diff --git a/minibot_vision/config/sign_detector.yaml b/minibot_vision/config/sign_detector.yaml
index 4387e4b4c37ed62327986a41cc55c58c2d1c682c..7788bc67f044413323dd8adebb9a23923d473d75 100644
--- a/minibot_vision/config/sign_detector.yaml
+++ b/minibot_vision/config/sign_detector.yaml
@@ -1,3 +1,2 @@
-sign_detector: {canny_param1: 99, canny_param2: 50,
- max_depth: 1.0, max_radius: 128, min_depth: 0.2, min_radius: 15,
- zoom_threshold: 1.15}
+sign_detector: {canny_param1: 107, canny_param2: 100, max_depth: 1.0, max_radius: 128,
+ min_depth: 0.2, min_radius: 15, zoom_threshold: 1.15}
diff --git a/minibot_vision/launch/capture_imgs.launch b/minibot_vision/launch/capture_imgs.launch
deleted file mode 100644
index 9d0ee920ff41baf99f68e1f2eaff0ab4fd0e98ee..0000000000000000000000000000000000000000
--- a/minibot_vision/launch/capture_imgs.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version='1.0' ?>
-<launch>
- <arg name="remote_node" default="True" />
- <arg name="save_dir" default="/resources/training_imgs/" /> <!-- save dir relative to the minibot_vision package -->
-
- <node name="capture_imgs" pkg="minibot_vision" type="Capture_Images.py" output="screen" ns="$(env ROBOT)" >
- <param name="remote_node" value="$(arg remote_node)" />
- <param name="save_dir" value="$(arg save_dir)" />
- </node>
-</launch>
diff --git a/minibot_vision/launch/crop_sign.launch b/minibot_vision/launch/crop_sign.launch
deleted file mode 100644
index 26021d2925800b5ec489caa4d6e4004b8be9bb64..0000000000000000000000000000000000000000
--- a/minibot_vision/launch/crop_sign.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version='1.0' ?>
-<launch>
- <!-- This is deprecated. The new sign segmentation is directly integrated to SignDetector -->
- <arg name="visualize" default="False" />
- <arg name="load_hyper_params" default="True" />
- <arg name="start_node" default="True" />
- <arg name="ns" default="/" />
-
- <!-- load hyperparams to server -->
- <rosparam file="$(find minibot_vision)/launch/crop_sign_rosparams.yaml" if="$(arg load_hyper_params)" />
-
- <node name="crop_sign" pkg="minibot_vision" type="Crop_Sign.py" output="screen" args="$(arg visualize)" if="$(arg start_node)" ns="$(arg ns)" />
-
-</launch>
\ No newline at end of file
diff --git a/minibot_vision/launch/crop_sign_rosparams.yaml b/minibot_vision/launch/crop_sign_rosparams.yaml
deleted file mode 100644
index 0538839a9152260263e10b25ad268e4a5925d17f..0000000000000000000000000000000000000000
--- a/minibot_vision/launch/crop_sign_rosparams.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-crop_sign:
- circularity: 0.77
- thickness: 22
- circle_filter: 5
- canny1: 60
- canny2: 50
diff --git a/minibot_vision/launch/sign_classifier.launch b/minibot_vision/launch/sign_classifier.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d932c5909cc07bfbb668d37032e7f6ea94a1b543
--- /dev/null
+++ b/minibot_vision/launch/sign_classifier.launch
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+ <arg name="classification_fps" default="3" />
+ <arg name="visualization_compression_factor" default="0.5" />
+
+ <rosparam file="$(find minibot_vision)/config/sign_detector.yaml" />
+
+ <!-- Node to hande the actual classification -->
+ <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" >
+ <!-- The actual framerate might not exceed 3FPS so don't go too wild -->
+ <param name="fps" value="$(arg classification_fps)" />
+ <!-- The image streamed to visualize will be downscaled by this factor [0, 1]. Note that the streamed sign patch is not further downscaled -->
+ <param name="visualization_compression_factor" value="$(arg visualization_compression_factor)" />
+ </node>
+
+ <!-- Node to stream croped signs -->
+ <node name="hough_transform" pkg="minibot_vision" type="SegmentSign.py" output="screen" />
+</launch>
\ No newline at end of file
diff --git a/minibot_vision/scripts/SignDetector.py b/minibot_vision/scripts/SignDetector.py
index af27b8b9614139390566ad58101e9eb2c85687b8..1f33e22d6b3713cb619367f91fe766a1eb6b2a39 100755
--- a/minibot_vision/scripts/SignDetector.py
+++ b/minibot_vision/scripts/SignDetector.py
@@ -25,6 +25,7 @@ IMG_RES = SegmentSign.IMG_RES
TF_RES = SegmentSign.TENSOR_RES
# *** GLOBALS ***
+visualization_compression_factor = None
sign_classifier = TmClassification()
bridge = CvBridge()
img_rgb_stream = np.zeros((IMG_RES[0], IMG_RES[1], 3), np.uint8)
@@ -118,7 +119,7 @@ def hough_pipeline(img_color, img_depth):
def detect_sign(img_rgb_stream, image_timestamp):
- global img_depth_stream, pub_result_img, toggle_hough_detection, enable_sign_detection
+ global img_depth_stream, pub_result_img, toggle_hough_detection, enable_sign_detection, visualization_compression_factor
img_orig = np.copy(img_rgb_stream)
# TODO the ratio between img_depth_stream and img_rgb_stream might be different!
@@ -146,7 +147,7 @@ def detect_sign(img_rgb_stream, image_timestamp):
if enable_sign_detection:
label, precision = sign_classifier.predictImage(p) # returns tupel (label, precision), if no model / error is set up label= -1
- # TODO get most recent depth data
+ # get most recent depth data
new_keypoints = hough_pipeline(img_rgb_stream, img_depth_stream)
if len(new_keypoints) >= 1:
d = new_keypoints[0]["depth"]
@@ -159,6 +160,7 @@ def detect_sign(img_rgb_stream, image_timestamp):
if len(text) > 0:
SegmentSign.visualize_patches(keypoints, patches, text, img_orig)
# compress and publish
+ img_orig = cv2.resize(img_orig, (0, 0), fx=visualization_compression_factor, fy=visualization_compression_factor) # downscale to further decrease bandwidth usage
cmprsmsg = bridge.cv2_to_compressed_imgmsg(img_orig)
pub_result_img.publish(cmprsmsg)
@@ -213,6 +215,10 @@ def update_rosparams_callback(req):
if __name__ == "__main__":
rospy.init_node("sign_detector")
+ # caputre rosparams
+ fps = float(rospy.get_param("~fps", "3"))
+ visualization_compression_factor = float(rospy.get_param("~visualization_compression_factor", "1"))
+
img_color_topic = "{}camera/color/image_raw".format(rospy.get_namespace())
img_depth_topic = "{}camera/aligned_depth_to_color/image_raw".format(rospy.get_namespace())
@@ -233,7 +239,9 @@ if __name__ == "__main__":
SegmentSign.update_camera_params()
- rate = rospy.Rate(30) # currently this is impossible, but then the rate is defined by the detect_sign evaluation time
+ rospy.loginfo("({}) Sign classification running with params fps: {}, visualization_compression_factor: {}".format(rospy.get_name(), fps, visualization_compression_factor))
+
+ rate = rospy.Rate(fps)
while not rospy.is_shutdown():
detect_sign(img_rgb_stream, img_rgb_timestamp)
rate.sleep()
diff --git a/minibot_workshops/launch/traffic_sign_workshop.launch b/minibot_workshops/launch/traffic_sign_workshop.launch
index 7a2069d458d5781355654ba6c149aa801988c516..3cc196862afa66cdd457a30951d5eb24ef5fbfb9 100644
--- a/minibot_workshops/launch/traffic_sign_workshop.launch
+++ b/minibot_workshops/launch/traffic_sign_workshop.launch
@@ -1,13 +1,9 @@
<?xml version="1.0"?>
<launch>
- <!--include file="$(find minibot_vision)/launch/capture_imgs.launch" >
- <arg name="remote_node" value="true" />
- </include-->
-
<group ns="$(env ROBOT)" >
- <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" />
- <rosparam file="$(find minibot_vision)/config/sign_detector.yaml" />
-
- <node name="hough_transform" pkg="minibot_vision" type="SegmentSign.py" output="screen" />
+ <include file="$(find minibot_vision)/launch/sign_classifier.launch" >
+ <arg name="classification_fps" value="3" />
+ <arg name="visualization_compression_factor" value="0.5" />
+ </include>
</group>
</launch>