added color converter package for semantic seg

color_converter/color_converter/color_converter.py

@@ -0,0 +1,80 @@
+# Copyright (c) 2023 CVC.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https:#opensource.org/licenses/MIT>.
+
+import array
+
+import rclpy
+import rclpy.node
+
+from sensor_msgs.msg import Image
+
+
+CITYSCAPES_PALETTE_MAP = {
+     0: [  0,   0,   0, 255],   # unlabeled
+     1: [128,  64, 128, 255],   # road
+     2: [244,  35, 232, 255],   # sidewalk
+     3: [ 70,  70,  70, 255],   # building
+     4: [102, 102, 156, 255],   # wall
+     5: [190, 153, 153, 255],   # fence
+     6: [153, 153, 153, 255],   # pole
+     7: [250, 170,  30, 255],   # traffic light
+     8: [220, 220,   0, 255],   # traffic sign
+     9: [107, 142,  35, 255],   # vegetation
+    10: [152, 251, 152, 255],   # terrain
+    11: [ 70, 130, 180, 255],   # sky
+    12: [220,  20,  60, 255],   # pedestrian
+    13: [255,   0,   0, 255],   # rider
+    14: [  0,   0, 142, 255],   # Car
+    15: [  0,   0,  70, 255],   # truck
+    16: [  0,  60, 100, 255],   # bus
+    17: [  0,  80, 100, 255],   # train
+    18: [  0,   0, 230, 255],   # motorcycle
+    19: [119,  11,  32, 255],   # bicycle
+    20: [110, 190, 160, 255],   # static
+    21: [170, 120,  50, 255],   # dynamic
+    22: [ 55,  90,  80, 255],   # other
+    23: [ 45,  60, 150, 255],   # water
+    24: [157, 234,  50, 255],   # road line
+    25: [ 81,   0,  81, 255],   # ground
+    26: [150, 100, 100, 255],   # bridge
+    27: [230, 150, 140, 255],   # rail track
+    28: [180, 165, 180, 255]    # guard raiL
+}
+
+
+class ColorConverter(rclpy.node.Node):
+    def __init__(self):
+        param = rclpy.Parameter("use_sim_time", rclpy.Parameter.Type.BOOL, True)
+        super().__init__(
+            "color_converter",
+            allow_undeclared_parameters=True,
+            automatically_declare_parameters_from_overrides=True,
+            parameter_overrides=[param]
+        )
+
+        # _input = self.get_parameter('input').get_parameter_value().string_value
+        # _output = self.get_parameter('ouput').get_parameter_value().string_value
+        _input = "/carla/hero/semantic_segmentation/image"
+        _output = "/carla/hero/semantic_segmentation/cityscapes/image"
+
+        self._subscriber = self.create_subscription(Image, _input, self._callback, 10)
+        self._publisher = self.create_publisher(Image, _output, 1)
+
+    def _callback(self, data):
+        cityscapes = data
+        for i in range(0, len(cityscapes.data), 4):
+            cityscapes.data[i:i+4] = array.array('B', CITYSCAPES_PALETTE_MAP.get(cityscapes.data[i+2], CITYSCAPES_PALETTE_MAP[0]))
+        self._publisher.publish(cityscapes)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ColorConverter()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

color_converter/package.xml

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

color_converter/setup.cfg

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+[develop]
+script-dir=$base/lib/color_converter
+[install]
+install-scripts=$base/lib/color_converter

color_converter/setup.py

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+from setuptools import setup
+
+package_name = 'color_converter'
+
+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='jmoriana',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'color_converter = color_converter.color_converter:main'
+        ],
+    },
+)

color_converter/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'

color_converter/test/test_flake8.py

@@ -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)

color_converter/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'