_detector)
+    ball_detector.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

auv_max_vision_opencv/auv_max_vision_opencv/scripts/__init__.py

@@ -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>auv_max_vision_opencv</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">rov-robot</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>

auv_max_vision_opencv/auv_max_vision_opencv/scripts/ball_detector.py

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/auv_max_vision_opencv
+[install]
+install_scripts=$base/lib/auv_max_vision_opencv

auv_max_vision_opencv/package.xml

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'auv_max_vision_opencv'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='rov-robot',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'detect_balls = auv_max_vision_opencv.scripts.ball_detector:main',
+        ],
+    },
+)

auv_max_vision_opencv/resource/auv_max_vision_opencv

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

auv_max_vision_opencv/setup.cfg

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

auv_max_vision_opencv/setup.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'