minibot_vision: added service to update hyperparams

.gitignore

+__pycache__

minibot_vision/README.md

@@ -18,7 +18,7 @@ Changes made by the sliders are directly updated at the param server, however,
 The following hotkeys are supported: 
 - p: Toggle patch visualization [default: True]
 - d: Load default parameters (specified within `config/sign_detector_default.yaml`). This will neither override `config/sign_detector.yaml` nor the ros-params.
-- s: Save the current parameters persistent to `config/sign_detector.yaml`. This will also upload to ros-param.
+- s: Save the current parameters persistent to `config/sign_detector.yaml`. This will also upload to ros-param and update any running SignDetector.
 
 The functionality of this tool is also available via ros.
 The two hyper-params are on the param server as `sign_detector/canny_param1` and `sign_detector/canny_param2` 
@@ -54,6 +54,8 @@ Check the Topics section for more details.
 - **sign_detector/enable**: Enables the classification pipeline for the sign detection (default: enabled).
   If disabled visualization is still possible, but the label will be set to -1.
 
+- **sign_detector/update_rosparams**: Fetches new hyperparams needed by `SegmentSign.py` from the param-server.
+
 - **capture_imgs/enable**: Enables the capture images stream (default: disabled).
 
 - **capture_imgs/toggle_hough_detection**: Enables autofocus for each patch on signs in the camera image (default: enabled).

minibot_vision/config/sign_detector.yaml

-sign_detector: {canny_param1: 47, canny_param2: 46, img_height: 480, img_width: 640,
+sign_detector: {canny_param1: 99, canny_param2: 50, img_height: 480, img_width: 640,
   max_depth: 1.0, max_radius: 128, min_depth: 0.2, min_radius: 15, visualize: false,
   zoom_threshold: 1.15}

minibot_vision/scripts/SegmentSign.py

@@ -42,6 +42,20 @@ def empty(d):
     pass
 
 
+def fetch_rosparams():
+    global canny, accum_thresh, ZOOM_THREASHOLD, MIN_DEPTH, MAX_DEPTH, MIN_RADIUS, MAX_RADIUS
+
+    canny = rospy.get_param("sign_detector/canny_param1")
+    accum_thresh = rospy.get_param("sign_detector/canny_param2")
+    ZOOM_THREASHOLD = rospy.get_param("sign_detector/zoom_threshold")
+
+    MIN_DEPTH = rospy.get_param("sign_detector/min_depth")
+    MAX_DEPTH = rospy.get_param("sign_detector/max_depth")
+
+    MIN_RADIUS = rospy.get_param("sign_detector/min_radius")
+    MAX_RADIUS = rospy.get_param("sign_detector/max_radius")
+
+
 def image_color_callback(data):
     global img_rgb_stream, cv_bridge
 
@@ -200,6 +214,16 @@ def filter_duplicate_keypoints(keypoints):
     return required_keypoints
 
 
+def call_fetch_rosparams():
+    service = "sign_detector/update_rosparams"
+
+    try:
+        call_place = rospy.ServiceProxy(service, std_srvs.srv.Trigger())
+        response = call_place.call()
+    except rospy.ServiceException as e:
+        print("Service call failed: %s" % e)
+
+
 def save_params():
     """
     During VISUALIZE mode.
@@ -227,7 +251,9 @@ def save_params():
 
     # save to rosparam
     rospy.set_param("sign_detector/canny_param1", canny)
-    rospy.get_param("sign_detector/canny_param2", accum_thresh)
+    rospy.set_param("sign_detector/canny_param2", accum_thresh)
+
+    call_fetch_rosparams()
 
     rospy.loginfo("({}) Saved new params persistent".format(rospy.get_name()))
 

minibot_vision/scripts/SignDetector.py

@@ -190,6 +190,13 @@ def enable_sign_detector_callback(req):
     return True, ""
 
 
+def update_rosparams_callback(req):
+    SegmentSign.fetch_rosparams()
+    rospy.loginfo("({}) new hyperparams from param server fetched".format(rospy.get_name()))
+
+    return True, ""
+
+
 if __name__ == "__main__":
     rospy.init_node("sign_detector")
 
@@ -200,8 +207,8 @@ if __name__ == "__main__":
     rospy.Subscriber(img_depth_topic, Image, image_depth_callback, queue_size=1)
     rospy.Service('sign_detector/set_model', set_url, set_model_callback)
     rospy.Service('sign_detector/set_visualize', std_srvs.srv.SetBool, set_visualize_callback)
-    # TODO enable sign detection
     rospy.Service('sign_detector/enable', std_srvs.srv.SetBool, enable_sign_detector_callback)
+    rospy.Service('sign_detector/update_rosparams', std_srvs.srv.Trigger, update_rosparams_callback)
     pub_keypoint = rospy.Publisher('sign_detector/keypoints', Detection2D, queue_size=10)
     pub_result_img = rospy.Publisher("sign_detector/result_image/compressed", CompressedImage, queue_size=10)