Closed iory closed 8 years ago
Please merge this.
did you check if https://github.com/ros-perception/opencv_apps/blob/indigo/test/test-fback_flow.test#L10 is not working? if is is not working I think test should fail because https://github.com/ros-perception/opencv_apps/blob/indigo/test/test-fback_flow.test#L3 did not publish camera info, if the test passes, something wrong.
◉ Kei Okada
On Wed, Aug 10, 2016 at 7:22 PM, iory notifications@github.com wrote:
Until now, we could not change use_camera_info flag by rosparam.
I enable it.
You can view, comment on, or merge this pull request online at:
https://github.com/ros-perception/opencv_apps/pull/18 Commit Summary
- Modified enabling use_camera_info by rosparam
File Changes
- M src/nodelet/camshift_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-0 (14)
- M src/nodelet/contour_moments_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-1 (13)
- M src/nodelet/convex_hull_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-2 (13)
- M src/nodelet/edge_detection_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-3 (14)
- M src/nodelet/face_detection_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-4 (13)
- M src/nodelet/fback_flow_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-5 (13)
- M src/nodelet/find_contours_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-6 (13)
- M src/nodelet/general_contours_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-7 (13)
- M src/nodelet/goodfeature_track_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-8 (13)
- M src/nodelet/hough_circles_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-9 (13)
- M src/nodelet/hough_lines_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-10 (12)
- M src/nodelet/lk_flow_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-11 (13)
- M src/nodelet/people_detect_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-12 (13)
- M src/nodelet/phase_corr_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-13 (13)
- M src/nodelet/segment_objects_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-14 (13)
- M src/nodelet/simple_flow_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-15 (13)
- M src/nodelet/watershed_segmentation_nodelet.cpp https://github.com/ros-perception/opencv_apps/pull/18/files#diff-16 (13)
Patch Links:
- https://github.com/ros-perception/opencv_apps/pull/18.patch
- https://github.com/ros-perception/opencv_apps/pull/18.diff
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Year, I checked it. These apps's nodelet version could not correctly work. https://travis-ci.org/ros-perception/opencv_apps/jobs/151430031#L2339 https://github.com/ros-perception/opencv_apps/pull/19/files
I see, may be nodet version does not launch dynamic reconfigure, ... https://github.com/ros-perception/opencv_apps/blob/indigo/include/opencv_apps/nodelet.h, if we can enable dynamic reconfigure fore each nodelet, I think thas' better.
◉ Kei Okada
On Thu, Aug 11, 2016 at 4:31 PM, iory notifications@github.com wrote:
Year, I checked it. These apps's nodelet version could not correctly work. https://travis-ci.org/ros-perception/opencv_apps/jobs/151430031#L2339
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Should we initialize dynamicreconfigure server by pnh? https://github.com/iory/opencv_apps/commit/a6c3e398a5ca96b322c0f48d5a55aa87054e0cac
https://github.com/ros/dynamic_reconfigure/blob/master/include/dynamic_reconfigure/server.h#L234
I think this is the right direction, also take look at https://github.com/ros-perception/image_pipeline/blob/indigo/stereo_image_proc/src/nodelets/disparity.cpp#L86-L87
◉ Kei Okada
On Wed, Aug 17, 2016 at 5:40 PM, iory notifications@github.com wrote:
Should we initialize dynamicreconfigure server by pnh? iory@a6c3e39 https://github.com/iory/opencv_apps/commit/a6c3e398a5ca96b322c0f48d5a55aa87054e0cac
https://github.com/ros/dynamic_reconfigure/blob/master/include/dynamic_ reconfigure/server.h#L234
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I applied it.
Please check it
@iory can you provide snippets of your launch files that using nodelet?
Could you also send me launch file that you really using in your experiments? It's ok for me the file did not run on my environment, I just wait to look at it .
2016年8月23日火曜日、iorynotifications@github.comさんは書きました:
OK, sample https://gist.github.com/iory/da17954998bd07169591be51cb693d38
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◉ Kei Okada
How about following launch file? https://gist.github.com/iory/da17954998bd07169591be51cb693d38
1) did you test nodelet version of opencv_app program with hrp2 or xtion? 2) btw how did you test the program?
/wide_stereo/left/camshift/use_camera_info
rosparam get /wide_stereo/left/camshift/use_camera_info
also changesrosparam set /wide_stereo/left/camshift/use_camera_info true
or false
, it did not change dynamic reconfigure gui void subscribe()
{
NODELET_DEBUG("Subscribing to image topic.");
if (config_.use_camera_info)
cam_sub_ = it_->subscribeCamera("image", 3, &CamShiftNodelet::imageCallbackWithInfo, this);
else
img_sub_ = it_->subscribe("image", 3, &CamShiftNodelet::imageCallback, this);
}
@iory sorry this is my misunderstanding,
with this PR
<launch>
<arg name="gui" default="true" />
<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
<arg name="histogram" default="[0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" doc="Histogram of tracked color object" />
<arg name="vmin" default="11" doc="Min threshould of lightness."/>
<arg name="vmax" default="231" doc="Max threshould of lightness." />
<arg name="smin" default="61" doc="Min value of saturation." />
<arg name="node_name" default="camshift" />
<arg name="image" default="image_rect_color" />
<arg name="use_nodelet" default="true" />
<group ns="wide_stereo/left" >
<node name="image_proc" pkg="image_proc" type="image_proc" />
<node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
<!-- camshift.cpp -->
<group if="$(arg use_nodelet)">
<node name="nodelet_manager" pkg="nodelet" type="nodelet" args="manager" output="screen" />
<!-- camshift.cpp -->
<node name="$(arg node_name)" pkg="nodelet" type="nodelet" args="load camshift/camshift nodelet_manager" output="screen" >
<remap from="image" to="$(arg image)" />
<param name="debug_view" value="$(arg gui)" />
<rosparam param="histogram" subst_value="True">
$(arg histogram)
</rosparam>
<param name="vmin" value="$(arg vmin)" />
<param name="vmax" value="$(arg vmax)" />
<param name="smin" value="$(arg smin)" />
</node>
</group>
<group unless="$(arg use_nodelet)">
<node name="$(arg node_name)" pkg="opencv_apps" type="camshift" >
<remap from="image" to="$(arg image)" />
<param name="debug_view" value="$(arg gui)" />
<rosparam param="histogram" subst_value="True">
$(arg histogram)
</rosparam>
<param name="vmin" value="$(arg vmin)" />
<param name="vmax" value="$(arg vmax)" />
<param name="smin" value="$(arg smin)" />
</node>
</group>
<!-- Test Codes -->
<node name="camshift_saver_result" pkg="image_view" type="image_saver" args="image:=camshift/image" >
<param name="filename_format" value="$(find opencv_apps)/test/camshift_result.png"/>
</node>
<node name="camshift_saver_back_project" pkg="image_view" type="image_saver" args="image:=camshift/back_project" >
<param name="filename_format" value="$(find opencv_apps)/test/camshift_back_project.png"/>
</node>
<param name="camshift_test/topic" value="camshift/track_box" /> <!-- opencv_apps/Point2DArrayStamped -->
<test test-name="camshift_test" pkg="rostest" type="hztest" name="camshift_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>
Thanks!
Until now, we could not change use_camera_info flag by rosparam. I enable it.