[jsk_pcl_ros_utils] add PolygonArrayLikelihoodFilter #2054

furushchev · 2017-04-17T03:54:22Z

Nodelet to filter polygons by likelihood.

furushchev · 2017-04-17T14:40:38Z

[jsk_pcl_ros_utils] /workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp: In member function 'virtual void jsk_pcl_ros_utils::PolygonArrayLikelihoodFilter::onInit()': 

[jsk_pcl_ros_utils] /workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp:53:67: error: no matching function for call to 'ros::NodeHandle::param(const char [17], bool)' 

[jsk_pcl_ros_utils] /workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp:53:67: note: candidate is: 

[jsk_pcl_ros_utils] /opt/ros/hydro/include/ros/node_handle.h:1912:8: note: template void ros::NodeHandle::param(const string&, T&, const T&) const 

[jsk_pcl_ros_utils] make[2]: *** [CMakeFiles/jsk_pcl_ros_utils.dir/src/polygon_array_likelihood_filter_nodelet.cpp.o] Error 1 

[jsk_pcl_ros_utils] make[2]: *** Waiting for unfinished jobs.... 

[jsk_perception] Scanning dependencies of target bounding_rect_mask_image 

[jsk_pcl_ros_utils] [ 82%] Building CXX object CMakeFiles/jsk_pcl_ros_utils.dir/src/delay_pointcloud_nodelet.cpp.o

wkentaro · 2017-04-21T15:13:07Z

doc/jsk_pcl_ros_utils/nodes/polygon_array_likelihood_filter.rst

+
+  Threshold for filtering polygons.
+
+* ``~negate`` (Bool, default: ``false``)


~negative is better.

wkentaro · 2017-04-21T15:13:37Z

doc/jsk_pcl_ros_utils/nodes/polygon_array_likelihood_filter.rst

+
+  If ``true``, polygons and coefficients are subscribed and published synchronously.
+
+* ``~min_likelihood`` (Double, default: ``0.5``)


~threshold is better?

wkentaro · 2017-04-21T15:14:40Z

jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp

+    pub_polygons_ = advertise<jsk_recognition_msgs::PolygonArray>(
+      *pnh_, "output_polygons", 1);
+
+    pnh_->param<bool>(std::string("use_coefficients"), use_coefficients_, true);


std::string is not necessary, no?

You are right! I forgot to remove that. Fixed.

wkentaro · 2017-04-21T15:15:40Z

jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp

+                                this, _1, _2));
+    } else {
+      sub_polygons_alone_ = pnh_->subscribe(
+        "input_polygons", 1, &PolygonArrayLikelihoodFilter::filter, this);


sub_polygons_.registerCallback(&PolygonArrayLIkelihoodFilter::fileter, this);

@wkentaro Why this is not allowed? sub_polygons_alone is just a ros::Suscriber not a message_filters::Subscriber.

I mean just it seems better.

@wkentaro
Sorry, I didn't know about that. What is difference between two calls? Is there any performance improvement?

The difference is the necessity of definition of sub_polygons_alone_, and with my method, you don't need to define it, leading less number of member varaibles.

Is there any perfo..

I'm not sure about that.

But this is not usual way of message_filers, I think...

I think it is a stereotype:
http://wiki.ros.org/message_filters#Example_.28C.2B-.2B-.29

I found this method by my own necessity in https://github.com/jsk-ros-pkg/jsk_recognition/pull/2062/files#diff-0305e61af9efa1e83947d88c19e4ec73R81.

wkentaro · 2017-04-21T15:16:28Z

jsk_pcl_ros_utils/src/polygon_array_likelihood_filter_nodelet.cpp

+    boost::mutex::scoped_lock lock(mutex_);
+    min_likelihood_ = config.min_likelihood;
+    negate_ = config.negate;
+    if (queue_size_ != config.queue_size) {


Oh, this is great 👍

@wkentaro But I found that the code below is super bad... Fixed anyway, thanks!

k-okada

do we have example launch file for this node?

[jsk_pcl_ros_utils] add docs for polygon_array_likelihood_filter

furushchev · 2017-04-22T01:13:47Z

do we have example launch file for this node?

@k-okada Thanks for review! I can write sample launch file if #2053 is merged easily. Please could you wait?

…lter

furushchev · 2017-06-13T11:53:02Z

Sorry for late, I updated this PR: added test code and sample launch file.

furushchev · 2017-06-14T02:33:42Z

@k-okada Thank you for merging!

furushchev mentioned this pull request Apr 17, 2017

Reject polygons from polygonarray by likelihood #2052

Closed

furushchev force-pushed the polygonarray-unwrapper branch 2 times, most recently from ce465d4 to 1340bf4 Compare April 18, 2017 04:22

wkentaro assigned wkentaro and unassigned wkentaro Apr 20, 2017

furushchev requested review from k-okada and wkentaro April 21, 2017 13:42

wkentaro requested changes Apr 21, 2017

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k-okada reviewed Apr 22, 2017

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[jsk_pcl_ros_utils] add polygon_array_likelihood_filter

22fecd1

[jsk_pcl_ros_utils] add docs for polygon_array_likelihood_filter

[jsk_pcl_ros_utils][polygon_array_likelihood_filter] fix

ac1345d

furushchev force-pushed the polygonarray-unwrapper branch from d3bdc3a to ac1345d Compare April 22, 2017 01:16

wkentaro added feature pkg/jsk_pcl_ros_utils labels May 2, 2017

furushchev added 2 commits June 13, 2017 19:04

Merge remote-tracking branch 'origin/master' into polygonarray-unwrapper

2e58758

[jsk_pcl_ros_utils] add sample / test for polygon_array_likelihood_fi…

00eeedc

…lter

k-okada merged commit 9c3fe55 into jsk-ros-pkg:master Jun 14, 2017

furushchev deleted the polygonarray-unwrapper branch June 14, 2017 02:33

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[jsk_pcl_ros_utils] add PolygonArrayLikelihoodFilter #2054

[jsk_pcl_ros_utils] add PolygonArrayLikelihoodFilter #2054

furushchev commented Apr 17, 2017

furushchev commented Apr 17, 2017

wkentaro Apr 21, 2017

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furushchev commented Apr 22, 2017

furushchev commented Jun 13, 2017

furushchev commented Jun 14, 2017


		Threshold for filtering polygons.

		* ``~negate`` (Bool, default: ``false``)


		If ``true``, polygons and coefficients are subscribed and published synchronously.

		* ``~min_likelihood`` (Double, default: ``0.5``)

[jsk_pcl_ros_utils] add PolygonArrayLikelihoodFilter #2054

[jsk_pcl_ros_utils] add PolygonArrayLikelihoodFilter #2054

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furushchev commented Apr 17, 2017

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furushchev commented Apr 22, 2017

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furushchev commented Jun 14, 2017

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