image_enhancement_opencv

Software/vortex_ws/src/vision/README.md

@@ -51,11 +51,14 @@ The Vision package has been tested under [ROS2](https://index.ros.org/doc/ros2/I
 ### image_enhancement
 The image enhancement node is responsible for improving the quality of the raw images before processing. By  applying many filters for histogram equalization, Noise removal, and so on.
 #### Subscribed Topics
-* **`/raw frame`** ([sensor_msgs/Frame])
-  The raw frames from sensor package.
+* **`/~/left_raw/image_rect_color `** ([sensor_msgs/Frame])
+  raw frames from ZED camera.
+* **`/lowlight_camera`** ([sensor_msgs/Frame])
+  raw frames from low light camera.  
 #### Published Topics
-* **`/enhanced frame`** ([sensor_msgs/Frame])
-  The enhanced frames after removing noise and manipulate contrast, darkness, and so on.
+* **`/enhanced frame_l`** ([sensor_msgs/Frame])
+* **`/enhanced frame_z`** ([sensor_msgs/Frame])
+  The enhanced frames after manipulating contrast and correcting the image color 
 
 ### object_detection 
 Contains deep learning models that take the enhanced frame to get the image details.

Software/vortex_ws/src/vision/package.xml

@@ -3,16 +3,25 @@
 <package format="3">
   <name>vision</name>
   <version>0.0.0</version>
-  <description>vision package </description>
+  <description> vision package </description>
   <maintainer email="info@vortex-co.com">vortex-co</maintainer>
   <license>GNU GENERAL PUBLIC LICENSE</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
+  <depend>cv2</depend>
+  <depend>numpy</depend>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <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_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

Software/vortex_ws/src/vision/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/vision
+[install]
+install-scripts=$base/lib/vision

Software/vortex_ws/src/vision/setup.py

@@ -0,0 +1,28 @@
+"""This is the image enhancement publisher_subscriber setup."""
+from setuptools import setup
+
+package_name = 'vision'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='vortex-co',
+    maintainer_email='info@vortex-co.com',
+    description=' vision package ',
+    license='GNU GENERAL PUBLIC LICENSE',
+    tests_require=['pytest'],
+
+    entry_points={
+        'console_scripts': [
+            'Enhancer = vision.image_enhancement_node:main',
+        ],
+    },
+)

Software/vortex_ws/src/vision/test/test_copyright.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_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

Software/vortex_ws/src/vision/test/test_flake8.py

@@ -0,0 +1,23 @@
+# 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
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

Software/vortex_ws/src/vision/test/test_pep257.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'

Software/vortex_ws/src/vision/vision/__init__.py

@@ -0,0 +1,14 @@
+"""This is the image enhancement publisher_subscriber init."""
+# Copyright 2020-2021 Vortex-co.
+#
+# 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.