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Commit 8cb6491d authored by Fernando Herrero's avatar Fernando Herrero
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Renamed files and launchs

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with 186 additions and 91 deletions
cfg/VisualGps.cfg
+ 1
− 1
View file @ 8cb6491d
......@@ -44,7 +44,7 @@ gen.add("odom_gps_frame" , str_t, 0, "
gen.add("odom_frame" , str_t, 0, "Odometry reference frame", "odom")
gen.add("base_frame" , str_t, 0, "Base frame id", "base_link")
gen.add("camera_frame" , str_t, 0, "Camera frame id", "top_camera_optical")
gen.add("undistort_points" , bool_t, 0, "Enable point undistorsion", True)
gen.add("undistort_points" , bool_t, 0, "Enable point undistorsion", False)
gen.add("publish_tf" , bool_t, 0, "Enable tf broadcasting", True)
gen.add("publish_markers" , bool_t, 0, "Enable marker publishing", True)
gen.add("color1_id" , str_t, 0, "Color 1 identifier", "color1")
......
config/blue_conf.yaml deleted 100644 → 0
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− 9
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color_id: blue
H_center: 240
H_window: 10
S_center: 255
S_window: 10
V_center: 102
V_window: 10
max_area: 100000
min_area: 10
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config/blue_lab.yaml deleted 100644 → 0
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− 9
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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
config/green_conf.yaml deleted 100644 → 0
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− 9
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color_id: green
H_center: 120
H_window: 10
S_center: 250
S_window: 10
V_center: 108
V_window: 23
max_area: 100000
min_area: 10
config/green_lab.yaml deleted 100644 → 0
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− 9
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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
config/params.yaml → config/param_sim.yaml
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File moved
config/params_lab.yaml 0 → 100644
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world_frame: map
odom_gps_frame: gps_odom
base_frame: base_link
camera_frame: top_camera_optical
\ No newline at end of file
config/params_sim.yaml 0 → 100644
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− 0
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world_frame: map
odom_gps_frame: gps_odom
base_frame: base_link
camera_frame: top_camera_optical
\ No newline at end of file
config/lab_position.yaml → config/position_lab.yaml
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File moved
config/sim_position.yaml → config/position_sim.yaml
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File moved
config/red_conf.yaml deleted 100644 → 0
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− 9
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color_id: red
H_center: 0
H_window: 10
S_center: 250
S_window: 10
V_center: 102
V_window: 7
max_area: 100000
min_area: 10
config/red_lab.yaml deleted 100644 → 0
+ 0
− 9
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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
config/default_params.yaml → config/sample_params.yaml
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File moved
config/sim_position_full.yaml deleted 100644 → 0
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− 17
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color1_id: green
color1_x: 0.0
color1_y: -2.5
color1_z: 4.0
color2_id: red
color2_x: 2.5
color2_y: -5.0
color2_z: 4.0
color3_id: yellow
color3_x: -2.5
color3_y: -5.0
color3_z: 4.0
color4_id: blue
color4_x: 0.0
color4_y: -7.5
color4_z: 4.0
config/yellow_conf.yaml deleted 100644 → 0
+ 0
− 9
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color_id: yellow
H_center: 60
H_window: 10
S_center: 251
S_window: 8
V_center: 101
V_window: 7
max_area: 100000
min_area: 10
config/yellow_lab.yaml deleted 100644 → 0
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− 9
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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
include/visual_gps_alg.h
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− 1
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......@@ -56,7 +56,6 @@ class VisualGpsAlgorithm
// private attributes and methods
cv::Mat K,D,R,P;
geometry_msgs::Pose pose;
tf::StampedTransform transform_base_to_camera;
Eigen::Vector3d t_base_2_camera;
Eigen::Matrix3d R_base_camera;
......
launch/node.launch 0 → 100644
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− 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="node_name" default="iri_visual_gps"/>
<arg name="positions_file" default="position_lab.yaml"/>
<arg name="param_file" default="sample_params.yaml"/>
<arg name="param_path" default="$(find iri_visual_gps)/config"/>
<arg name="camera_name" default="usb_cam"/>
<arg name="blobs1_topic" default="blobs1"/>
<arg name="blobs2_topic" default="blobs2"/>
<arg name="blobs3_topic" default="blobs3"/>
<arg name="blobs4_topic" default="blobs4"/>
<arg name="camera_info_topic" default="/$(arg camera_name)/camera_info"/>
<arg name="camera_set_params_service" default="/$(arg camera_name)/set_parameters"/>
<node pkg="iri_visual_gps"
type="iri_visual_gps"
name="$(arg node_name)"
output="screen">
<remap from="~camera/camera_info" to="$(arg camera_info_topic)"/>
<remap from="~set_camera_params" to="$(arg camera_set_params_service)"/>
<remap from="~blobs1" to="$(arg blobs1_topic)"/>
<remap from="~blobs2" to="$(arg blobs2_topic)"/>
<remap from="~blobs3" to="$(arg blobs3_topic)"/>
<remap from="~blobs4" to="$(arg blobs4_topic)"/>
<rosparam file="$(arg param_path)/$(arg positions_file)" command="load" />
<rosparam file="$(arg param_path)/$(arg param_file)" command="load" />
</node>
</launch>
\ No newline at end of file
launch/real.launch 0 → 100644
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<?xml version="1.0"?>
<!-- -->
<launch>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_red"/>
<arg name="param_file" value="red_lab.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_red/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_green"/>
<arg name="param_file" value="green_lab.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_green/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_blue"/>
<arg name="param_file" value="blue_lab.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_blue/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_yellow"/>
<arg name="param_file" value="yellow_lab.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_yellow/blobs"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_red"/>
<arg name="topic_blobs_in" value="blob_detector_red/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_red/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_green"/>
<arg name="topic_blobs_in" value="blob_detector_green/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_green/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_blue"/>
<arg name="topic_blobs_in" value="blob_detector_blue/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_blue/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_yellow"/>
<arg name="topic_blobs_in" value="blob_detector_yellow/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_yellow/blobs_undist"/>
</include>
<include file="$(find iri_visual_gps)/launch/node.launch">
<arg name="node_name" value="iri_visual_gps"/>
<arg name="positions_file" value="position_lab.yaml"/>
<arg name="param_file" value="params_lab.yaml"/>
<arg name="param_path" value="$(find iri_visual_gps)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs1_topic" value="blob_detector_red/blobs_undist"/>
<arg name="blobs2_topic" value="blob_detector_green/blobs_undist"/>
<arg name="blobs3_topic" value="blob_detector_blue/blobs_undist"/>
<arg name="blobs4_topic" value="blob_detector_yellow/blobs_undist"/>
</include>
</launch>
\ No newline at end of file
launch/sim.launch 0 → 100644
+ 73
− 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_red"/>
<arg name="param_file" value="red_sim.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_red/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_green"/>
<arg name="param_file" value="green_sim.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_green/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_blue"/>
<arg name="param_file" value="blue_sim.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_blue/blobs"/>
</include>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector_yellow"/>
<arg name="param_file" value="yellow_sim.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs_topic" value="blob_detector_yellow/blobs"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_red"/>
<arg name="topic_blobs_in" value="blob_detector_red/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_red/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_green"/>
<arg name="topic_blobs_in" value="blob_detector_green/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_green/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_blue"/>
<arg name="topic_blobs_in" value="blob_detector_blue/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_blue/blobs_undist"/>
</include>
<include file="$(find undistort_pixels)/launch/node.launch">
<arg name="node_name" value="undistort_blob_yellow"/>
<arg name="topic_blobs_in" value="blob_detector_yellow/blobs"/>
<arg name="topic_blobs_out" value="blob_detector_yellow/blobs_undist"/>
</include>
<include file="$(find iri_visual_gps)/launch/node.launch">
<arg name="node_name" value="iri_visual_gps"/>
<arg name="positions_file" value="position_sim.yaml"/>
<arg name="param_file" value="params_sim.yaml"/>
<arg name="param_path" value="$(find iri_visual_gps)/config"/>
<arg name="camera_name" value="usb_cam"/>
<arg name="blobs1_topic" value="blob_detector_red/blobs_undist"/>
<arg name="blobs2_topic" value="blob_detector_green/blobs_undist"/>
<arg name="blobs3_topic" value="blob_detector_blue/blobs_undist"/>
<arg name="blobs4_topic" value="blob_detector_yellow/blobs_undist"/>
</include>
</launch>
\ No newline at end of file
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