Gestion plus logique des thresholds de détection.
This commit is contained in:
Hugo LEVY-FALK
parent
3e0b1e9d68
commit
6f4747f2b3
10 changed files with 119 additions and 78 deletions
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@ -1 +1 @@
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock 88
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock 89
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@ -236,17 +236,21 @@ class DEFAULT
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boost::any val;
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(*_i)->getValue(config, val);
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if("blue"==(*_i)->name){blue = boost::any_cast<int>(val);}
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if("red"==(*_i)->name){red = boost::any_cast<int>(val);}
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if("green"==(*_i)->name){green = boost::any_cast<int>(val);}
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if("draw_targets"==(*_i)->name){draw_targets = boost::any_cast<bool>(val);}
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if("blue_min"==(*_i)->name){blue_min = boost::any_cast<int>(val);}
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if("blue_max"==(*_i)->name){blue_max = boost::any_cast<int>(val);}
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if("red_min"==(*_i)->name){red_min = boost::any_cast<int>(val);}
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if("red_max"==(*_i)->name){red_max = boost::any_cast<int>(val);}
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if("green_min"==(*_i)->name){green_min = boost::any_cast<int>(val);}
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if("green_max"==(*_i)->name){green_max = boost::any_cast<int>(val);}
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}
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}
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int blue;
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int red;
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int green;
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bool draw_targets;
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int blue_min;
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int blue_max;
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int red_min;
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int red_max;
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int green_min;
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int green_max;
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bool state;
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std::string name;
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@ -257,13 +261,17 @@ bool draw_targets;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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int blue;
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int blue_min;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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int red;
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int blue_max;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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int green;
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int red_min;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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bool draw_targets;
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int red_max;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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int green_min;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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int green_max;
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//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
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bool __fromMessage__(dynamic_reconfigure::Config &msg)
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@ -403,45 +411,65 @@ bool draw_targets;
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{
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DetectTargetsConfig::GroupDescription<DetectTargetsConfig::DEFAULT, DetectTargetsConfig> Default("Default", "", 0, 0, true, &DetectTargetsConfig::groups);
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.blue = 0;
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__min__.blue_min = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.blue = 255;
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__max__.blue_min = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.blue = 140;
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__default__.blue_min = 140;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue", "int", 0, "Blue threshold", "", &DetectTargetsConfig::blue)));
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue_min", "int", 0, "Blue minimal threshold", "", &DetectTargetsConfig::blue_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue", "int", 0, "Blue threshold", "", &DetectTargetsConfig::blue)));
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue_min", "int", 0, "Blue minimal threshold", "", &DetectTargetsConfig::blue_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.red = 0;
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__min__.blue_max = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.red = 255;
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__max__.blue_max = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.red = 120;
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__default__.blue_max = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red", "int", 0, "Bed threshold", "", &DetectTargetsConfig::red)));
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue_max", "int", 0, "Blue maximal threshold", "", &DetectTargetsConfig::blue_max)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red", "int", 0, "Bed threshold", "", &DetectTargetsConfig::red)));
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue_max", "int", 0, "Blue maximal threshold", "", &DetectTargetsConfig::blue_max)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.green = 0;
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__min__.red_min = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.green = 255;
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__max__.red_min = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.green = 190;
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__default__.red_min = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green", "int", 0, "Green threshold", "", &DetectTargetsConfig::green)));
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red_min", "int", 0, "Red minimal threshold", "", &DetectTargetsConfig::red_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green", "int", 0, "Green threshold", "", &DetectTargetsConfig::green)));
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red_min", "int", 0, "Red minimal threshold", "", &DetectTargetsConfig::red_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.draw_targets = 0;
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__min__.red_max = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.draw_targets = 1;
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__max__.red_max = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.draw_targets = 0;
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__default__.red_max = 120;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<bool>("draw_targets", "bool", 0, "Draw Targets", "", &DetectTargetsConfig::draw_targets)));
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red_max", "int", 0, "Red maximal threshold", "", &DetectTargetsConfig::red_max)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<bool>("draw_targets", "bool", 0, "Draw Targets", "", &DetectTargetsConfig::draw_targets)));
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red_max", "int", 0, "Red maximal threshold", "", &DetectTargetsConfig::red_max)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.green_min = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.green_min = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.green_min = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green_min", "int", 0, "Green minimal threshold", "", &DetectTargetsConfig::green_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green_min", "int", 0, "Green minimal threshold", "", &DetectTargetsConfig::green_min)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__min__.green_max = 0;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__max__.green_max = 255;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__default__.green_max = 190;
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green_max", "int", 0, "Green maximal threshold", "", &DetectTargetsConfig::green_max)));
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//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green_max", "int", 0, "Green maximal threshold", "", &DetectTargetsConfig::green_max)));
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//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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Default.convertParams();
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//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
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@ -1,10 +1,12 @@
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\subsubsection usage Usage
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\verbatim
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<node name="detect_targets" pkg="detect_targets" type="detect_targets">
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<param name="blue" type="int" value="140" />
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<param name="red" type="int" value="120" />
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<param name="green" type="int" value="190" />
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<param name="draw_targets" type="bool" value="False" />
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<param name="blue_min" type="int" value="140" />
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<param name="blue_max" type="int" value="255" />
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<param name="red_min" type="int" value="0" />
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<param name="red_max" type="int" value="120" />
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<param name="green_min" type="int" value="0" />
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<param name="green_max" type="int" value="190" />
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</node>
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\endverbatim
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@ -2,8 +2,10 @@
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Reads and maintains the following parameters on the ROS server
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- \b "~blue" : \b [int] Blue threshold min: 0, default: 140, max: 255
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- \b "~red" : \b [int] Bed threshold min: 0, default: 120, max: 255
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- \b "~green" : \b [int] Green threshold min: 0, default: 190, max: 255
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- \b "~draw_targets" : \b [bool] Draw Targets min: False, default: False, max: True
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- \b "~blue_min" : \b [int] Blue minimal threshold min: 0, default: 140, max: 255
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- \b "~blue_max" : \b [int] Blue maximal threshold min: 0, default: 255, max: 255
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- \b "~red_min" : \b [int] Red minimal threshold min: 0, default: 0, max: 255
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- \b "~red_max" : \b [int] Red maximal threshold min: 0, default: 120, max: 255
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- \b "~green_min" : \b [int] Green minimal threshold min: 0, default: 0, max: 255
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- \b "~green_max" : \b [int] Green maximal threshold min: 0, default: 190, max: 255
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@ -3,22 +3,30 @@ param {
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group.0 {
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name=Dynamically Reconfigurable Parameters
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desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
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0.name= ~blue
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0.name= ~blue_min
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0.default= 140
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0.type= int
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0.desc=Blue threshold Range: 0 to 255
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1.name= ~red
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1.default= 120
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0.desc=Blue minimal threshold Range: 0 to 255
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1.name= ~blue_max
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1.default= 255
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1.type= int
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1.desc=Bed threshold Range: 0 to 255
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2.name= ~green
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2.default= 190
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1.desc=Blue maximal threshold Range: 0 to 255
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2.name= ~red_min
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2.default= 0
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2.type= int
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2.desc=Green threshold Range: 0 to 255
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3.name= ~draw_targets
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3.default= False
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3.type= bool
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3.desc=Draw Targets
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2.desc=Red minimal threshold Range: 0 to 255
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3.name= ~red_max
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3.default= 120
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3.type= int
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3.desc=Red maximal threshold Range: 0 to 255
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4.name= ~green_min
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4.default= 0
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4.type= int
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4.desc=Green minimal threshold Range: 0 to 255
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5.name= ~green_max
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5.default= 190
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5.type= int
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5.desc=Green maximal threshold Range: 0 to 255
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}
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}
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# End of autogenerated section. You may edit below.
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@ -5,9 +5,11 @@ from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("blue", int_t, 0, "Blue threshold", 140, 0, 255)
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gen.add("red", int_t, 0, "Bed threshold", 120, 0, 255)
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gen.add("green", int_t, 0, "Green threshold", 190, 0, 255)
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gen.add("draw_targets", bool_t, 0, "Draw Targets", False)
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gen.add("blue_min", int_t, 0, "Blue minimal threshold", 140, 0, 255)
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gen.add("blue_max", int_t, 0, "Blue maximal threshold", 255, 0, 255)
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gen.add("red_min", int_t, 0, "Red minimal threshold", 0, 0, 255)
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gen.add("red_max", int_t, 0, "Red maximal threshold", 120, 0, 255)
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gen.add("green_min", int_t, 0, "Green minimal threshold", 0, 0, 255)
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gen.add("green_max", int_t, 0, "Green maximal threshold", 190, 0, 255)
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exit(gen.generate(PACKAGE, "detect_targets", "DetectTargets"))
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@ -27,18 +27,15 @@ def normalize_coordinates(p, w, h):
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def find_targets(
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picture, threshold_blue=140, threshold_red=120,
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threshold_green=190, return_slices=False):
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picture, threshold_blue=(140, 255), threshold_red=(0, 120),
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threshold_green=(0, 190), return_slices=False):
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"""Find three blue targets in the given picture (RGB matrix).
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Args:
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picture: a 2D matrix of RGB values
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threshold_blue: minimal value of the blue channel for a point to be
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considered as blue.
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threshold_red: maximal value of the red channel allowed for a
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target
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threshold_green: maximal value of the green channel allowed for a
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target
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threshold_blue: interval of allowed values for blue channel.
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threshold_red: interval of allowed values for red channel
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threshold_green: interval of allowed values for green channel
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return_slices: Boolean stating if the slices locating the targets
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should be returned.
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@ -50,9 +47,12 @@ def find_targets(
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"""
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blue_points = np.where(
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(picture[:, :, 2] > threshold_blue)
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& (picture[:, :, 0] < threshold_red)
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& (picture[:, :, 1] < threshold_green),
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(threshold_red[0] <= picture[:, :, 0])
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& (picture[:, :, 0] <= threshold_red[1])
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& (threshold_green[0] <= picture[:, :, 1])
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& (picture[:, :, 1] <= threshold_green[1])
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& (threshold_blue[0] <= picture[:, :, 2])
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& (picture[:, :, 2] <= threshold_blue[1]),
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1,
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0
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)
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@ -97,6 +97,6 @@ def find_targets(
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R = tuple(reversed(sides[-1]))
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if return_slices:
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return H, L, R, [(o[0], o[1]) for o in objects]
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return H, L, R, ((o[0], o[1]) for o in objects)
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else:
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return H, L, R
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Binary file not shown.
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@ -13,22 +13,20 @@ from detect_targets.cfg import DetectTargetsConfig
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class Publisher:
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def __init__(self):
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self.threshold_blue = 140
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self.threshold_red = 120
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self.threshold_green = 190
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self.threshold_blue = (140, 255)
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self.threshold_red = (0, 120)
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self.threshold_green = (0, 190)
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self.centers = component_centers()
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self.pub = rospy.Publisher('targets', component_centers, queue_size=10)
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self.img_pub = rospy.Publisher('img_targets', Image, queue_size=0)
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rospy.Subscriber("/bebop/image_raw", Image, self.on_picture)
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self.bridge = CvBridge()
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self.config_srv = dynamic_reconfigure.server.Server(DetectTargetsConfig, self.on_reconf)
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self.draw_targets = False
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def on_reconf(self, config, level):
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self.threshold_red = config['red']
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self.threshold_blue = config['blue']
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self.threshold_green = config['green']
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self.draw_targets = config['draw_targets']
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self.threshold_red = (config['red_min'], config['red_max'])
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self.threshold_blue = (config['blue_min'], config['blue_max'])
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self.threshold_green = (config['green_min'], config['green_max'])
|
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return config
|
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|
||||
def on_picture(self, msg):
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
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# coding: utf-8
|
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import matplotlib.pyplot as pl
|
||||
from matplotlib.patches import Rectangle
|
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|
||||
|
|
@ -26,7 +27,7 @@ L = normalize_coordinates(L, w, h)
|
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R = normalize_coordinates(R, w, h)
|
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ax.plot([H[0], L[0], R[0]], [H[1], L[1], R[1]], 'o', color='red')
|
||||
ax.grid()
|
||||
ax.set_title("Positions normalisées")
|
||||
ax.set_title(u"Positions normalisées")
|
||||
|
||||
|
||||
pl.show()
|
||||
|
|
|
|||
Loading…
Reference in a new issue