minor changes to segment_sign

minibot_vision/config/sign_detector.yaml

-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}

minibot_vision/config/sign_detector_default.yaml

 # 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

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]

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()
+        rate.sleep()
\ No newline at end of file

minibot_workshops/launch/traffic_sign_workshop.launch

 <?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>