Add: ROS wrapper

.gitignore

@@ -1,9 +1,15 @@
 # Editor
 *~
 *.swp
+.vscode
 
 # Build files
 Prj-Linux/lpr/TEST_*
 Prj-Linux/*build*/
 *.pyc
 /Prj-PHP/build
+
+/Prj-ROS/build
+/Prj-ROS/devel
+/Prj-ROS/logs
+/Prj-ROS/.catkin_tools

Prj-ROS/README.md

@@ -0,0 +1,48 @@
+# Prj-ROS
+
+HyperLPR的ROS包，封装了Prj-Linux的代码并为适配ROS进行了少量修改，在Ubuntu20.04中ros-noetic上进行了测试。
+
+## 安装依赖
+
+``` bash
+sudo apt install ros-noetic-desktop-full
+```
+ros-noetic使用的opencv版本为opencv4，可能会与opencv3冲突，请注意停用opencv3以免无法编译运行
+
+## 编译
+
+本文件所在路径为catkin_ws，rospackage路径为 `/HyperLPR/Prj-ROS/src/hyperlpr`
+
+``` bash
+cd Prj-ROS
+catkin build
+echo "source ${PATH_TO_HYPERLPR}/Prj-ROS/devel/setup.bash" >> ~/.bashrc
+```
+
+进入`/Prj-ROS/src/hyperlpr/launch/bringup.launch`，修改`CameraTopic`为自己相机图像的topic
+
+## 运行
+
+``` bash
+roslaunch hyperlpr bringup.launch
+```
+
+## 说明
+
+与ros node有关的代码位于`/Prj-ROS/src/hyperlpr/src`中的`hyperlpr_node.h`和`hyperlpr_node.cpp`中，可以按需修改
+
+运行时的rqt_graph如下
+
+![image](./docs/rosgraph.png)
+
+测试时使用的相机为Intel-RealSense D455，`bringup.launch`中默认CameraTopic为RealSense彩色图像topic
+
+发布的三个topic分别为
+
++ /recognition_confidence 识别的置信度
+
++ /recognition_result 识别的结果，不过ROS不支持中文字符，所以在使用时需要对订阅的数据另作处理，想立即确定中文结果也可以查看terminal中ROS_INFO输出的结果
+
++ /recognized_image 框选出一帧所有可识别车牌的图像
+
+以上三个topic均只对置信度大于75%的识别作出反应，可以调整代码中的置信度阈值以获得期待的识别效果

Prj-ROS/src/hyperlpr/CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(hyperlpr)
+
+set(SRC_DETECTION src/PlateDetection.cpp  src/util.h include/PlateDetection.h)
+
+set(SRC_FINEMAPPING src/FineMapping.cpp )
+
+set(SRC_FASTDESKEW src/FastDeskew.cpp )
+
+set(SRC_SEGMENTATION src/PlateSegmentation.cpp )
+
+set(SRC_RECOGNIZE src/Recognizer.cpp src/CNNRecognizer.cpp)
+
+set(SRC_PIPLINE src/Pipeline.cpp)
+
+set(SRC_SEGMENTATIONFREE src/SegmentationFreeRecognizer.cpp )
+
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(OpenCV REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  cmake_modules
+  roscpp
+  rospy
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+  cv_bridge
+  image_transport
+)
+
+catkin_package(
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+
+add_executable(${PROJECT_NAME}_node ${SRC_DETECTION} ${SRC_FINEMAPPING} ${SRC_FASTDESKEW} ${SRC_SEGMENTATION} ${SRC_RECOGNIZE} ${SRC_PIPLINE} ${SRC_SEGMENTATIONFREE} src/hyperlpr_node.cpp src/main.cpp)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+)

Prj-ROS/src/hyperlpr/include/CNNRecognizer.h

@@ -0,0 +1,24 @@
+//
+// Created by Jack Yu on 21/10/2017.
+//
+
+#ifndef HYPERPR_CNNRECOGNIZER_H
+#define HYPERPR_CNNRECOGNIZER_H
+
+#include "Recognizer.h"
+namespace pr {
+class CNNRecognizer : public GeneralRecognizer {
+public:
+  const int CHAR_INPUT_W = 14;
+  const int CHAR_INPUT_H = 30;
+
+  CNNRecognizer(std::string prototxt, std::string caffemodel);
+  label recognizeCharacter(cv::Mat character);
+
+private:
+  cv::dnn::Net net;
+};
+
+} // namespace pr
+
+#endif // HYPERPR_CNNRECOGNIZER_H

Prj-ROS/src/hyperlpr/include/FastDeskew.h

@@ -0,0 +1,17 @@
+//
+// Created by Jack Yu on 22/09/2017.
+//
+
+#ifndef HYPERPR_FASTDESKEW_H
+#define HYPERPR_FASTDESKEW_H
+
+#include <math.h>
+#include <opencv2/opencv.hpp>
+namespace pr {
+
+cv::Mat fastdeskew(cv::Mat skewImage, int blockSize);
+//    cv::Mat spatialTransformer(cv::Mat skewImage);
+
+} // namespace pr
+
+#endif // HYPERPR_FASTDESKEW_H

Prj-ROS/src/hyperlpr/include/FineMapping.h

@@ -0,0 +1,29 @@
+//
+// Created by Jack Yu on 22/09/2017.
+//
+
+#ifndef HYPERPR_FINEMAPPING_H
+#define HYPERPR_FINEMAPPING_H
+
+#include <opencv2/dnn.hpp>
+#include <opencv2/opencv.hpp>
+
+#include <string>
+namespace pr {
+class FineMapping {
+public:
+  FineMapping();
+
+  FineMapping(std::string prototxt, std::string caffemodel);
+  static cv::Mat FineMappingVertical(cv::Mat InputProposal, int sliceNum = 15,
+                                     int upper = 0, int lower = -50,
+                                     int windows_size = 17);
+  cv::Mat FineMappingHorizon(cv::Mat FinedVertical, int leftPadding,
+                             int rightPadding);
+
+private:
+  cv::dnn::Net net;
+};
+
+} // namespace pr
+#endif // HYPERPR_FINEMAPPING_H

Prj-ROS/src/hyperlpr/include/Pipeline.h

@@ -0,0 +1,57 @@
+//
+// Created by Jack Yu on 22/10/2017.
+//
+
+#ifndef HYPERPR_PIPLINE_H
+#define HYPERPR_PIPLINE_H
+
+#include "CNNRecognizer.h"
+#include "FastDeskew.h"
+#include "FineMapping.h"
+#include "PlateDetection.h"
+#include "PlateInfo.h"
+#include "PlateSegmentation.h"
+#include "Recognizer.h"
+#include "SegmentationFreeRecognizer.h"
+
+namespace pr {
+
+const std::vector<std::string> CH_PLATE_CODE{
+    "京", "沪", "津", "渝", "冀", "晋", "蒙", "辽", "吉", "黑", "苏", "浙",
+    "皖", "闽", "赣", "鲁", "豫", "鄂", "湘", "粤", "桂", "琼", "川", "贵",
+    "云", "藏", "陕", "甘", "青", "宁", "新", "0",  "1",  "2",  "3",  "4",
+    "5",  "6",  "7",  "8",  "9",  "A",  "B",  "C",  "D",  "E",  "F",  "G",
+    "H",  "J",  "K",  "L",  "M",  "N",  "P",  "Q",  "R",  "S",  "T",  "U",
+    "V",  "W",  "X",  "Y",  "Z",  "港", "学", "使", "警", "澳", "挂", "军",
+    "北", "南", "广", "沈", "兰", "成", "济", "海", "民", "航", "空"};
+
+const int SEGMENTATION_FREE_METHOD = 0;
+const int SEGMENTATION_BASED_METHOD = 1;
+
+class PipelinePR {
+public:
+  GeneralRecognizer *generalRecognizer;
+  PlateDetection *plateDetection;
+  PlateSegmentation *plateSegmentation;
+  FineMapping *fineMapping;
+  SegmentationFreeRecognizer *segmentationFreeRecognizer;
+
+  PipelinePR();
+  ~PipelinePR();
+
+  void initialize(std::string detector_filename,
+                  std::string finemapping_prototxt,
+                  std::string finemapping_caffemodel,
+                  std::string segmentation_prototxt,
+                  std::string segmentation_caffemodel,
+                  std::string charRecognization_proto,
+                  std::string charRecognization_caffemodel,
+                  std::string segmentationfree_proto,
+                  std::string segmentationfree_caffemodel);
+
+  std::vector<std::string> plateRes;
+  std::vector<PlateInfo> RunPiplineAsImage(cv::Mat plateImage, int method);
+};
+
+} // namespace pr
+#endif // HYPERPR_PIPLINE_H

Prj-ROS/src/hyperlpr/include/PlateDetection.h

@@ -0,0 +1,32 @@
+//
+// Created by Jack Yu on 20/09/2017.
+//
+
+#ifndef HYPERPR_PLATEDETECTION_H
+#define HYPERPR_PLATEDETECTION_H
+
+#include <PlateInfo.h>
+#include <opencv2/opencv.hpp>
+#include <vector>
+namespace pr {
+class PlateDetection {
+public:
+  PlateDetection(std::string filename_cascade);
+  PlateDetection();
+  void LoadModel(std::string filename_cascade);
+  void plateDetectionRough(cv::Mat InputImage,
+                           std::vector<pr::PlateInfo> &plateInfos,
+                           int min_w = 36, int max_w = 800);
+  //        std::vector<pr::PlateInfo> plateDetectionRough(cv::Mat
+  //        InputImage,int min_w= 60,int max_h = 400);
+
+  //        std::vector<pr::PlateInfo>
+  //        plateDetectionRoughByMultiScaleEdge(cv::Mat InputImage);
+
+private:
+  cv::CascadeClassifier cascade;
+};
+
+} // namespace pr
+
+#endif // HYPERPR_PLATEDETECTION_H

Prj-ROS/src/hyperlpr/include/PlateInfo.h

@@ -0,0 +1,94 @@
+//
+// Created by Jack Yu on 20/09/2017.
+//
+
+#ifndef HYPERPR_PLATEINFO_H
+#define HYPERPR_PLATEINFO_H
+#include <opencv2/opencv.hpp>
+namespace pr {
+
+typedef std::vector<cv::Mat> Character;
+
+enum PlateColor { BLUE, YELLOW, WHITE, GREEN, BLACK, UNKNOWN };
+enum CharType { CHINESE, LETTER, LETTER_NUMS, INVALID };
+
+class PlateInfo {
+public:
+  std::vector<std::pair<CharType, cv::Mat>> plateChars;
+  std::vector<std::pair<CharType, cv::Mat>> plateCoding;
+  float confidence = 0;
+  PlateInfo(const cv::Mat &plateData, std::string plateName, cv::Rect plateRect,
+            PlateColor plateType) {
+    licensePlate = plateData;
+    name = plateName;
+    ROI = plateRect;
+    Type = plateType;
+  }
+  PlateInfo(const cv::Mat &plateData, cv::Rect plateRect,
+            PlateColor plateType) {
+    licensePlate = plateData;
+    ROI = plateRect;
+    Type = plateType;
+  }
+  PlateInfo(const cv::Mat &plateData, cv::Rect plateRect) {
+    licensePlate = plateData;
+    ROI = plateRect;
+  }
+  PlateInfo() {}
+
+  cv::Mat getPlateImage() { return licensePlate; }
+
+  void setPlateImage(cv::Mat plateImage) { licensePlate = plateImage; }
+
+  cv::Rect getPlateRect() { return ROI; }
+
+  void setPlateRect(cv::Rect plateRect) { ROI = plateRect; }
+  cv::String getPlateName() { return name; }
+  void setPlateName(cv::String plateName) { name = plateName; }
+  int getPlateType() { return Type; }
+
+  void appendPlateChar(const std::pair<CharType, cv::Mat> &plateChar) {
+    plateChars.push_back(plateChar);
+  }
+
+  void appendPlateCoding(const std::pair<CharType, cv::Mat> &charProb) {
+    plateCoding.push_back(charProb);
+  }
+  std::string decodePlateNormal(std::vector<std::string> mappingTable) {
+    std::string decode;
+    for (auto plate : plateCoding) {
+      float *prob = (float *)plate.second.data;
+      if (plate.first == CHINESE) {
+        decode += mappingTable[std::max_element(prob, prob + 31) - prob];
+        confidence += *std::max_element(prob, prob + 31);
+      }
+
+      else if (plate.first == LETTER) {
+        decode += mappingTable[std::max_element(prob + 41, prob + 65) - prob];
+        confidence += *std::max_element(prob + 41, prob + 65);
+      }
+
+      else if (plate.first == LETTER_NUMS) {
+        decode += mappingTable[std::max_element(prob + 31, prob + 65) - prob];
+        confidence += *std::max_element(prob + 31, prob + 65);
+
+      } else if (plate.first == INVALID) {
+        decode += '*';
+      }
+    }
+    name = decode;
+
+    confidence /= 7;
+
+    return decode;
+  }
+
+private:
+  cv::Mat licensePlate;
+  cv::Rect ROI;
+  std::string name;
+  PlateColor Type;
+};
+} // namespace pr
+
+#endif // HYPERPR_PLATEINFO_H