From ebcd1db2dfa83784001d75a8451a70c4e1658231 Mon Sep 17 00:00:00 2001
From: minibot-01 <paddy-hofmann@web.de>
Date: Wed, 17 May 2023 14:27:20 +0000
Subject: [PATCH] made image patch publish faster
---
minibot_vision/scripts/SegmentSign.py | 4 +++
minibot_vision/scripts/SignDetector.py | 38 +++++++++++++++++++++++---
2 files changed, 38 insertions(+), 4 deletions(-)
diff --git a/minibot_vision/scripts/SegmentSign.py b/minibot_vision/scripts/SegmentSign.py
index 3f49542..de6587a 100644
--- a/minibot_vision/scripts/SegmentSign.py
+++ b/minibot_vision/scripts/SegmentSign.py
@@ -56,7 +56,11 @@ 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")
+ if canny < 1:
+ canny = 1
accum_thresh = rospy.get_param("sign_detector/canny_param2")
+ if accum_thresh < 1:
+ accum_thresh = 1
ZOOM_THREASHOLD = rospy.get_param("sign_detector/zoom_threshold")
MIN_DEPTH = rospy.get_param("sign_detector/min_depth")
diff --git a/minibot_vision/scripts/SignDetector.py b/minibot_vision/scripts/SignDetector.py
index b30648f..9c813fd 100755
--- a/minibot_vision/scripts/SignDetector.py
+++ b/minibot_vision/scripts/SignDetector.py
@@ -15,6 +15,8 @@ from copy import copy
from vision_msgs.msg import Detection2D, ObjectHypothesisWithPose
from minibot_msgs.srv import set_url
import time
+from threading import Thread
+
# *** CONSTANTS ***
visualize = True
@@ -39,6 +41,7 @@ enable_capture_images = False
toggle_hough_detection = True
pub_raw_img = None
pub_cmpr_img = None
+pub_img_patch_rate = None
# subscribe to RGB img
def image_color_callback(data):
@@ -128,9 +131,9 @@ def detect_sign(img_rgb_stream, image_timestamp):
patches = SegmentSign.get_tensor_patches(img_orig, keypoints, zoom=toggle_hough_detection)
# publish patch for capture images
- if enable_capture_images:
- if len(patches) >= 1:
- publish_img_patch(patches[0])
+ #if enable_capture_images:
+ # if len(patches) >= 1:
+ # publish_img_patch(patches[0])
# cut to multiple images at keypoints
text = []
@@ -179,9 +182,13 @@ def set_visualize_callback(req):
def enable_capture_callback(req):
- global enable_capture_images
+ global enable_capture_images, pub_img_patch_rate
enable_capture_images = req.data
+ if enable_capture_images:
+ pub_img_patch_rate = rospy.Rate(15)
+ else:
+ pub_img_patch_rate = rospy.Rate(5)
rospy.loginfo("({}) set enable_capture_images to {}".format(rospy.get_name(), enable_capture_images))
return True, ""
@@ -212,6 +219,25 @@ def update_rosparams_callback(req):
return True, ""
+def pub_image_patch_thread():
+ global pub_img_patch_rate, img_depth_stream, img_rgb_stream, enable_capture_images
+
+ pub_img_patch_rate = rospy.Rate(5)
+
+ while not rospy.is_shutdown():
+ if enable_capture_images:
+ img_orig = np.copy(img_rgb_stream)
+
+ keypoints = hough_pipeline(img_orig, img_depth_stream)
+ patches = SegmentSign.get_tensor_patches(img_orig, keypoints, zoom=toggle_hough_detection)
+
+ # publish patch for capture images
+ if len(patches) >= 1:
+ publish_img_patch(patches[0])
+
+ pub_img_patch_rate.sleep()
+
+
if __name__ == "__main__":
rospy.init_node("sign_detector")
@@ -241,6 +267,10 @@ if __name__ == "__main__":
rospy.loginfo("({}) Sign classification running with params fps: {}, visualization_compression_factor: {}".format(rospy.get_name(), fps, visualization_compression_factor))
+ pub_image_patch_worker = Thread(target=pub_image_patch_thread)
+ pub_image_patch_worker.deamon = True
+ pub_image_patch_worker.start()
+
rate = rospy.Rate(fps)
while not rospy.is_shutdown():
detect_sign(img_rgb_stream, img_rgb_timestamp)
--
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