detector linea: permitir ejecutar desde rosbag

ual-arm-ros-pkg · Dec 2, 2019 · b16323f · b16323f
1 parent 96df677
commit b16323f
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Showing 4 changed files with 38 additions and 5 deletions.
diff --git a/...0-infrastructure/duckietown/config/baseline/line_detector/line_detector_node/default.yaml b/...0-infrastructure/duckietown/config/baseline/line_detector/line_detector_node/default.yaml
@@ -4,7 +4,7 @@ top_cutoff: 40
 # should be an array of 2 elements. The first is the name of the class
 # and the second should be the parameters.
 # The class should be an abstract instance of LineDetectorInterface
-detector:
+detectorxx:
   - line_detector.LineDetectorHSV
   - configuration:
       dilation_kernel_size: 3

diff --git a/...infrastructure/duckietown/config/baseline/line_detector/line_detector_node/universal.yaml b/...infrastructure/duckietown/config/baseline/line_detector/line_detector_node/universal.yaml
@@ -1,7 +1,7 @@
 img_size: [120,160]
 top_cutoff: 40
 
-detector: 
+detector:
   - line_detector.LineDetectorHSV
   - configuration:
       dilation_kernel_size: 3
@@ -18,4 +18,23 @@ detector:
       hsv_red1:    [0,100,100]
       hsv_red2:    [15,255,255]
       hsv_red3:    [165,100,100]
-      hsv_red4:    [180,255,255]
+      hsv_red4:    [180,255,255]
+
+
+detector_intersection:
+ - line_detector.LineDetectorHSV
+ - configuration:
+     dilation_kernel_size: 3
+     canny_thresholds: [80,200]
+     hough_threshold: 2
+     hough_min_line_length: 3
+     hough_max_line_gap:    1
+
+     hsv_white1:  [0,0,150]
+     hsv_white2:  [180,100,255]
+     hsv_yellow1: [25,140,100]
+     hsv_yellow2: [45,255,255]
+     hsv_red1:    [0,50,100]
+     hsv_red2:    [15,255,255]
+     hsv_red3:    [165,50,100]
+     hsv_red4:    [180,255,255]
diff --git a/catkin_ws/src/10-lane-control/line_detector/launch/line_detector_bag.launch b/catkin_ws/src/10-lane-control/line_detector/launch/line_detector_bag.launch
@@ -14,6 +14,11 @@
 		<remap from="/line_detector_node/corrected_image/compressed" to="/$(arg veh)/image_transformer_node/corrected_image/compressed"/>
 		<remap from="/line_detector_node/fsm_mode" to="/$(arg veh)/fsm_node/mode"/>
 		<remap from="/line_detector_node/switch" to="/$(arg veh)/line_detector_node/switch"/>
+		<remap from="/line_detector_node/image" to="/$(arg veh)/camera_node/image/compressed"/>
+		<remap from="/line_detector_node/edge" to="/$(arg veh)/line_detector_node/edge"/>
+		<remap from="/line_detector_node/image_with_lines" to="/$(arg veh)/line_detector_node/image_with_lines"/>
+		<remap from="/line_detector_node/segment_list" to="/$(arg veh)/line_detector_node/segment_list"/>
+		<remap from="/line_detector_node/transform" to="/$(arg veh)/line_detector_node/transform"/>
 
 
     <node name="line_detector_node" pkg="line_detector" type="line_detector_node.py" output="screen" clear_params="true" required="true">

diff --git a/catkin_ws/src/10-lane-control/line_detector/launch/line_detector_node.launch b/catkin_ws/src/10-lane-control/line_detector/launch/line_detector_node.launch
@@ -6,17 +6,26 @@
     <arg name="pkg_name" value="line_detector"/>
     <arg name="node_name" default="line_detector_node"/>
 
-    <arg name="verbose" default="false" />
+    <arg name="verbose" default="true" />
 
-    <group ns="$(arg veh)">        
+    <group ns="$(arg veh)"> 
+
+    <remap from="/$(arg veh)/line_detector_node/corrected_image/compressed" to="/$(arg veh)/image_transformer_node/corrected_image/compressed"/> 
+
         <node  name="line_detector_node" pkg="$(arg pkg_name)" type="$(arg node_name).py" output="screen" clear_params="true" required="true">
             <rosparam command="load" file="$(find duckietown)/config/$(arg config)/line_detector/$(arg node_name)/$(arg param_file_name).yaml"/>
             <param name="verbose" value="$(arg verbose)"/>
         </node>
     </group>
 
+
+
     <!-- Publications -->
 
     <!-- Subscriptions -->
 
 </launch>
+
+
+
+