From 1d4e2475c3fb846fedc185c49c1339f2cf8f9d6c Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 26 Oct 2018 10:14:18 +0200
Subject: [PATCH] Renamed files and launchs
---
config/blue_lab.yaml | 9 +++++
config/{blue.yaml => blue_sim.yaml} | 2 +-
config/green_lab.yaml | 9 +++++
config/{green.yaml => green_sim.yaml} | 6 +--
config/red_lab.yaml | 9 +++++
config/{red.yaml => red_sim.yaml} | 4 +-
config/{default_params.yaml => sample.yaml} | 2 +-
config/yellow_lab.yaml | 9 +++++
config/{yellow.yaml => yellow_sim.yaml} | 8 ++--
launch/blob_detector.launch | 41 ---------------------
launch/blob_detector_sim.launch | 17 ---------
launch/node.launch | 24 ++++++++++++
12 files changed, 71 insertions(+), 69 deletions(-)
create mode 100644 config/blue_lab.yaml
rename config/{blue.yaml => blue_sim.yaml} (89%)
create mode 100644 config/green_lab.yaml
rename config/{green.yaml => green_sim.yaml} (67%)
create mode 100644 config/red_lab.yaml
rename config/{red.yaml => red_sim.yaml} (78%)
rename config/{default_params.yaml => sample.yaml} (87%)
create mode 100644 config/yellow_lab.yaml
rename config/{yellow.yaml => yellow_sim.yaml} (57%)
delete mode 100644 launch/blob_detector.launch
delete mode 100644 launch/blob_detector_sim.launch
create mode 100644 launch/node.launch
diff --git a/config/blue_lab.yaml b/config/blue_lab.yaml
new file mode 100644
index 0000000..e5f517d
--- /dev/null
+++ b/config/blue_lab.yaml
@@ -0,0 +1,9 @@
+color_id: blue
+H_center: 233
+H_window: 3
+S_center: 215
+S_window: 10
+V_center: 131
+V_window: 33
+max_area: 100000
+min_area: 10
diff --git a/config/blue.yaml b/config/blue_sim.yaml
similarity index 89%
rename from config/blue.yaml
rename to config/blue_sim.yaml
index aa0f35c..87d1cd2 100644
--- a/config/blue.yaml
+++ b/config/blue_sim.yaml
@@ -6,4 +6,4 @@ S_window: 10
V_center: 102
V_window: 10
max_area: 100000
-min_area: 10
+min_area: 10
\ No newline at end of file
diff --git a/config/green_lab.yaml b/config/green_lab.yaml
new file mode 100644
index 0000000..00d14fb
--- /dev/null
+++ b/config/green_lab.yaml
@@ -0,0 +1,9 @@
+color_id: green
+H_center: 134
+H_window: 14
+S_center: 122
+S_window: 35
+V_center: 44
+V_window: 9
+max_area: 100000
+min_area: 10
diff --git a/config/green.yaml b/config/green_sim.yaml
similarity index 67%
rename from config/green.yaml
rename to config/green_sim.yaml
index 05eee86..175431e 100644
--- a/config/green.yaml
+++ b/config/green_sim.yaml
@@ -1,9 +1,9 @@
color_id: green
H_center: 120
H_window: 10
-S_center: 255
+S_center: 250
S_window: 10
-V_center: 102
-V_window: 10
+V_center: 108
+V_window: 23
max_area: 100000
min_area: 10
diff --git a/config/red_lab.yaml b/config/red_lab.yaml
new file mode 100644
index 0000000..85f4dc9
--- /dev/null
+++ b/config/red_lab.yaml
@@ -0,0 +1,9 @@
+color_id: red
+H_center: 348
+H_window: 6
+S_center: 185
+S_window: 21
+V_center: 90
+V_window: 27
+max_area: 100000
+min_area: 10
diff --git a/config/red.yaml b/config/red_sim.yaml
similarity index 78%
rename from config/red.yaml
rename to config/red_sim.yaml
index 6f10fda..e91af09 100644
--- a/config/red.yaml
+++ b/config/red_sim.yaml
@@ -1,9 +1,9 @@
color_id: red
H_center: 0
H_window: 10
-S_center: 255
+S_center: 250
S_window: 10
V_center: 102
-V_window: 10
+V_window: 7
max_area: 100000
min_area: 10
diff --git a/config/default_params.yaml b/config/sample.yaml
similarity index 87%
rename from config/default_params.yaml
rename to config/sample.yaml
index 22d6273..4c57439 100644
--- a/config/default_params.yaml
+++ b/config/sample.yaml
@@ -1,4 +1,4 @@
-color_id: none
+color_id: color
H_center: 180
H_window: 360
S_center: 128
diff --git a/config/yellow_lab.yaml b/config/yellow_lab.yaml
new file mode 100644
index 0000000..3928b14
--- /dev/null
+++ b/config/yellow_lab.yaml
@@ -0,0 +1,9 @@
+color_id: yellow
+H_center: 48
+H_window: 6
+S_center: 228
+S_window: 20
+V_center: 132
+V_window: 21
+max_area: 100000
+min_area: 10
diff --git a/config/yellow.yaml b/config/yellow_sim.yaml
similarity index 57%
rename from config/yellow.yaml
rename to config/yellow_sim.yaml
index 9981fdd..cbe58fc 100644
--- a/config/yellow.yaml
+++ b/config/yellow_sim.yaml
@@ -1,9 +1,9 @@
color_id: yellow
H_center: 60
H_window: 10
-S_center: 255
-S_window: 10
-V_center: 102
-V_window: 10
+S_center: 251
+S_window: 8
+V_center: 101
+V_window: 7
max_area: 100000
min_area: 10
diff --git a/launch/blob_detector.launch b/launch/blob_detector.launch
deleted file mode 100644
index 501979e..0000000
--- a/launch/blob_detector.launch
+++ /dev/null
@@ -1,41 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
-
- <group ns="usb_cam">
- <node pkg="libuvc_camera" type="camera_node" name="mycam">
- <!-- Parameters used to find the camera -->
-<!-- <param name="vendor" value="0x046d"/>
- <param name="product" value="0x0802"/>
- <param name="serial" value="BEE76360"/>-->
- <!-- If the above parameters aren't unique, choose the first match: -->
- <param name="index" value="0"/>
-
- <!-- Image size and type -->
- <param name="width" value="640"/>
- <param name="height" value="480"/>
- <!-- choose whichever uncompressed format the camera supports: -->
- <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg -->
- <param name="frame_rate" value="15"/>
-
- <param name="timestamp_method" value="start"/> <!-- start of frame -->
- <param name="camera_info_url" value="file:///tmp/cam.yaml"/>
- <param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure -->
- <param name="auto_exposure_priority" value="0"/>
- <param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure -->
- </node>
- </group>
-
- <node name="blob"
- pkg="iri_blob_detector"
- type="iri_blob_detector"
- output="screen">
- <remap from="/blob/image_in/camera_info"
- to="/usb_cam/camera_info"/>
- <remap from="/blob/image_in/image_raw"
- to="/usb_cam/image_raw"/>
- <rosparam file="$(arg config_yaml_file)" command="load" />
- </node>
-
-</launch>
diff --git a/launch/blob_detector_sim.launch b/launch/blob_detector_sim.launch
deleted file mode 100644
index 9b307fd..0000000
--- a/launch/blob_detector_sim.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
-
- <node name="blob"
- pkg="iri_blob_detector"
- type="iri_blob_detector"
- output="screen">
- <remap from="/blob/image_in/camera_info"
- to="/usb_cam/camera_info"/>
- <remap from="/blob/image_in/image_raw"
- to="/usb_cam/image_raw"/>
- <rosparam file="$(arg config_yaml_file)" command="load" />
- </node>
-
-</launch>
diff --git a/launch/node.launch b/launch/node.launch
new file mode 100644
index 0000000..1301152
--- /dev/null
+++ b/launch/node.launch
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="node_name" default="blob_detector"/>
+ <arg name="param_file" default="sample.yaml"/>
+ <arg name="param_path" default="$(find iri_blob_detector)/config"/>
+ <arg name="camera_name" default="usb_cam"/>
+ <arg name="blobs_topic" default="blobs"/>
+
+ <arg name="camera_info_topic" default="/$(arg camera_name)/camera_info"/>
+ <arg name="image_topic" default="/$(arg camera_name)/image_raw"/>
+
+ <node name="$(arg node_name)"
+ pkg ="iri_blob_detector"
+ type="iri_blob_detector"
+ output="screen">
+ <remap from="~image_in/camera_info" to="/$(arg camera_info_topic)"/>
+ <remap from="~image_in/image_raw" to="/$(arg image_topic)"/>
+ <remap from="~blobs" to="/$(arg blobs_topic)"/>
+ <rosparam file="$(arg param_path)/$(arg param_file)" command="load" />
+ </node>
+
+</launch>
\ No newline at end of file
--
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