Merge branch 'master' into invert-mask-image

audio_to_spectrogram/README.md

@@ -157,3 +157,16 @@ roslaunch audio_to_spectrogram sample_audio_to_spectrogram.launch
     - `~spectrum` (`jsk_recognition_msgs/Spectrum`)
 
       Spectrum data calculated from audio by FFT.
+
+  - ### Parameters
+    - `~plot_amp_min` (`Double`, default: `0.0`)
+
+      Minimum value of amplitude in plot
+
+    - `~plot_amp_max` (`Double`, default: `20.0`)
+
+      Maximum value of amplitude in plot
+
+    - `~queue_size` (`Int`, default: `1`)
+
+      Queue size of spectrum subscriber

audio_to_spectrogram/package.xml

@@ -22,6 +22,7 @@
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 
+  <test_depend>jsk_tools</test_depend>
   <test_depend>roslaunch</test_depend>
   <test_depend>rostest</test_depend>
 

audio_to_spectrogram/scripts/audio_amplitude_plot.py

@@ -3,9 +3,14 @@
 
 from __future__ import division
 
+from distutils.version import LooseVersion
+import pkg_resources
 import cv_bridge
 from dynamic_reconfigure.server import Server
 from jsk_topic_tools import ConnectionBasedTransport
+import matplotlib
+from audio_to_spectrogram import check_matplotlib_version; check_matplotlib_version()
+matplotlib.use('Agg')
 import matplotlib.pyplot as plt
 import numpy as np
 import rospy
@@ -42,10 +47,22 @@ def start_timer(self):
         if rate == 0:
             rospy.logwarn('You cannot set 0 as the rate; change it to 10.')
             rate = 10
-        self.timer = rospy.Timer(rospy.Duration(1.0 / rate), self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
 
     def stop_timer(self):
         self.timer.shutdown()
+        self.timer = None
 
     def subscribe(self):
         self.audio_buffer.subscribe()

audio_to_spectrogram/scripts/audio_to_spectrum.py

@@ -2,6 +2,8 @@
 
 import numpy as np
 import rospy
+from distutils.version import LooseVersion
+import pkg_resources
 
 from audio_common_msgs.msg import AudioData
 from jsk_recognition_msgs.msg import Spectrum
@@ -45,7 +47,18 @@ def __init__(self):
             '~spectrum', Spectrum, queue_size=1)
         self.pub_spectrum_filtered = rospy.Publisher(
             '~spectrum_filtered', Spectrum, queue_size=1)
-        rospy.Timer(rospy.Duration(1. / self.fft_exec_rate), self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / self.fft_exec_rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
 
     def timer_cb(self, timer):
         if len(self.audio_buffer) != self.audio_buffer.audio_buffer_len:

audio_to_spectrogram/scripts/spectrum_plot.py

@@ -5,6 +5,9 @@
 
 import cv_bridge
 from jsk_topic_tools import ConnectionBasedTransport
+import matplotlib
+from audio_to_spectrogram import check_matplotlib_version; check_matplotlib_version()
+matplotlib.use('Agg')
 import matplotlib.pyplot as plt
 import numpy as np
 import rospy
@@ -19,13 +22,22 @@ class SpectrumPlot(ConnectionBasedTransport):
 
     def __init__(self):
         super(SpectrumPlot, self).__init__()
+        self.plot_amp_min = rospy.get_param('~plot_amp_min', 0.0)
+        self.plot_amp_max = rospy.get_param('~plot_amp_max', 20.0)
+        self.queue_size = rospy.get_param('~queue_size', 1)
         # Set matplotlib config
         self.fig = plt.figure(figsize=(8, 5))
-        self.fig.suptitle('Spectrum plot', size=12)
         self.fig.subplots_adjust(left=0.1, right=0.95, top=0.90, bottom=0.1,
                                  wspace=0.2, hspace=0.6)
         self.ax = self.fig.add_subplot(1, 1, 1)
         self.ax.grid(True)
+        # self.fig.suptitle('Spectrum plot', size=12)
+        self.ax.set_title('Spectrum plot', fontsize=12)
+        # Use self.ax.set_title() instead of
+        # self.fig.suptitle() to use self.fig.tight_layout()
+        # preventing characters from being cut off
+        # cf. https://tm23forest.com/contents/matplotlib-tightlayout-with-figure-suptitle
+        #     https://matplotlib.org/2.2.4/tutorials/intermediate/tight_layout_guide.html
         self.ax.set_xlabel('Frequency [Hz]', fontsize=12)
         self.ax.set_ylabel('Amplitude', fontsize=12)
         self.line, = self.ax.plot([0, 0], label='Amplitude of Spectrum')
@@ -35,7 +47,7 @@ def __init__(self):
 
     def subscribe(self):
         self.sub_spectrum = rospy.Subscriber(
-            '~spectrum', Spectrum, self._cb, queue_size=1000)
+            '~spectrum', Spectrum, self._cb, queue_size=self.queue_size)
 
     def unsubscribe(self):
         self.sub_spectrum.unregister()
@@ -46,8 +58,9 @@ def _cb(self, msg):
         self.freq = np.array(msg.frequency)
         self.line.set_data(self.freq, self.amp)
         self.ax.set_xlim((self.freq.min(), self.freq.max()))
-        self.ax.set_ylim((0.0, 20))
+        self.ax.set_ylim((self.plot_amp_min, self.plot_amp_max))
         self.ax.legend(loc='upper right')
+        self.fig.tight_layout()
         if self.pub_img.get_num_connections() > 0:
             bridge = cv_bridge.CvBridge()
             img = convert_matplotlib_to_img(self.fig)

audio_to_spectrogram/scripts/spectrum_to_spectrogram.py

@@ -4,6 +4,8 @@
 from cv_bridge import CvBridge
 import numpy as np
 import rospy
+from distutils.version import LooseVersion
+import pkg_resources
 
 from jsk_recognition_msgs.msg import Spectrum
 from sensor_msgs.msg import Image
@@ -34,10 +36,18 @@ def __init__(self):
             '~spectrogram', Image, queue_size=1)
         publish_rate = rospy.get_param(
             '~publish_rate', float(self.image_width / self.spectrogram_period))
-        rospy.Timer(
-            rospy.Duration(
-                1.0 / publish_rate),
-            self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / publish_rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
         self.bridge = CvBridge()
 
     def audio_cb(self, msg):

audio_to_spectrogram/src/audio_to_spectrogram/__init__.py

@@ -1,2 +1,3 @@
-from .audio_buffer import AudioBuffer
-from .convert_matplotlib import convert_matplotlib_to_img
+from audio_to_spectrogram.audio_buffer import AudioBuffer
+from audio_to_spectrogram.compat import check_matplotlib_version
+from audio_to_spectrogram.convert_matplotlib import convert_matplotlib_to_img

audio_to_spectrogram/src/audio_to_spectrogram/compat.py

@@ -0,0 +1,25 @@
+import os
+import subprocess
+import warnings
+
+import matplotlib
+
+
+def check_matplotlib_version(
+        python_version=os.getenv('ROS_PYTHON_VERSION')):
+    if python_version == '2':
+        python = 'python'
+    else:
+        python = 'python{}'.format(python_version)
+    out = subprocess.check_output(
+        ['dpkg', '-L', '{}-matplotlib'.format(python)])
+    if isinstance(out, bytes):
+        out = out.decode('utf-8')
+    matplotlib_filelists = out.split()
+    if os.path.dirname(matplotlib.__file__) in matplotlib_filelists:
+        return True
+    else:
+        warnings.warn(
+            "It looks like you are using pip's matplotlib. "
+            "Apt's matplotlib is recommended.")
+    return False

audio_to_spectrogram/src/audio_to_spectrogram/convert_matplotlib.py

@@ -7,6 +7,7 @@
 
 import numpy as np
 import PIL
+import PIL.Image
 
 
 def convert_matplotlib_to_img(fig):

audio_to_spectrogram/test/audio_to_spectrogram.test

@@ -11,6 +11,10 @@
     <rosparam>
       topic_0: /spectrum_to_spectrogram/spectrogram
       timeout_0: 30
+      topic_1: /audio_amplitude_plot/output/viz
+      timeout_1: 30
+      topic_2: /spectrum_plot/output/viz
+      timeout_2: 30
     </rosparam>
   </test>
 

doc/jsk_perception/nodes/aws_detect_faces.rst

@@ -22,7 +22,7 @@ Subscribing Topic
 Publishing Topic
 ----------------
 
-* ``~faces`` (``opencv_msgs/FaceArrayStamped``)
+* ``~faces`` (``opencv_apps/FaceArrayStamped``)
 
   Detected face positions, facial landmarks, emotions, presence of beard, sunglasses, and so on.
 

doc/jsk_perception/nodes/rect_array_in_panorama_to_bounding_box_array.md

@@ -7,10 +7,6 @@ Sample is `sample_rect_array_in_panorama_to_bounding_box_array.launch`
 
 ## Subscribing Topics
 
-* `~panorama_image` (`sensor_msgs/Image`)
-
-Panorama image topic.
-
 * `~panorama_info` (`jsk_recognition_msgs/PanoramaInfo`)
 
 Panorama info topic.

jsk_perception/node_scripts/rect_array_in_panorama_to_bounding_box_array.py

@@ -50,22 +50,22 @@ def __init__(self):
         self._dimensions_labels = rospy.get_param( '~dimensions_labels', {} )
         self._duration_timeout = rospy.get_param( '~duration_timeout', 0.05 )
 
-        try:
-            msg_panorama_image = rospy.wait_for_message(
-                '~panorama_image', Image, 10)
-            msg_panorama_info = rospy.wait_for_message(
-                '~panorama_info', PanoramaInfo, 10)
-        except (rospy.ROSException, rospy.ROSInterruptException) as e:
-            rospy.logerr('{}'.format(e))
-            sys.exit(1)
+        msg_panorama_info = None
+        while (not rospy.is_shutdown() and msg_panorama_info is None):
+            try:
+                msg_panorama_info = rospy.wait_for_message(
+                    '~panorama_info', PanoramaInfo, 10)
+            except (rospy.ROSException, rospy.ROSInterruptException) as e:
+                rospy.logerr('~panorama_info is not subscribed...')
+                rospy.logerr('waiting ~panorama_info for more 10 seconds')
 
         self._frame_panorama = msg_panorama_info.header.frame_id
         self._theta_min = msg_panorama_info.theta_min
         self._theta_max = msg_panorama_info.theta_max
         self._phi_min = msg_panorama_info.phi_min
         self._phi_max = msg_panorama_info.phi_max
-        self._image_height = msg_panorama_image.height
-        self._image_width = msg_panorama_image.width
+        self._image_height = msg_panorama_info.image_height
+        self._image_width = msg_panorama_info.image_width
 
         self._tf_buffer = tf2_ros.Buffer()
         self._tf_listener = tf2_ros.TransformListener(self._tf_buffer)

jsk_perception/sample/sample_dual_fisheye_to_panorama.launch

@@ -6,6 +6,7 @@
   <arg name="fovd" default="185.0" doc="Camera's Field of View [degree]" />
   <arg name="save_unwarped" default="false" doc="Save unwarped fisheye images. This is useful to create MLS grids." />
   <arg name="resolution_mode" default="high" doc="Resolution mode, 'high' or 'low'" />
+  <arg name="vital_rate" default="1.0" doc="Rate to determine if the nodelet is in health." />
   <arg name="image_transport" default="raw"/>
 
   <node name="dual_fisheye_to_panorama"
@@ -21,6 +22,7 @@
         command="load"
         file="$(find jsk_perception)/config/dual_fisheye_to_panorama/$(arg resolution_mode)_resolution_config.yaml"
         subst_value="true"/>
+    <param name="vital_rate" value="$(arg vital_rate)" />
   </node>
 
   <group if="$(arg gui)">

jsk_perception/sample/sample_insta360_air.launch

@@ -27,6 +27,7 @@
   <arg name="panorama_resolution_mode" default="high" />
   <arg name="panorama_image_transport" default="raw"/>
 
+  <arg name="vital_rate" default="1.0" />
   <arg name="gui" default="true" />
 
   <!-- Publish camera image -->
@@ -101,6 +102,7 @@
     <arg name="save_unwarped" value="$(arg save_unwarped)" />
     <arg name="resolution_mode" value="$(arg panorama_resolution_mode)" />
     <arg name="image_transport" value="$(arg panorama_image_transport)" />
+    <arg name="vital_rate" value="$(arg vital_rate)" />
   </include>
 
   <group if="$(arg gui)">

jsk_perception/sample/sample_rect_array_in_panorama_to_bounding_box_array.launch

@@ -47,7 +47,6 @@
     type="rect_array_in_panorama_to_bounding_box_array.py"
     name="rect_array_in_panorama_to_bounding_box_array"
     >
-    <remap from="~panorama_image" to="$(arg INPUT_PANORAMA_IMAGE)" />
     <remap from="~panorama_info" to="$(arg INPUT_PANORAMA_INFO)" />
     <remap from="~input_class" to="$(arg INPUT_CLASS)" />
     <remap from="~input_rects" to="$(arg INPUT_RECTS)" />

jsk_perception/src/dual_fisheye_to_panorama.cpp

@@ -92,6 +92,8 @@ namespace jsk_perception
     msg_panorama_info_.theta_max = M_PI;
     msg_panorama_info_.phi_min = -M_PI;
     msg_panorama_info_.phi_max = M_PI;
+    msg_panorama_info_.image_height = output_image_height_;
+    msg_panorama_info_.image_width = output_image_width_;
 
     onInitPostProcess();
   }

jsk_recognition_msgs/msg/PanoramaInfo.msg

@@ -11,7 +11,13 @@ std_msgs/Header header
 string projection_model
 
 #######################################################################
-#                     Field of View Parameters                         #
+#                      Image shape info                               #
+#######################################################################
+uint32 image_height
+uint32 image_width
+
+#######################################################################
+#                     Field of View Parameters                        #
 #######################################################################
 float64 theta_min
 float64 theta_max