diff --git a/calibration/usb_cam.yaml b/calibration/usb_cam_640x480.yaml
similarity index 96%
rename from calibration/usb_cam.yaml
rename to calibration/usb_cam_640x480.yaml
index 0833d39f8a4b86877ad75821914c1c237cb8b74a..a3319b063ef1f8d13fab96216868aa0e5665db26 100644
--- a/calibration/usb_cam.yaml
+++ b/calibration/usb_cam_640x480.yaml
@@ -1,6 +1,6 @@
image_width: 640
image_height: 480
-camera_name: usb_cam
+camera_name: head_camera
camera_matrix:
rows: 3
cols: 3
diff --git a/launch/tibi_dabo_local_bin_nodes.launch b/launch/tibi_dabo_local_bin_nodes.launch
deleted file mode 100644
index eb72b8e7d9438fb3cd10b54271fd8a15fc5976e4..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_local_bin_nodes.launch
+++ /dev/null
@@ -1,37 +0,0 @@
-<!-- -->
-
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <group ns="$(env ROBOT)">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen"
- machine="visio">
- <param name="window_size" value="15"/>
- <param name="k" value="0.25"/>
- <remap from="/$(env ROBOT)/local_th/image_in/camera_info"
- to="/$(env ROBOT)/sensors/head_right/camera_info"/>
- <remap from="/$(env ROBOT)/local_th/image_in/image_raw"
- to="/$(env ROBOT)/sensors/head_right/image_raw"/>
- </node>
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen"
- machine="visio">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/$(env ROBOT)/camera/image_raw"
- to="/$(env ROBOT)/local_th/image_out/image_raw"/>
- <remap from="/$(env ROBOT)/camera/camera_info"
- to="/$(env ROBOT)/local_th/image_out/camera_info"/>
- </node>
- </group>
-</launch>
diff --git a/launch/tibi_dabo_local_bin_test.launch b/launch/tibi_dabo_local_bin_test.launch
deleted file mode 100644
index 007c85beacb05248bd68e23f87bc3cbb8b32ccf2..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_local_bin_test.launch
+++ /dev/null
@@ -1,63 +0,0 @@
-<!-- -->
-
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
-
- <!-- tibi/dabo sensors -->
- <!-- published topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- /$(env ROBOT)/sensors/vertical_laser_scan -->
- <!-- /$(env ROBOT)/sensors/head_right_image -->
- <!-- /$(env ROBOT)/sensors/payload_battery_status -->
- <!-- /$(env ROBOT)/sensors/joy -->
- <!-- subscribed topics: -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_sensors.launch">
- <arg name="front_laser" value="False" />
- <arg name="rear_laser" value="False" />
- <arg name="vertical_laser" value="False" />
- <arg name="wiimote" value="False" />
- <arg name="bumblebee_right" value="True" />
- <arg name="battery" value="False" />
- </include>
-
- <!-- tibi/dabo devices -->
- <!-- published topics: $(env ROBOT)/joint_states -->
- <!-- $(env ROBOT)/segway/status-->
- <!-- subscribed topics: $(env ROBOT)/head/joint_position -->
- <!-- $(env ROBOT)/head/joint_effort -->
- <!-- $(env ROBOT)/head/facial_expression -->
- <!-- $(env ROBOT)/segway/cmd_vel -->
- <!-- $(env ROBOT)/joint_states -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: $(env ROBOT)/left_arm/motion_sequence -->
- <!-- $(env ROBOT)/left_arm/joint_motion -->
- <!-- $(env ROBOT)/right_arm/motion_sequence -->
- <!-- $(env ROBOT)/right_arm/joint_motion -->
- <!-- $(env ROBOT)/head/motion_sequence -->
- <!-- $(env ROBOT)/head/lights_sequence -->
- <!-- $(env ROBOT)/head/joint_motion -->
- <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_devices.launch">
- <arg name="head" value="False" />
- <arg name="left_arm" value="False" />
- <arg name="right_arm" value="False" />
- <arg name="platform" value="False" />
- </include>
-
- <include file="$(find iri_image_local_binarization)/launch/tibi_dabo_local_bin_nodes.launch"/>
-
- <!-- optionally include the rviz node -->
- <node name="rviz"
- pkg="rviz"
- type="rviz"
- machine="monitor"
- args="-d $(find tibi_dabo_tag_head_tracking)/config/$(env ROBOT)_head_tracking.vcg" />
-
-</launch>
diff --git a/launch/usb_cam_tag.launch b/launch/usb_cam_tag.launch
deleted file mode 100644
index 80f9af394c211f2c23c1c72d2dd3f8215ab161b9..0000000000000000000000000000000000000000
--- a/launch/usb_cam_tag.launch
+++ /dev/null
@@ -1,279 +0,0 @@
-<!-- -->
-<launch>
-
- <node name="usb_cam"
- pkg ="usb_cam"
- type="usb_cam_node"
- respawn="false"
- output="screen">
- <param name="video_device" type="string" value="/dev/video0"/>
- <param name="camera_frame_id" type="string" value="usb_cam"/>
- <param name="io_method" type="string" value="mmap"/>
- <param name="image_width" type="int" value="1920"/>
- <param name="image_height" type="int" value="1080"/>
- <param name="framerate" type="int" value="5"/>
- <param name="pixel_format" type="string" value="yuyv"/>
- <param name="framerate" type="int" value="3"/>
- <param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam.yaml" />
- <remap from="/usb_cam/camera_info"
- to="/camera/camera_info"/>
- <remap from="/usb_cam/image_raw"
- to="/camera/image_raw"/>
- </node>
-
- <!-- published topics: /processed_image -->
- <!-- subscribed topics: /camera/image_raw -->
- <!-- /camera/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- image crop -->
- <node pkg ="nodelet"
- type="nodelet"
- name="image_proc_dec"
- args="standalone image_proc/crop_decimate">
- <param name="decimation_x" value="2" />
- <param name="decimation_y" value="1" />
- </node>
-
-
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-
- <group ns="cam1">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam1/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam1/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/camera/image_raw"
- to="/local_th/image_out/image_raw"/>
- <remap from="/camera/camera_info"
- to="/local_th/image_out/camera_info"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam1/camera/image_raw"
- to="/cam1/local_th/image_out/image_raw"/>
- <remap from="/cam1/camera/camera_info"
- to="/cam1/local_th/image_out/camera_info"/>
- </node>
- </group>
-
- <group ns="cam2">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam2/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam2/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="image_th"
- pkg="image_view"
- type="image_view"
- output="screen">
- <remap from="/cam2/image"
- to="/cam2/local_th/image_out/image_raw"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam2/camera/image_raw"
- to="/cam2/local_th/image_out/image_raw"/>
- <remap from="/cam2/camera/camera_info"
- to="/cam2/local_th/image_out/camera_info"/>
- </node>
- </group>
-
- <group ns="cam3">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam3/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam3/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="image_th"
- pkg="image_view"
- type="image_view"
- output="screen">
- <remap from="/cam3/image"
- to="/cam3/local_th/image_out/image_raw"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam3/camera/image_raw"
- to="/cam3/local_th/image_out/image_raw"/>
- <remap from="/cam3/camera/camera_info"
- to="/cam3/local_th/image_out/camera_info"/>
- </node>
- </group>
-
- <group ns="cam4">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam4/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam4/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="image_th"
- pkg="image_view"
- type="image_view"
- output="screen">
- <remap from="/cam4/image"
- to="/cam4/local_th/image_out/image_raw"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam4/camera/image_raw"
- to="/cam4/local_th/image_out/image_raw"/>
- <remap from="/cam4/camera/camera_info"
- to="/cam4/local_th/image_out/camera_info"/>
- </node>
- </group>
-
- <group ns="cam5">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam5/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam5/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="image_th"
- pkg="image_view"
- type="image_view"
- output="screen">
- <remap from="/cam5/image"
- to="/cam5/local_th/image_out/image_raw"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam5/camera/image_raw"
- to="/cam5/local_th/image_out/image_raw"/>
- <remap from="/cam5/camera/camera_info"
- to="/cam5/local_th/image_out/camera_info"/>
- </node>
- </group>
-
- <group ns="cam6">
- <node name="local_th"
- pkg="iri_image_local_binarization"
- type="iri_image_local_binarization"
- output="screen">
- <param name="window_size" value="15"/>
- <remap from="/cam6/local_th/image_in/camera_info"
- to="/camera_out/camera_info"/>
- <remap from="/cam6/local_th/image_in/image_raw"
- to="/camera_out/image_raw"/>
- </node>
-
-<!-- <node name="image_th"
- pkg="image_view"
- type="image_view"
- output="screen">
- <remap from="/cam6/image"
- to="/cam6/local_th/image_out/image_raw"/>
- </node>-->
-
- <node name="ar_pose"
- pkg ="ar_pose"
- type="ar_multi"
- respawn="false"
- output="screen">
- <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- <remap from="/cam6/camera/image_raw"
- to="/cam6/local_th/image_out/image_raw"/>
- <remap from="/cam6/camera/camera_info"
- to="/cam6/local_th/image_out/camera_info"/>
- </node>
- </group>
-
-<!-- <node name="world2camera"
- pkg ="tf"
- type="static_transform_publisher"
- args="0 0 0.0 -1.57 0 -1.57 world camera 1" />-->
-
-<!-- <node name="rviz"
- pkg="rviz"
- type="rviz"
- args="-d $(find ar_pose)/config/tag.vcg"/>-->
-
-</launch>
diff --git a/launch/usb_cam_test.launch b/launch/usb_cam_test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..b8b0de9a3a352adabdf35182b30a15047d4f7636
--- /dev/null
+++ b/launch/usb_cam_test.launch
@@ -0,0 +1,52 @@
+<!-- -->
+<launch>
+
+ <arg name="crop" default="1"/>
+
+ <node name="usb_cam"
+ pkg ="usb_cam"
+ type="usb_cam_node"
+ respawn="false"
+ output="screen">
+ <param name="video_device" type="string" value="/dev/video0"/>
+ <param name="camera_frame_id" type="string" value="usb_cam"/>
+ <param name="io_method" type="string" value="mmap"/>
+ <param name="image_width" type="int" value="640"/>
+ <param name="image_height" type="int" value="480"/>
+ <param name="framerate" type="int" value="5"/>
+ <param name="pixel_format" type="string" value="yuyv"/>
+ <param name="framerate" type="int" value="3"/>
+ <param name="camera_info_url" type="string" value="file://$(find iri_image_local_binarization)/calibration/usb_cam_640x480.yaml" />
+ <remap from="/usb_cam/camera_info"
+ to="/camera/camera_info"/>
+ <remap from="/usb_cam/image_raw"
+ to="/camera/image_raw"/>
+ </node>
+
+ <!-- image crop -->
+ <!-- published topics: /processed_image -->
+ <!-- subscribed topics: /camera/image_raw -->
+ <!-- /camera/camera_info -->
+ <node pkg ="nodelet"
+ type="nodelet"
+ name="image_proc_dec"
+ args="standalone image_proc/crop_decimate">
+ <param name="decimation_x" value="$(arg crop)" />
+ <param name="decimation_y" value="$(arg crop)" />
+ </node>
+
+ <node name="image_local_binarization"
+ pkg="iri_image_local_binarization"
+ type="iri_image_local_binarization"
+ output="screen">
+ <param name="window_size" value="15"/>
+ <remap from="/image_local_binarization/image_in/camera_info"
+ to="/camera_out/camera_info"/>
+ <remap from="/image_local_binarization/image_in/image_raw"
+ to="/camera_out/image_raw"/>
+ </node>
+
+ <node name="rqt_image_view" pkg="rqt_image_view" type="rqt_image_view" args="/image_local_binarization/image_out/image_raw/compressed"/>
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+
+</launch>
diff --git a/src/image_local_binarization_alg_node.cpp b/src/image_local_binarization_alg_node.cpp
index 25451c7773819642beb10764df6050f99acd931c..b05eca5c7cb9108fa17d3dbb2f342fdfa6b05d9d 100644
--- a/src/image_local_binarization_alg_node.cpp
+++ b/src/image_local_binarization_alg_node.cpp
@@ -4,7 +4,7 @@ ImageLocalBinarizationAlgNode::ImageLocalBinarizationAlgNode(void) :
algorithm_base::IriBaseAlgorithm<ImageLocalBinarizationAlgorithm>(),it(this->public_node_handle_)
{
//init class attributes if necessary
- this->loop_rate_ = 1;//in [Hz]
+ this->setRate(1);//in [Hz]
// [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
diff --git a/src/image_local_binarization_alg_nodelet.cpp b/src/image_local_binarization_alg_nodelet.cpp
index 15b5c985b9f046deacec2bf85ea7d387ff0e9eda..d47a2b14837812079e1ff5c517fe3d54b5d7ca05 100644
--- a/src/image_local_binarization_alg_nodelet.cpp
+++ b/src/image_local_binarization_alg_nodelet.cpp
@@ -4,7 +4,7 @@ ImageLocalBinarizationAlgNodelet::ImageLocalBinarizationAlgNodelet(ros::NodeHand
algorithm_base::IriBaseAlgorithm<ImageLocalBinarizationAlgorithm>(),it(private_nh)
{
//init class attributes if necessary
- this->loop_rate_ = 1;//in [Hz]
+ this->setRate(1);//in [Hz]
// [init publishers]
this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1);
@@ -156,5 +156,6 @@ ImageLocalBinNodelet::~ImageLocalBinNodelet()
}
// parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_image_local_binarization, ImageLocalBinNodelet, ImageLocalBinNodelet, nodelet::Nodelet);
+//PLUGINLIB_DECLARE_CLASS(iri_image_local_binarization, ImageLocalBinNodelet, ImageLocalBinNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(ImageLocalBinNodelet, nodelet::Nodelet);