在Rviz中显示2d侦测框

kitti.py

#!/usr/bin/env python3
from data_utils import *
from publish_utils import *
import os

DATA_PATH = "/home/sk/Desktop/data/kitti/2011_09_26/2011_09_26_drive_0005_sync/"    

if __name__ == "__main__":
    frame =0
    rospy.init_node("kitti_node",anonymous=True)
    #建立publisher
    cam_pub  = rospy.Publisher("kitti_cam", Image, queue_size=10)
    pcl_pub  = rospy.Publisher("kitti_point_cloud", PointCloud2, queue_size=10)
    ego_pub = rospy.Publisher('kitti_ego_car',MarkerArray,queue_size=10)
    #创建一个IMU发布者
    imu_pub = rospy.Publisher('kitti_imu',Imu,queue_size=10)

    

    #发布点云数据
    bridge = CvBridge()

    gps_pub =rospy.Publisher('kitti_gps',NavSatFix,queue_size=10)

    rate = rospy.Rate(10)






    #read the retangle data
    df_tracking = read_tracking('/home/sk/Desktop/data/tracking/label_02/0000.txt')




while not rospy.is_shutdown():

        #tranform the data
        boxes = np.array(df_tracking[df_tracking.frame==frame][['bbox_left' ,'bbox_top','bbox_right','bbox_bottom']])
        types = np.array(df_tracking[df_tracking.frame==frame]['type'])
                                                #报错！这里还有.frame

         #read the camera data
        image = read_camera(os.path.join(DATA_PATH, "image_02/data/%010d.png"%frame))
         #publish the camera data,plusing the rectangle into the picture
        publish_camera(cam_pub,bridge,image,boxes,types)
        point_cloud = read_point_cloud(os.path.join(DATA_PATH,'velodyne_points/data/%010d.bin'%frame))
        publish_point_cloud(pcl_pub,point_cloud)
        publish_ego_car(ego_pub)
        imu_data = read_imu(os.path.join(DATA_PATH, 'oxts/data/%010d.txt'%frame))
        publish_imu(imu_pub,imu_data)
        rospy.loginfo("published")
        rate.sleep()
        frame +=1
        frame %=154
        

publish_utils.py

#如何发布资料
#!/usr/bin/env python3
#import 模块：导入一个模块；注：相当于导入的是一个文件夹，是个相对路径
import numpy as np
import rospy
import cv2
from std_msgs.msg import Header
from visualization_msgs.msg import Marker,MarkerArray
from sensor_msgs.msg import Image,PointCloud2,Imu,NavSatFix 
import sensor_msgs.point_cloud2 as pcl2
from cv_bridge import CvBridge
from geometry_msgs.msg import Point
import tf

FRAME_ID = 'map'

DETECTION_COLOR_DICT= {'Car':(255,255,0),'Pedestrian':(0,226,255),'Cyclist':(141,40,255)}

def publish_camera(cam_pub,bridge,image,boxes,types):
    for typ,box in zip(types,boxes):
        top_left =int(box[0]),int(box[1])
        bottom_right = int(box[2]),int(box[3])
        cv2.rectangle(image,top_left,bottom_right,DETECTION_COLOR_DICT[typ],2)
    cam_pub.publish(bridge.cv2_to_imgmsg(image,"bgr8"))

def publish_point_cloud(pcl_pub,point_cloud):
    header = Header()
    header.stamp = rospy.Time.now()
    header.frame_id = FRAME_ID
    pcl_pub.publish(pcl2.create_cloud_xyz32(header,point_cloud[:,:3]))


def publish_ego_car(ego_car_pub):

    #maker阵列
    marker_array = MarkerArray()


    marker = Marker()
    marker.header.frame_id = FRAME_ID
    marker.header.stamp = rospy.Time.now()
    # 每个显示的marker都需要不一样的id，否则会覆盖
    marker.id = 0
    marker.type = Marker.LINE_STRIP# 直线
    marker.action = Marker.ADD
    marker.lifetime = rospy.Duration()#永久显示
    
    marker.color.r = 0.0
    marker.color.g = 1.0
    marker.color.b = 0.0
    marker.color.a = 1.0 # 透明度
    marker.scale.x = 0.2 # 线粗细

    # 这边点的数据主要看官方提供的位置图
    # 会在每两个连续点之间画一条线0-1，1-2。。。
    marker.points = []
    marker.points.append(Point(10,-10,0)) 
    marker.points.append(Point(0,0,0))
    marker.points.append(Point(10,10,0))   
    marker_array.markers.append(marker)

    #发布汽车模型
    mesh_marker=Marker()
    mesh_marker.header.frame_id =FRAME_ID
    mesh_marker.header.stamp = rospy.Time.now()

    mesh_marker.id = -1
    mesh_marker.lifetime = rospy.Duration()#无限长
    mesh_marker.type = Marker.MESH_RESOURCE
    mesh_marker.mesh_resource = "package://kitti_turial/Audi_R8/Models/Car.dae"

    mesh_marker.pose.position.x = 0.0
    mesh_marker.pose.position.y = 0.0
    mesh_marker.pose.position.z = -1.73

    q = tf.transformations.quaternion_from_euler(np.pi,np.pi,-np.pi/2.0)
    mesh_marker.pose.orientation.x = q[0]
    mesh_marker.pose.orientation.y = q[1]
    mesh_marker.pose.orientation.z = q[2]
    mesh_marker.pose.orientation.w = q[3]

    mesh_marker.scale.x = 1
    mesh_marker.scale.y = 1
    mesh_marker.scale.z = 1

    mesh_marker.color.a = 1.0
    mesh_marker.color.r = 1.0
    mesh_marker.color.g = 1.0
    mesh_marker.color.b = 1.0
    marker_array.markers.append(mesh_marker)

    ego_car_pub.publish(marker_array)
 

##IMU发布函数相关设置
def publish_imu(imu_pub,imu_data):
    imu =Imu()
    imu.header.frame_id = FRAME_ID
    imu.header.stamp = rospy.Time.now()
    
    #设置旋转量
    q=tf.transformations.quaternion_from_euler(float(imu_data.roll),float(imu_data.pitch),float(imu_data.yaw));
    imu.orientation.x = q[0]
    imu.orientation.y = q[1]
    imu.orientation.z = q[2]
    imu.orientation.w = q[3]
    
    #设置线性加速度
    imu.linear_acceleration.x = imu_data.af
    imu.linear_acceleration.y = imu_data.al
    imu.linear_acceleration.z = imu_data.au
    
    #设置角加速度
    imu.angular_velocity.x = imu_data.wf
    imu.angular_velocity.y = imu_data.wl
    imu.angular_velocity.z = imu_data.wu
    
    imu_pub.publish(imu)

def publish_gps(gps_data, gps_pub):
    gps = NavSatFix()

    gps.header.frame_id = "map"
    gps.header.stamp = rospy.Time.now()
    # 赋值经纬度和海拔
    gps.latitude = gps_data.lat
    gps.longitude = gps_data.lon
    gps.altitude = gps_data.alt

    gps_pub.publish(gps)

data_utils.py

from email import header
import cv2
import numpy as np
import pandas as pd

IMU_COLUMN_NAMES = ["lat", "lon", "alt", "roll", "pitch", "yaw", "vn", "ve", "vf", "vl", "vu", "ax", "ay", "az", "af", "al", "au", "wx", "wy", "wz", "wf", "wl", "wu", "posacc", "velacc", "navstat", "numsats", "posmode", "velmode", "orimode"]

TRACKING_COLUMN_NAMES=['frame', 'track_id', 'type', 'truncated', 'occluded', 'alpha', 'bbox_left', 'bbox_top','bbox_right', 
              'bbox_bottom', 'height', 'width', 'length', 'pos_x', 'pos_y', 'pos_z', 'rot_y']

def read_camera(path):
    return cv2.imread(path)

def read_point_cloud(path):
    return np.fromfile(path,dtype=np.float32).reshape(-1,4)

def read_imu(path):
    df = pd.read_csv(path,header=None,sep=' ')
    df.columns = IMU_COLUMN_NAMES
    return df

def read_tracking(path):
    df = pd.read_csv(path,header=None,sep=' ')
    df.columns = TRACKING_COLUMN_NAMES
    df.loc[df.type.isin(['Truck','Van','Tram']),'type']='Car'
    df = df[df.type.isin(['Car','Pedestrian','Cyclist'])]
    return df