As a server (HiroIshida#22)

* Define custom service

* Add request handler

* Turn off pubsub

* Add client example

* Enable loading custom image

CMakeLists.txt

@@ -19,6 +19,11 @@ add_message_files(
     SegmentationInfo.msg
 )
 
+add_service_files(
+    FILES
+    DeticSeg.srv
+)
+
 generate_messages(
     DEPENDENCIES
     std_msgs

example/client.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import argparse
+import cv_bridge
+import cv2
+import rospy
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+from detic_ros.srv import DeticSeg
+import matplotlib.pyplot as plt
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-image', type=str, help='input image path')
+    args = parser.parse_args()
+    image = cv2.imread(args.image)
+    assert image is not None
+
+    rospy.init_node('example_client')
+    rospy.wait_for_service('/docker/detic_segmentor/segment_image')
+    image_msg = CvBridge().cv2_to_imgmsg(image, encoding='passthrough')
+
+    f = rospy.ServiceProxy('/docker/detic_segmentor/segment_image', DeticSeg)
+    resp = f(image_msg)
+    seg_info = resp.seg_info
+    if resp.debug_image is not None:
+        image = CvBridge().imgmsg_to_cv2(resp.debug_image)
+        plt.imshow(image)
+        plt.show()

launch/sample.launch

@@ -2,6 +2,7 @@
   <arg name="namespace" default="docker" />
 
   <arg name="verbose" default="true" />
+  <arg name="enable_pubsub" default="true" />
   <arg name="out_debug_img" default="true" />
   <arg name="out_debug_segimage" default="true" />
   <arg name="confidence_threshold" default="0.5" />
@@ -26,6 +27,7 @@
           output="screen" >
     <remap from="~input_image" to="$(arg _input_image)"/>
     <param name="verbose" value="$(arg verbose)"/>
+    <param name="enable_pubsub" value="$(arg enable_pubsub)"/>
     <param name="out_debug_img" value="$(arg out_debug_img)"/>
     <param name="out_debug_segimage" value="$(arg out_debug_segimage)"/>
     <param name="confidence_threshold" value="$(arg confidence_threshold)"/>

node_script/node.py

@@ -5,6 +5,7 @@
 from rospy import Subscriber, Publisher
 from sensor_msgs.msg import Image
 from detic_ros.msg import SegmentationInfo
+from detic_ros.srv import DeticSeg, DeticSegRequest, DeticSegResponse
 
 from node_config import NodeConfig
 from wrapper import DeticWrapper
@@ -25,20 +26,34 @@ def __init__(self, node_config: Optional[NodeConfig]=None):
 
         # As for large buff_size please see:
         # https://answers.ros.org/question/220502/image-subscriber-lag-despite-queue-1/?answer=220505?answer=220505#post-id-22050://answers.ros.org/question/220502/image-subscriber-lag-despite-queue-1/?answer=220505?answer=220505#post-id-220505
-        self.sub = rospy.Subscriber('~input_image', Image, self.callback, queue_size=1, buff_size=2**24)
-        self.pub_debug_image = rospy.Publisher('~debug_image', Image, queue_size=1)
-        self.pub_debug_segmentation_image = rospy.Publisher('~debug_segmentation_image', Image, queue_size=10)
-        self.pub_info = rospy.Publisher('~segmentation_info', SegmentationInfo, queue_size=1)
+        self.srv_handler = rospy.Service('~segment_image', DeticSeg, self.callback_srv)
+
+        if node_config.enable_pubsub:
+            self.sub = rospy.Subscriber('~input_image', Image, self.callback_image, queue_size=1, buff_size=2**24)
+            self.pub_debug_image = rospy.Publisher('~debug_image', Image, queue_size=1)
+            self.pub_debug_segmentation_image = rospy.Publisher('~debug_segmentation_image', Image, queue_size=10)
+            self.pub_info = rospy.Publisher('~segmentation_info', SegmentationInfo, queue_size=1)
+
         rospy.loginfo('initialized node')
 
-    def callback(self, msg: Image):
+    def callback_image(self, msg: Image):
         seginfo, debug_img, debug_seg_img = self.detic_wrapper.infer(msg)
         self.pub_info.publish(seginfo)
         if debug_img is not None:
             self.pub_debug_image.publish(debug_img)
         if debug_seg_img is not None:
             self.pub_debug_segmentation_image.publish(debug_seg_img)
 
+    def callback_srv(self, req: DeticSegRequest) -> DeticSegResponse:
+        msg = req.image
+        seginfo, debug_img, _ = self.detic_wrapper.infer(msg)
+
+        resp = DeticSegResponse()
+        resp.seg_info = seginfo
+        if debug_img is not None:
+            resp.debug_image = debug_img
+        return resp
+
 
 if __name__=='__main__':
     rospy.init_node('detic_node', anonymous=True)

node_script/node_config.py

@@ -16,6 +16,7 @@
 
 @dataclass
 class NodeConfig:
+    enable_pubsub: bool
     out_debug_img: bool
     out_debug_segimage: bool
     verbose: bool
@@ -28,6 +29,7 @@ class NodeConfig:
 
     @classmethod
     def from_args(cls, 
+            enable_pubsub: bool = True,
             out_debug_img: bool = True,
             out_debug_segimage: bool = True,
             verbose: bool = False,
@@ -53,6 +55,7 @@ def from_args(cls,
             'Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth')
 
         return cls(
+                enable_pubsub,
                 out_debug_img,
                 out_debug_segimage,
                 verbose,
@@ -67,6 +70,7 @@ def from_args(cls,
     def from_rosparam(cls):
 
         return cls.from_args(
+                rospy.get_param('~enable_pubsub', True),
                 rospy.get_param('~out_debug_img', True),
                 rospy.get_param('~out_debug_segimage', False),
                 rospy.get_param('~verbose', True),

srv/DeticSeg.srv

@@ -0,0 +1,4 @@
+sensor_msgs/Image image
+---
+detic_ros/SegmentationInfo seg_info
+sensor_msgs/Image debug_image