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StrayedCats · Dec 5, 2023 · f5efcf5 · f5efcf5
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diff --git a/.github/workflows/ci_humble.yml b/.github/workflows/ci_humble.yml
@@ -31,9 +31,9 @@ jobs:
           target-ros2-distro: ${{ matrix.ros_distribution }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
           package-name: |
-            panel_detector_base
-            panel_detector_node
-            panel_detector_param
-            panel_detector_plugins
-            panel_detector
+            detector2d_base
+            detector2d_node
+            detector2d_param
+            detector2d_plugins
+            detector2d
           vcs-repo-file-url: build_depends.repos
diff --git a/README.md b/README.md
@@ -1,5 +1,5 @@
-# PanelDetector
-Panel detection node for CoRE-1 2024
+# Detector2d
+Detection 2d node for CoRE-1 2024
 
 ## Node Structure
 
@@ -13,22 +13,22 @@ Panel detection node for CoRE-1 2024
 
 | Topic Name | Type | Description |
 | --- | --- | --- |
-| positions | geometry_msgs/msg/Detection2DArray | Detected panel poses |
+| positions | geometry_msgs/msg/Detection2DArray | Detected 2d poses |
 
 ### Class Diagram
 
 ```mermaid
 ---
-title: Panel Detector Plugin hierarchy
+title: Detector2d Plugin hierarchy
 ---
 classDiagram
-    PanelDetectorNode <-- DetectorPluginA : load as dll
-    PanelDetectorNode <-- DetectorPluginB : load as dll
+    Detector2dNode <-- DetectorPluginA : load as dll
+    Detector2dNode <-- DetectorPluginB : load as dll
     DetectorPluginA <|-- DetectorBase : include
     DetectorPluginB <|-- DetectorBase : include
-    PanelDetectorNode <|-- DetectorBase : include
-    PanelDetectorNode: params
-    PanelDetectorNode: image_callback(Image)
+    Detector2dNode <|-- DetectorBase : include
+    Detector2dNode: params
+    Detector2dNode: image_callback(Image)
     class DetectorPluginA{
         filter_kernel_param_a
         init(params)

diff --git a/panel_detector/CMakeLists.txt → detector2d/CMakeLists.txt b/panel_detector/CMakeLists.txt → detector2d/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(panel_detector)
+project(detector2d)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/panel_detector/LICENSE → detector2d/LICENSE b/panel_detector/LICENSE → detector2d/LICENSE
diff --git a/panel_detector/package.xml → detector2d/package.xml b/panel_detector/package.xml → detector2d/package.xml
@@ -1,9 +1,9 @@
 <?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>panel_detector</name>
+  <name>detector2d</name>
   <version>0.0.0</version>
-  <description>Panel detection pkg for CoRE-1 2024</description>
+  <description>Detector2d pkg for CoRE-1 2024</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache-2.0</license>
 

diff --git a/panel_detector_base/CMakeLists.txt → detector2d_base/CMakeLists.txt b/panel_detector_base/CMakeLists.txt → detector2d_base/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(panel_detector_base)
+project(detector2d_base)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/...nel_detector_base/panel_detector_base.hpp → ...clude/detector2d_base/detector2d_base.hpp b/...nel_detector_base/panel_detector_base.hpp → ...clude/detector2d_base/detector2d_base.hpp
@@ -1,16 +1,16 @@
 #pragma once
 
-#include <panel_detector_param/panel_detector_param.hpp>
+#include <detector2d_param/detector2d_param.hpp>
 #include <vector>
 #include <vision_msgs/msg/detection2_d_array.hpp>
 #include <opencv2/opencv.hpp>
 
-namespace panel_detector_base
+namespace detector2d_base
 {
 class Detector
 {
 public:
-  virtual void init(const panel_detector_parameters::ParamListener & param_listener) = 0;
+  virtual void init(const detector2d_parameters::ParamListener & param_listener) = 0;
   virtual vision_msgs::msg::Detection2DArray detect(const cv::Mat & image) = 0;
   virtual ~Detector() {}
 

diff --git a/panel_detector_base/package.xml → detector2d_base/package.xml b/panel_detector_base/package.xml → detector2d_base/package.xml
@@ -1,16 +1,16 @@
 <?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>panel_detector_base</name>
+  <name>detector2d_base</name>
   <version>0.0.0</version>
-  <description>Panel detector plugin base</description>
+  <description>Detector2d plugin base</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>libopencv-dev</depend>
-  <depend>panel_detector_param</depend>
+  <depend>detector2d_param</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>vision_msgs</depend>
 

diff --git a/panel_detector_node/CMakeLists.txt → detector2d_node/CMakeLists.txt b/panel_detector_node/CMakeLists.txt → detector2d_node/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(panel_detector_node)
+project(detector2d_node)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -10,13 +10,13 @@ ament_auto_find_build_dependencies()
 find_package(OpenCV REQUIRED)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/panel_detector.cpp
+  src/detector2d_node.cpp
 )
 ament_target_dependencies(${PROJECT_NAME} OpenCV)
 
 rclcpp_components_register_node(
   ${PROJECT_NAME}
-  PLUGIN "${PROJECT_NAME}::PanelDetectorNode"
+  PLUGIN "${PROJECT_NAME}::Detector2dNode"
   EXECUTABLE ${PROJECT_NAME}_exec)
 
 if(BUILD_TESTING)

diff --git a/detector2d_node/include/detector2d_node/detector2d_node.hpp b/detector2d_node/include/detector2d_node/detector2d_node.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <cv_bridge/cv_bridge.h>
+#include <detector2d_base/detector2d_base.hpp>
+#include <detector2d_param/detector2d_param.hpp>
+#include <pluginlib/class_loader.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <vision_msgs/msg/detection2_d_array.hpp>
+
+namespace detector2d_node
+{
+class Detector2dNode : public rclcpp::Node
+{
+public:
+  Detector2dNode(const rclcpp::NodeOptions &);
+  void image_callback(const sensor_msgs::msg::Image::SharedPtr msg);
+
+private:
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
+  rclcpp::Publisher<vision_msgs::msg::Detection2DArray>::SharedPtr pose_pub_;
+  pluginlib::ClassLoader<detector2d_base::Detector> detection_loader_;
+  std::shared_ptr<detector2d_base::Detector> detector_;
+
+  std::shared_ptr<detector2d_parameters::ParamListener> param_listener_;
+};
+}
diff --git a/panel_detector_node/package.xml → detector2d_node/package.xml b/panel_detector_node/package.xml → detector2d_node/package.xml
@@ -1,9 +1,9 @@
 <?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>panel_detector_node</name>
+  <name>detector2d_node</name>
   <version>0.0.0</version>
-  <description>Panel detector node for CoRE-1</description>
+  <description>Detector2d node for CoRE-1</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache License 2.0</license>
 
@@ -12,7 +12,7 @@
   <depend>cv_bridge</depend>
   <depend>libopencv-dev</depend>
   <depend>pluginlib</depend>
-  <depend>panel_detector_plugins</depend>
+  <depend>detector2d_plugins</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>

diff --git a/panel_detector_node/src/panel_detector.cpp → detector2d_node/src/detector2d_node.cpp b/panel_detector_node/src/panel_detector.cpp → detector2d_node/src/detector2d_node.cpp
@@ -1,13 +1,13 @@
-#include <panel_detector_node/panel_detector_node.hpp>
+#include <detector2d_node/detector2d_node.hpp>
 
-namespace panel_detector_node
+namespace detector2d_node
 {
 
-PanelDetectorNode::PanelDetectorNode(const rclcpp::NodeOptions & options)
-: rclcpp::Node("panel_detector_node", options),
-  detection_loader_("panel_detector_base", "panel_detector_base::Detector")
+Detector2dNode::Detector2dNode(const rclcpp::NodeOptions & options)
+: rclcpp::Node("detector2d_node", options),
+  detection_loader_("detector2d_base", "detector2d_base::Detector")
 {
-  this->param_listener_ = std::make_shared<panel_detector_parameters::ParamListener>(
+  this->param_listener_ = std::make_shared<detector2d_parameters::ParamListener>(
     this->get_node_parameters_interface());
   const auto params = this->param_listener_->get_params();
 
@@ -23,10 +23,10 @@ PanelDetectorNode::PanelDetectorNode(const rclcpp::NodeOptions & options)
   this->pose_pub_ = this->create_publisher<vision_msgs::msg::Detection2DArray>(
     "positions", 1);
   this->image_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
-    "image_raw", 1, std::bind(&PanelDetectorNode::image_callback, this, std::placeholders::_1));
+    "image_raw", 1, std::bind(&Detector2dNode::image_callback, this, std::placeholders::_1));
 }
 
-void PanelDetectorNode::image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
+void Detector2dNode::image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
 {
   vision_msgs::msg::Detection2DArray bboxes =
     this->detector_->detect(cv_bridge::toCvShare(msg, "bgr8")->image);
@@ -37,7 +37,7 @@ void PanelDetectorNode::image_callback(const sensor_msgs::msg::Image::SharedPtr
   }
   this->pose_pub_->publish(bboxes);
 }
-} // namespace panel_detector_node
+} // namespace detector2d_node
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(panel_detector_node::PanelDetectorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(detector2d_node::Detector2dNode)
diff --git a/panel_detector_param/CMakeLists.txt → detector2d_param/CMakeLists.txt b/panel_detector_param/CMakeLists.txt → detector2d_param/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(panel_detector_param)
+project(detector2d_param)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -11,7 +11,7 @@ ament_auto_find_build_dependencies()
 find_package(generate_parameter_library REQUIRED)
 
 generate_parameter_library(${PROJECT_NAME}
-  src/panel_detector_parameters.yaml
+  src/detector2d_parameters.yaml
 )
 
 if(BUILD_TESTING)

diff --git a/panel_detector_param/package.xml → detector2d_param/package.xml b/panel_detector_param/package.xml → detector2d_param/package.xml
@@ -1,9 +1,9 @@
 <?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>panel_detector_param</name>
+  <name>detector2d_param</name>
   <version>0.0.0</version>
-  <description>Panel detector parameter package</description>
+  <description>Detector2d parameter package</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache-2.0</license>
 

diff --git a/detector2d_param/src/detector2d_parameters.yaml b/detector2d_param/src/detector2d_parameters.yaml
@@ -0,0 +1,6 @@
+detector2d_parameters:
+  load_target_plugin:
+    type: string
+    description: "load target plugin"
+    default_value: "detector2d_plugins::PublishCenter"
+
diff --git a/panel_detector_plugins/CMakeLists.txt → detector2d_plugins/CMakeLists.txt b/panel_detector_plugins/CMakeLists.txt → detector2d_plugins/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(panel_detector_plugins)
+project(detector2d_plugins)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -10,7 +10,7 @@ ament_auto_find_build_dependencies()
 find_package(OpenCV REQUIRED)
 
 file(GLOB_RECURSE SRCS src/*.cpp)
-ament_auto_add_library(panel_detector_plugins SHARED
+ament_auto_add_library(detector2d_plugins SHARED
   ${SRCS}
 )
 ament_target_dependencies(${PROJECT_NAME} OpenCV)
@@ -32,7 +32,7 @@ if(BUILD_TESTING)
   endforeach()
 endif()
 
-pluginlib_export_plugin_description_file(panel_detector_base panel_detector_plugins.xml)
+pluginlib_export_plugin_description_file(detector2d_base detector2d_plugins.xml)
 
 include_directories(include)
 ament_auto_package()
diff --git a/detector2d_plugins/detector2d_plugins.xml b/detector2d_plugins/detector2d_plugins.xml
@@ -0,0 +1,5 @@
+<library path="detector2d_plugins">
+    <class type="detector2d_plugins::PublishCenter" base_class_type="detector2d_base::Detector">
+        <description>publish image center example</description>
+    </class>
+</library>
diff --git a/detector2d_plugins/include/detector2d_plugins/publish_center_plugin.hpp b/detector2d_plugins/include/detector2d_plugins/publish_center_plugin.hpp
@@ -0,0 +1,16 @@
+#pragma once
+
+#include <detector2d_base/detector2d_base.hpp>
+#include <detector2d_param/detector2d_param.hpp>
+#include <vision_msgs/msg/detection2_d_array.hpp>
+
+namespace detector2d_plugins
+{
+typedef vision_msgs::msg::Detection2DArray Detection2DArray;
+class PublishCenter : public detector2d_base::Detector
+{
+public:
+  void init(const detector2d_parameters::ParamListener &) override;
+  Detection2DArray detect(const cv::Mat &) override;
+};
+}
diff --git a/panel_detector_plugins/package.xml → detector2d_plugins/package.xml b/panel_detector_plugins/package.xml → detector2d_plugins/package.xml
@@ -1,17 +1,17 @@
 <?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>panel_detector_plugins</name>
+  <name>detector2d_plugins</name>
   <version>0.0.0</version>
-  <description>Panel detector plugins for CoRE-1</description>
+  <description>Detector2d plugins for CoRE-1</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>libopencv-dev</depend>
-  <depend>panel_detector_base</depend>
-  <depend>panel_detector_param</depend>
+  <depend>detector2d_base</depend>
+  <depend>detector2d_param</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>vision_msgs</depend>

diff --git a/...tor_plugins/src/publish_center_plugin.cpp → ...r2d_plugins/src/publish_center_plugin.cpp b/...tor_plugins/src/publish_center_plugin.cpp → ...r2d_plugins/src/publish_center_plugin.cpp
@@ -1,9 +1,9 @@
-#include "panel_detector_plugins/publish_center_plugin.hpp"
+#include "detector2d_plugins/publish_center_plugin.hpp"
 
-namespace panel_detector_plugins
+namespace detector2d_plugins
 {
 
-void PublishCenter::init(const panel_detector_parameters::ParamListener & param_listener)
+void PublishCenter::init(const detector2d_parameters::ParamListener & param_listener)
 {
   (void)param_listener;
 }
@@ -21,4 +21,4 @@ Detection2DArray PublishCenter::detect(const cv::Mat & image)
 }
 
 #include <pluginlib/class_list_macros.hpp>
-PLUGINLIB_EXPORT_CLASS(panel_detector_plugins::PublishCenter, panel_detector_base::Detector)
+PLUGINLIB_EXPORT_CLASS(detector2d_plugins::PublishCenter, detector2d_base::Detector)