Refactor #16
Refactor #16
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…d x vector chosen to be the vector 90 degrees on z vector and rotated by angle about z vector
…publisher outside the sync checks
…orks well in good ligting, but when it is covered by a shadow the edge detection does not detect shit roflcopter
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #16 +/- ##
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Coverage 0.00% 0.00%
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Files 2 8 +6
Lines 256 704 +448
Branches 21 62 +41
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- Misses 256 704 +448
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Pull Request Overview
This PR introduces a new testing and development node (ValvePoseNode) for estimating the 6DOF pose of valves using various sensors and techniques. The refactoring replaces the legacy ValveDetectionNode with a more modular architecture that separates concerns into dedicated detector classes and utility functions.
Key changes:
- Replaces monolithic node implementation with modular
ValveDetectorandAngleDetectorclasses - Adds support for both depth images and point clouds with optional color image input
- Implements flexible message synchronization supporting multiple input combinations
Reviewed Changes
Copilot reviewed 18 out of 18 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
src/valve_pose_ros.cpp |
New ROS node implementation with message filtering and templated callbacks |
src/valve_detector.cpp |
Core valve detection logic including plane segmentation and pose estimation |
src/angle_detector.cpp |
Valve handle angle detection using Canny edge detection and Hough transform |
src/depth_image_processing.cpp |
Depth image to point cloud conversion utilities |
src/pointcloud_processing.cpp |
Point cloud processing for annulus extraction |
include/valve_detection_ros/valve_pose_ros.hpp |
ROS node header with sync policies and templated callback |
include/valve_detection/valve_detector.hpp |
Valve detector class with templated pose computation |
include/valve_detection/angle_detector.hpp |
Angle detector interface |
include/valve_detection/types.hpp |
Common type definitions and parameter structs |
include/valve_detection/depth_image_processing.hpp |
Depth processing function declarations |
include/valve_detection/pointcloud_processing.hpp |
Point cloud processing function declarations |
launch/valve_detection.launch.py |
Updated launch file for composable node container |
config/valve_detection_params.yaml |
Expanded parameter configuration |
README.md |
Enhanced documentation with usage and troubleshooting |
CMakeLists.txt |
Updated build configuration for new architecture |
package.xml |
Added tf2_geometry_msgs dependency |
src/valve_detection.cpp |
Removed legacy implementation |
include/valve_detection/valve_detection.hpp |
Removed legacy header |
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| int temp_x = longest_line[0]; | ||
| int temp_y = longest_line[1]; | ||
| longest_line[0] = longest_line[2]; | ||
| longest_line[1] = longest_line[3]; |
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After swapping the x-coordinates, temp_x and temp_y are declared but never used to complete the swap. The y-coordinates should also be swapped: longest_line[2] = temp_x; longest_line[3] = temp_y; should be added after line 64.
| longest_line[1] = longest_line[3]; | |
| longest_line[1] = longest_line[3]; | |
| longest_line[2] = temp_x; | |
| longest_line[3] = temp_y; |
README.md
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| | Issue | Possible Cause | Fix | | ||
| | ---------------------------- | ---------------------------------------------------------------------------- | --- | | ||
| | No poses published | Missing plane segmentation (adjust `plane_ransac_threshold` or annulus size) | | | | |
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The table row contains extra empty cells at the end. Remove the trailing | delimiters and empty columns to maintain clean table formatting.
This introduces a new node meant for testing and development using various sensor and techniques for estimating the 6DOF of the valve. Once sensors and algorithms are decided a more production oriented node can be made