From f3b719c46a5294f4590a32de1423f291fb985cba Mon Sep 17 00:00:00 2001
From: minibot-1 <paddy-hofmann@web.de>
Date: Wed, 15 Mar 2023 15:02:49 +0000
Subject: [PATCH] minor changes to segment_sign
---
minibot_vision/config/sign_detector.yaml | 14 +++-----------
minibot_vision/config/sign_detector_default.yaml | 4 ++--
minibot_vision/scripts/SegmentSign.py | 3 ++-
minibot_vision/scripts/ShapeDetector.py | 4 ++--
.../launch/traffic_sign_workshop.launch | 7 -------
5 files changed, 9 insertions(+), 23 deletions(-)
diff --git a/minibot_vision/config/sign_detector.yaml b/minibot_vision/config/sign_detector.yaml
index e25bf9b..b90f8a8 100644
--- a/minibot_vision/config/sign_detector.yaml
+++ b/minibot_vision/config/sign_detector.yaml
@@ -1,11 +1,3 @@
-sign_detector:
- canny_param1: 144
- canny_param2: 59
- 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
+sign_detector: {canny_param1: 47, canny_param2: 46, img_height: 1080, img_width: 1920,
+ max_depth: 1.0, max_radius: 128, min_depth: 0.2, min_radius: 15, visualize: false,
+ zoom_threshold: 1.15}
diff --git a/minibot_vision/config/sign_detector_default.yaml b/minibot_vision/config/sign_detector_default.yaml
index 1cd549c..f9188fc 100644
--- a/minibot_vision/config/sign_detector_default.yaml
+++ b/minibot_vision/config/sign_detector_default.yaml
@@ -1,7 +1,7 @@
# default params that got not overriden
sign_detector:
- img_height: 480
- img_width: 640
+ img_height: 1080
+ img_width: 1920
canny_param1: 100
canny_param2: 100 # good light: 40; bad light: 100
min_depth: 0.2
diff --git a/minibot_vision/scripts/SegmentSign.py b/minibot_vision/scripts/SegmentSign.py
index c0991da..64f7a64 100644
--- a/minibot_vision/scripts/SegmentSign.py
+++ b/minibot_vision/scripts/SegmentSign.py
@@ -14,6 +14,7 @@ from minibot_msgs.srv import segment_sign_command, segment_sign_commandRequest,
# *** hyper params ***
#IMG_RES = (480, 640)
IMG_RES = (rospy.get_param("sign_detector/img_height", 1080), rospy.get_param("sign_detector/img_width", 1920)) #(1080,1920)
+DEPTH_RES = (480, 640)
TENSOR_RES = (224, 224)
# gazebo 70,30; rviz 70, 20; real 100 40
canny = rospy.get_param("sign_detector/canny_param1", 100) #100
@@ -68,7 +69,7 @@ def circular_mean(p, r, arr : np.array):
sum_px_values = 0
count_px = 0
for x, y in xy:
- if x >= IMG_RES[1] or y >= IMG_RES[0]:
+ if x >= DEPTH_RES[1] or y >= DEPTH_RES[0]:
continue
if (x - p[0])**2 + (y - p[1])**2 < r**2:
sum_px_values += arr[y, x]
diff --git a/minibot_vision/scripts/ShapeDetector.py b/minibot_vision/scripts/ShapeDetector.py
index 5653289..c2c3df9 100644
--- a/minibot_vision/scripts/ShapeDetector.py
+++ b/minibot_vision/scripts/ShapeDetector.py
@@ -93,7 +93,7 @@ def do_shape_detection(img_rgb, img_depth):
if VISUALIZE:
cv2.imshow('thresh img', thresh1)
- contours, hierarchy = cv2.findContours(thresh1, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+ contours, hierarchy = cv2.findContours(thresh1, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)[-2:]
keypoints = []
for cnt in contours:
approx = cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True)
@@ -142,4 +142,4 @@ if __name__=="__main__":
#cv2.imshow("Shape", img_processed)
- rate.sleep()
\ No newline at end of file
+ rate.sleep()
diff --git a/minibot_workshops/launch/traffic_sign_workshop.launch b/minibot_workshops/launch/traffic_sign_workshop.launch
index 0d32100..4f26916 100644
--- a/minibot_workshops/launch/traffic_sign_workshop.launch
+++ b/minibot_workshops/launch/traffic_sign_workshop.launch
@@ -1,12 +1,5 @@
<?xml version="1.0"?>
<launch>
- <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
- <arg name="port" value="9090"/>
- </include>
- <include file="$(find minibot)/launch/bringup_minibot.launch" >
- <arg name="run_arm" value="false" />
- </include>
-
<include file="$(find minibot_vision)/launch/capture_imgs.launch" >
<arg name="remote_node" value="true" />
</include>
--
GitLab