ros-perception · k-okada · Aug 30, 2016 · Aug 23, 2016 · Aug 25, 2016 · Aug 25, 2016
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -250,9 +250,20 @@ install(TARGETS ${_opencv_apps_nodelet_targets}
 install(FILES nodelet_plugins.xml
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+install(DIRECTORY launch test
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        USE_SOURCE_PERMISSIONS)
 
 ## test
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS rostest)
+  find_package(catkin REQUIRED COMPONENTS rostest roslaunch)
+  if(roslaunch_VERSION VERSION_LESS "1.11.1")
+    message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
+  else()
+    file(GLOB LAUNCH_FILES launch/*.launch)
+    foreach(LAUNCH_FILE ${LAUNCH_FILES})
+      roslaunch_add_file_check(${LAUNCH_FILE})
+    endforeach()
+  endif()
   add_subdirectory(test)
 endif()
diff --git a/launch/camshift.launch b/launch/camshift.launch
@@ -0,0 +1,26 @@
+<launch>
+  <arg name="node_name" default="camshift" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <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="10" doc="Min threshould of lightness."/>
+  <arg name="vmax" default="230" doc="Max threshould of lightness." />
+  <arg name="smin" default="60" doc="Min value of saturation." />
+
+  <!-- camshift.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="camshift" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <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>
+</launch>
diff --git a/launch/contour_moments.launch b/launch/contour_moments.launch
@@ -0,0 +1,17 @@
+<launch>
+  <arg name="node_name" default="contour_moments" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+  <arg name="canny_low_threshold" default="100" doc="Canny Edge low Threshold"/>
+
+  <!-- contour_moments.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="contour_moments" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="canny_low_threshold" value="$(arg canny_low_threshold)" />
+  </node>
+</launch>
diff --git a/launch/convex_hull.launch b/launch/convex_hull.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="node_name" default="convex_hull" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="threshold" default="100" doc="Treshold for the detecting edges."/>
+
+  <!-- convex_hull.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="convex_hull" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="threshold" value="$(arg threshold)" />
+  </node>
+</launch>
diff --git a/launch/edge_detection.launch b/launch/edge_detection.launch
@@ -0,0 +1,34 @@
+<launch>
+  <arg name="node_name" default="edge_detection" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="edge_type" default="0" doc="Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector." />
+  <arg name="canny_threshold1" default="100" doc="Specify second canny threashold value." />
+  <arg name="canny_threshold2" default="200" doc="Specity first canny threashold value." />
+  <arg name="apertureSize" default="3" doc="Aperture size for the Sobel() operator." />
+  <arg name="apply_blur_pre" default="true" doc="Flag, applying Blur() to input image" />
+  <arg name="postBlurSize" default="13" doc="Aperture size for the Blur() to input image()" />
+  <arg name="postBlurSigma" default="3.2" doc="Sigma for the GaussianBlur() to input image." />
+  <arg name="apply_blur_post" default="false" doc="Flag, applying GaussinaBlur() to output(edge) image" />
+  <arg name="L2gradient" default="false" doc="Flag, L2Gradient" />
+
+  <!-- edge_detection.cpp  -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="edge_detection" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="edge_type" value="$(arg edge_type)" />
+    <param name="canny_threshold1" value="$(arg canny_threshold1)" />
+    <param name="canny_threshold2" value="$(arg canny_threshold2)" />
+    <param name="apertureSize" value="$(arg apertureSize)" />
+    <param name="apply_blur_pre" value="$(arg apply_blur_pre)" />
+    <param name="postBlurSize" value="$(arg postBlurSize)" />
+    <param name="postBlurSigma" value="$(arg postBlurSigma)" />
+    <param name="apply_blur_post" value="$(arg apply_blur_post)" />
+    <param name="L2gradient" value="$(arg L2gradient)" />
+  </node>
+</launch>
diff --git a/launch/face_detection.launch b/launch/face_detection.launch
@@ -0,0 +1,27 @@
+<launch>
+  <arg name="node_name" default="face_detection" />
+  <arg name="use_opencv3" default="false" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg if="$(arg use_opencv3)"
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg if="$(arg use_opencv3)"
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+  <arg unless="$(arg use_opencv3)"
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg unless="$(arg use_opencv3)"
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+
+  <!-- face_detection.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="face_detection"  >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="face_cascade_name" value="$(arg face_cascade_name)" />
+    <param name="eyes_cascade_name" value="$(arg eyes_cascade_name)" />
+  </node>
+</launch>
diff --git a/launch/fback_flow.launch b/launch/fback_flow.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="node_name" default="fback_flow" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <!-- fback_flow.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="fback_flow" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+  </node>
+</launch>
diff --git a/launch/find_contours.launch b/launch/find_contours.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="node_name" default="find_contours" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="canny_low_threshold" default="10" doc="Lower threshold for the internal Canny edge detector."/>
+
+  <!-- find_contours.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="find_contours" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="canny_low_threshold" value="$(arg canny_low_threshold)" />
+  </node>
+</launch>
diff --git a/launch/general_contours.launch b/launch/general_contours.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="node_name" default="general_contours" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="threshold" default="100" doc="Treshold for the detecting edges."/>
+
+  <!-- general_contours.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="general_contours" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="threshold" value="$(arg threshold)" />
+  </node>
+</launch>
diff --git a/launch/goodfeature_track.launch b/launch/goodfeature_track.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="node_name" default="goodfeature_track" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="max_corners" default="23" doc="Maximum number of corners to return. If there are more corners than are found, the strongest  of them is returned." />
+
+  <!-- goodfeature_track.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="goodfeature_track" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="max_corners" value="$(arg max_corners)" />
+  </node>
+</launch>
diff --git a/launch/hough_circles.launch b/launch/hough_circles.launch
@@ -0,0 +1,32 @@
+<launch>
+  <arg name="node_name" default="houh_circles" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="canny_threshold" default="200" doc="Upper threshold for the internal Canny edge detector." />
+  <arg name="accumulator_threshold" default="50" doc="Threshold for center detection." />
+  <arg name="gaussian_blur_size" default="9" doc="The size of gaussian blur (should be odd number)" />
+  <arg name="gaussian_sigma_x" default="2" doc="Sigma x of gaussian kernel" />
+  <arg name="gaussian_sigma_y" default="2" doc="Sigma y of gaussian kernel" />
+  <arg name="dp" default="2" doc="The inverse ratio of resolution." />
+  <arg name="min_circle_radius" default="0" doc="The minimum size of the circle, If unknown, put zero as default" />
+  <arg name="max_circle_radius" default="0" doc="The maximum size of the circle, If unknown, put zero as default." />
+
+  <!-- hough_circles.cpp -->
+  <node name="hough_circles" pkg="opencv_apps" type="hough_circles" args="image:=image_rect" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="canny_threshold" value="$(arg canny_threshold)" />
+    <param name="accumulator_threshold" value="$(arg accumulator_threshold)" />
+    <param name="gaussian_blur_size" value="$(arg gaussian_blur_size)" />
+    <param name="gaussian_sigma_x" value="$(arg gaussian_sigma_x)" />
+    <param name="gaussian_sigma_y" value="$(arg gaussian_sigma_y)" />
+    <param name="dp" value="$(arg dp)" />
+    <param name="min_circle_radius" value="$(arg min_circle_radius)" />
+    <param name="max_circle_radius" value="$(arg max_circle_radius)" />
+  </node>
+</launch>
diff --git a/launch/hough_lines.launch b/launch/hough_lines.launch
@@ -0,0 +1,28 @@
+<launch>
+  <arg name="node_name" default="hough_lines" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="hough_type" default="0" doc="Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection" />
+  <arg name="threshold" default="150" doc="Threshould value for hough line detection" />
+  <arg name="rho" default="1.0" doc="The resolution of the parameter r in pixels." />
+  <arg name="theta" default="1.0" doc="The resolution of the parameter theta in radians." />
+  <arg name="minLineLength" default="30" doc="The minimum number of points that can form a line." />
+  <arg name="maxLineGrap" default="10" doc="The maximum gap between two points to be considered in the same line." />
+
+  <!-- hough_lines.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="hough_lines" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="hough_type" value="$(arg hough_type)" />
+    <param name="threshold" value="$(arg threshold)" />
+    <param name="rho" value="$(arg rho)" />
+    <param name="theta" value="$(arg theta)" />
+    <param name="minLineLength" value="$(arg minLineLength)" />
+    <param name="maxLineGrap" value="$(arg maxLineGrap)" />
+  </node>
+</launch>
diff --git a/launch/lk_flow.launch b/launch/lk_flow.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="node_name" default="lk_flow" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <!-- lk_flow.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="lk_flow" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+  </node>
+</launch>
diff --git a/launch/people_detect.launch b/launch/people_detect.launch
@@ -0,0 +1,26 @@
+<launch>
+  <arg name="node_name" default="people_detect" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="hit_threshold" default="0" doc="Threshold for the distance between features and SVM classifying plane" />
+  <arg name="win_stride" default="8" doc="Window stride. It must be a multiple of block stride." />
+  <arg name="padding" default="32" doc="Mock parameter to keep the CPU interface compatibility. It must be (0,0)." />
+  <arg name="scale0" default="1.05" doc="Coefficient of the detection window increase." />
+  <arg name="group_threshold" default="2" doc="Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping." />
+
+  <!-- people_detect.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="people_detect" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="hit_threshold" value="$(arg hit_threshold)" />
+    <param name="win_stride" value="$(arg win_stride)" />
+    <param name="padding" value="$(arg padding)" />
+    <param name="scale0" value="$(arg scale0)" />
+    <param name="group_threshold" value="$(arg group_threshold)" />
+  </node>
+</launch>
diff --git a/launch/phase_corr.launch b/launch/phase_corr.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="node_name" default="phase_corr" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <!-- phase_corr.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="phase_corr"  >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+  </node>
+</launch>
diff --git a/launch/segment_objects.launch b/launch/segment_objects.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="node_name" default="segment_objects" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <!-- segment_objects.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="segment_objects" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+  </node>
+</launch>