Modified enabling use_camera_info by rosparam #18

iory · 2016-08-10T10:22:42Z

Until now,
we could not change use_camera_info flag by rosparam.
I enable it.

iory · 2016-08-10T13:29:07Z

Please merge this.

k-okada · 2016-08-11T05:51:23Z

did you check if
https://github.com/ros-perception/opencv_apps/blob/indigo/test/test-fback_flow.test#L10
is not working?
if is is not working I think test should fail because
https://github.com/ros-perception/opencv_apps/blob/indigo/test/test-fback_flow.test#L3
did not publish camera info, if the test passes, something wrong.

◉ Kei Okada

On Wed, Aug 10, 2016 at 7:22 PM, iory notifications@github.com wrote:

Until now,
we could not change use_camera_info flag by rosparam.

I enable it.

You can view, comment on, or merge this pull request online at:

#18
Commit Summary

Modified enabling use_camera_info by rosparam

File Changes

M src/nodelet/camshift_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-0
(14)

M src/nodelet/contour_moments_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-1
(13)

M src/nodelet/convex_hull_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-2
(13)

M src/nodelet/edge_detection_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-3
(14)

M src/nodelet/face_detection_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-4
(13)

M src/nodelet/fback_flow_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-5
(13)

M src/nodelet/find_contours_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-6
(13)

M src/nodelet/general_contours_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-7
(13)

M src/nodelet/goodfeature_track_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-8
(13)

M src/nodelet/hough_circles_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-9
(13)

M src/nodelet/hough_lines_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-10
(12)

M src/nodelet/lk_flow_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-11
(13)

M src/nodelet/people_detect_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-12
(13)

M src/nodelet/phase_corr_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-13
(13)

M src/nodelet/segment_objects_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-14
(13)

M src/nodelet/simple_flow_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-15
(13)

M src/nodelet/watershed_segmentation_nodelet.cpp
https://github.com/ros-perception/opencv_apps/pull/18/files#diff-16
(13)

Patch Links:

https://github.com/ros-perception/opencv_apps/pull/18.patch

https://github.com/ros-perception/opencv_apps/pull/18.diff

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iory · 2016-08-11T07:31:59Z

Year, I checked it.
These apps's nodelet version could not correctly work.
https://travis-ci.org/ros-perception/opencv_apps/jobs/151430031#L2339
https://github.com/ros-perception/opencv_apps/pull/19/files

k-okada · 2016-08-12T05:50:03Z

I see, may be nodet version does not launch dynamic reconfigure, ...
https://github.com/ros-perception/opencv_apps/blob/indigo/include/opencv_apps/nodelet.h,
if we can enable dynamic reconfigure fore each nodelet, I think thas'
better.

◉ Kei Okada

On Thu, Aug 11, 2016 at 4:31 PM, iory notifications@github.com wrote:

Year, I checked it.
These apps's nodelet version could not correctly work.
https://travis-ci.org/ros-perception/opencv_apps/jobs/151430031#L2339

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iory · 2016-08-17T08:40:24Z

Should we initialize dynamic_reconfigure server by pnh_?
iory@a6c3e39

https://github.com/ros/dynamic_reconfigure/blob/master/include/dynamic_reconfigure/server.h#L234

k-okada · 2016-08-17T09:16:28Z

I think this is the right direction, also take look at
https://github.com/ros-perception/image_pipeline/blob/indigo/stereo_image_proc/src/nodelets/disparity.cpp#L86-L87

◉ Kei Okada

On Wed, Aug 17, 2016 at 5:40 PM, iory notifications@github.com wrote:

Should we initialize dynamic_reconfigure server by pnh_?
iory/opencv_apps@a6c3e39
iory@a6c3e39

https://github.com/ros/dynamic_reconfigure/blob/master/include/dynamic_
reconfigure/server.h#L234

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iory · 2016-08-18T09:46:37Z

I applied it.

iory · 2016-08-23T06:26:35Z

Please check it

k-okada · 2016-08-23T09:23:15Z

@iory can you provide snippets of your launch files that using nodelet?

iory · 2016-08-23T09:39:13Z

OK, sample
https://gist.github.com/iory/da17954998bd07169591be51cb693d38

k-okada · 2016-08-23T13:38:41Z

Could you also send me launch file that you really using in your
experiments? It's ok for me the file did not run on my environment, I just
wait to look at it .

2016年8月23日火曜日、iorynotifications@github.comさんは書きました:

OK, sample
https://gist.github.com/iory/da17954998bd07169591be51cb693d38

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◉ Kei Okada

iory · 2016-08-23T13:57:30Z

How about following launch file?
https://gist.github.com/iory/da17954998bd07169591be51cb693d38

k-okada · 2016-08-23T14:44:33Z

did you test nodelet version of opencv_app program with hrp2 or xtion?
btw how did you test the program?

with/without this PR, we can see/wide_stereo/left/camshift/use_camera_info
if we change use_camera_info in dynamic reconfigure rosparam get /wide_stereo/left/camshift/use_camera_info also changes
if we rosparam set /wide_stereo/left/camshift/use_camera_info true or false, it did not change dynamic reconfigure gui
if we look at following code, it seems we have to reconnect the image topic, did you do that ? if so , how did you do that?

  void subscribe()
  {
    NODELET_DEBUG("Subscribing to image topic.");
    if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", 3, &CamShiftNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", 3, &CamShiftNodelet::imageCallback, this);
  }

k-okada · 2016-08-23T15:36:43Z

@iory sorry this is my misunderstanding,

without this PR
- node
  - enable to change param from dynamic reconfigure
- node start with parm set by launch
- nodelet
- unable to change param from dynamic_reconfigure
- node did not start with param set by launch

with this PR

node
- enable to change param from dynamic reconfigure
- node start with param set by launch
nodelet
- enable to change param from dynamic reconfigure
- node start with param set by launch

<launch>
  <arg name="gui" default="true" />
  <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />

  <arg name="histogram" default="[0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" doc="Histogram of tracked color object" />
  <arg name="vmin" default="11" doc="Min threshould of lightness."/>
  <arg name="vmax" default="231" doc="Max threshould of lightness." />
  <arg name="smin" default="61" doc="Min value of saturation." />
  <arg name="node_name" default="camshift" />
  <arg name="image" default="image_rect_color" />

  <arg name="use_nodelet" default="true" />


  <group ns="wide_stereo/left" >
    <node name="image_proc" pkg="image_proc" type="image_proc" />
    <node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />

    <!-- camshift.cpp -->
    <group if="$(arg use_nodelet)">
    <node name="nodelet_manager" pkg="nodelet" type="nodelet" args="manager" output="screen" />
      <!-- camshift.cpp -->
      <node name="$(arg node_name)" pkg="nodelet" type="nodelet" args="load camshift/camshift nodelet_manager" output="screen" >
        <remap from="image" to="$(arg image)" />
        <param name="debug_view" value="$(arg gui)" />
        <rosparam param="histogram" subst_value="True">
          $(arg histogram)
        </rosparam>
        <param name="vmin" value="$(arg vmin)" />
        <param name="vmax" value="$(arg vmax)" />
        <param name="smin" value="$(arg smin)" />
      </node>
    </group>
    <group unless="$(arg use_nodelet)">
      <node name="$(arg node_name)" pkg="opencv_apps" type="camshift" >
        <remap from="image" to="$(arg image)" />
        <param name="debug_view" value="$(arg gui)" />
        <rosparam param="histogram" subst_value="True">
          $(arg histogram)
        </rosparam>
        <param name="vmin" value="$(arg vmin)" />
        <param name="vmax" value="$(arg vmax)" />
        <param name="smin" value="$(arg smin)" />
      </node>
    </group>

    <!-- Test Codes -->
    <node name="camshift_saver_result" pkg="image_view" type="image_saver" args="image:=camshift/image" >
      <param name="filename_format" value="$(find opencv_apps)/test/camshift_result.png"/>
    </node>
    <node name="camshift_saver_back_project" pkg="image_view" type="image_saver" args="image:=camshift/back_project" >
      <param name="filename_format" value="$(find opencv_apps)/test/camshift_back_project.png"/>
    </node>
    <param name="camshift_test/topic" value="camshift/track_box" />    <!-- opencv_apps/Point2DArrayStamped -->
    <test test-name="camshift_test" pkg="rostest" type="hztest" name="camshift_test" >
      <param name="hz" value="20" />
      <param name="hzerror" value="15" />
      <param name="test_duration" value="5.0" /> 
    </test>
  </group>
</launch>

Thanks!

iory mentioned this pull request Aug 11, 2016

[test] nodelet test #19

Closed

Enabling dynamic_reconfigure in private nodelet handler

8e826a4

iory force-pushed the modify-rosparam branch from f361e83 to 8e826a4 Compare August 18, 2016 09:44

k-okada merged commit 11cc7aa into ros-perception:indigo Aug 23, 2016

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Modified enabling use_camera_info by rosparam #18

Modified enabling use_camera_info by rosparam #18

iory commented Aug 10, 2016

iory commented Aug 10, 2016

k-okada commented Aug 11, 2016

I enable it.

iory commented Aug 11, 2016 •

edited

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k-okada commented Aug 12, 2016

iory commented Aug 17, 2016

k-okada commented Aug 17, 2016

iory commented Aug 18, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

k-okada commented Aug 23, 2016

Modified enabling use_camera_info by rosparam #18

Modified enabling use_camera_info by rosparam #18

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iory commented Aug 10, 2016

iory commented Aug 10, 2016

k-okada commented Aug 11, 2016

I enable it.

iory commented Aug 11, 2016 • edited Loading

k-okada commented Aug 12, 2016

iory commented Aug 17, 2016

k-okada commented Aug 17, 2016

iory commented Aug 18, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

iory commented Aug 23, 2016

k-okada commented Aug 23, 2016

k-okada commented Aug 23, 2016

iory commented Aug 11, 2016 •

edited

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