diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index c438d87a2d2a36c6385f22d47d05d338d4ba3244..759b593e465143353f2ca067631deebcf6ebe853 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,3 +1,13 @@
+workflow:
+ rules:
+ - if: '$CI_PIPELINE_SOURCE == "web"'
+ - if: $CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS && $CI_PIPELINE_SOURCE == "push"
+ when: never
+ - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
+ - if: '$CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS'
+ when: never
+ - if: '$CI_COMMIT_BRANCH'
+
stages:
- license
- build_and_test
@@ -10,7 +20,6 @@ stages:
- echo $WOLF_VISION_BRANCH
- echo $WOLF_ROS_NODE_BRANCH
- echo $CI_COMMIT_BRANCH
- - echo $WOLF_ROS_VISION_BRANCH
.preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker.
@@ -79,8 +88,7 @@ stages:
- if [ -d wolf ]; then
- echo "directory wolf exists"
- cd wolf
- - git checkout devel
- - git pull
+ - git fetch --all
- git checkout $WOLF_CORE_BRANCH
- git pull
- else
@@ -93,29 +101,12 @@ stages:
- make -j$(nproc)
- make install
-.install_visionutils_template: &install_visionutils_definition
- - cd ${CI_PROJECT_DIR}/ci_deps
- - if [ -d vision_utils ]; then
- - echo "directory vision_utils exists"
- - cd vision_utils
- - git pull
- - else
- - git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/vision_utils.git
- - cd vision_utils
- - fi
- - mkdir -pv build
- - cd build
- - cmake -DCMAKE_BUILD_TYPE=release ..
- - make -j$(nproc)
- - make install
-
.install_wolfvision_template: &install_wolfvision_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d vision ]; then
- echo "directory vision exists"
- cd vision
- - git checkout devel
- - git pull
+ - git fetch --all
- git checkout $WOLF_VISION_BRANCH
- git pull
- else
@@ -131,7 +122,7 @@ stages:
.clone_wolfrosnode_template: &clone_wolfrosnode_definition
- roscd
- cd ../src
- - git clone -b $WOLF_ROS_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
+ - git clone -b $WOLF_ROS_NODE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
.build_and_test_template: &build_and_test_definition
- roscd
@@ -170,7 +161,6 @@ build_and_test:bionic:
- *print_variables_definition
- *preliminaries_definition
- *install_wolf_definition
- - *install_visionutils_definition
- *install_wolfvision_definition
- *clone_wolfrosnode_definition
- ldconfig
@@ -195,7 +185,6 @@ build_and_test:focal:
- *print_variables_definition
- *preliminaries_definition
- *install_wolf_definition
- - *install_visionutils_definition
- *install_wolfvision_definition
- *clone_wolfrosnode_definition
- ldconfig
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e57fb00ebe8f0fafc220c04956cff2d81e273a2b..0600889d4d092865a70124ec9418bd390baa5607 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(wolf_ros_vision)
## Compile as C++14
add_compile_options(-std=c++14)
# -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
-SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -rdynamic")
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
diff --git a/scripts/publisher_camera_info.py b/scripts/publisher_camera_info.py
index 6a38fd461d9c048e36e42d2a38551e93f90b05ce..386c882b87343cb35aeb3349e4fc85b76fcc215a 100644
--- a/scripts/publisher_camera_info.py
+++ b/scripts/publisher_camera_info.py
@@ -1,25 +1,8 @@
#!/usr/bin/env python3
-import sys
-import copy
-from pure_eval import CannotEval
import yaml
-import numpy as np
import rospy
-from sensor_msgs.msg import CameraInfo
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import CameraInfo, Image
-def kvec2mat(fx, fy, cx, cy):
- return np.array([
- fx, 0, cx,
- 0, fy, cy,
- 0, 0, 0
-]).reshape((3,3))
-
-
-def kmat2vec(K):
- # fx, fy, cx, cy
- return [K[0,0], K[1,1], K[0,2], K[1,2]]
-
class CameraInfoPublisher:
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 74521824de47c2c733f52c2e4c39342c83fb7c51..76e96b7584ed740df4ca77f6512105cf9d27a181 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -69,9 +69,11 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
last_capture_(nullptr),
img_transport_(ros::NodeHandle())
{
+ WOLF_INFO("\n\n\n\n\n\n\n\nYOOOOOOOOOOOOOOOOOOOO PublisherVisionDebug")
+
// if user do not provide processor's name, first processor of type PublisherVisionDebug is taken
auto processor_name = getParamWithDefault<std::string>(_server, prefix_ + "/processor_name", "");
- topic_preprocessor_ = getParamWithDefault<std::string>(_server, prefix_ + "/topic_preprocessor", "/debug_image_prepocessor");
+ topic_preprocessor_ = getParamWithDefault<std::string>(_server, prefix_ + "/topic_preprocessor", "/image_vo_tracks_prepocessor");
//Tracks
tracks_.show_id_ = getParamWithDefault<bool>(_server, prefix_ + "/tracks/show_id", false);
tracks_.size_id_ = getParamWithDefault<double>(_server, prefix_ + "/tracks/size_id", 0.5);
@@ -142,6 +144,7 @@ bool PublisherVisionDebug::ready()
void PublisherVisionDebug::publishDerived()
{
+ WOLF_INFO("YO")
if (last_capture_ == processor_vision_->getLast() or not processor_vision_->getLast())
return;
@@ -157,9 +160,14 @@ void PublisherVisionDebug::publishDerived()
// Draw and publish debug image
try
{
- // Extract cv image
- cv::Mat cv_img_debug;
- cv::cvtColor(cap_img->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
+ // Transform the image to RGB if grayscale so that we can draw detections in color for debugging
+ cv::Mat cv_img_debug;
+ if (cap_img->getImage().channels() == 1){
+ cv::cvtColor(cap_img->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
+ }
+ else {
+ cv_img_debug = cap_img->getImage().clone();
+ }
// Draw all tracks