def __init__(self):
self.node_name = "Line Detector"
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
self.bridge = CvBridge()
self.detector = LineDetector()
self.detector.hsv_white1 = np.array(rospy.get_param('~hsv_white1'))
self.detector.hsv_white2 = np.array(rospy.get_param('~hsv_white2'))
self.detector.hsv_yellow1 = np.array(rospy.get_param('~hsv_yellow1'))
self.detector.hsv_yellow2 = np.array(rospy.get_param('~hsv_yellow2'))
self.detector.hsv_red1 = np.array(rospy.get_param('~hsv_red1'))
self.detector.hsv_red2 = np.array(rospy.get_param('~hsv_red2'))
self.detector.hsv_red3 = np.array(rospy.get_param('~hsv_red3'))
self.detector.hsv_red4 = np.array(rospy.get_param('~hsv_red4'))
self.detector.dilation_kernel_size = rospy.get_param('~dilation_kernel_size')
self.detector.canny_thresholds = rospy.get_param('~canny_thresholds')
self.detector.hough_min_line_length = rospy.get_param('~hough_min_line_length')
self.detector.hough_max_line_gap = rospy.get_param('~hough_max_line_gap')
self.detector.hough_threshold = rospy.get_param('~hough_threshold')
self.sub_image = rospy.Subscriber("~image", CompressedImage, self.processImage)
self.pub_lines = rospy.Publisher("~segment_list", SegmentList, queue_size=1)
self.pub_image = rospy.Publisher("~image_with_lines", Image, queue_size=1)
def __init__(self):
self.node_name = "Line Detector"
# Thread lock
self.thread_lock = threading.Lock()
# Constructor of line detector
self.bridge = CvBridge()
self.detector = LineDetector()
self.wb = WhiteBalance()
self.flag_wb_ref = False
# Parameters
self.flag_wb = rospy.get_param('~white_balance')
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
self.detector.hsv_white1 = np.array(rospy.get_param('~hsv_white1'))
self.detector.hsv_white2 = np.array(rospy.get_param('~hsv_white2'))
self.detector.hsv_yellow1 = np.array(rospy.get_param('~hsv_yellow1'))
self.detector.hsv_yellow2 = np.array(rospy.get_param('~hsv_yellow2'))
self.detector.hsv_red1 = np.array(rospy.get_param('~hsv_red1'))
self.detector.hsv_red2 = np.array(rospy.get_param('~hsv_red2'))
self.detector.hsv_red3 = np.array(rospy.get_param('~hsv_red3'))
self.detector.hsv_red4 = np.array(rospy.get_param('~hsv_red4'))
self.detector.dilation_kernel_size = rospy.get_param(
'~dilation_kernel_size')
self.detector.canny_thresholds = rospy.get_param('~canny_thresholds')
self.detector.hough_min_line_length = rospy.get_param(
'~hough_min_line_length')
self.detector.hough_max_line_gap = rospy.get_param(
'~hough_max_line_gap')
self.detector.hough_threshold = rospy.get_param('~hough_threshold')
# Publishers
self.pub_lines = rospy.Publisher("~segment_list",
SegmentList,
queue_size=1)
self.pub_image = rospy.Publisher("~image_with_lines",
Image,
queue_size=1)
# Verbose option
self.verbose = rospy.get_param('~verbose')
if self.verbose:
self.toc_pre = rospy.get_time()
# Subscribers
self.sub_image = rospy.Subscriber("~image",
CompressedImage,
self.cbImage,
queue_size=1)
rospy.loginfo("[%s] Initialized." % (self.node_name))
def main():
line_finder = LineDetector(**settings)
if args.file_.split('.')[-1] == 'jpg':
img = mpimg.imread(args.path + args.file_)
output_img = line_finder.forward(img)
plt.imshow(output_img)
plt.show()
elif args.file_.split('.')[-1] == 'mp4':
white_output = 'test_videos_output/output_video.mp4'
clip1 = VideoFileClip(args.path + args.file_).subclip(0, args.subclip)
white_clip = clip1.fl_image(line_finder.forward)
white_clip.write_videofile(white_output, audio=False)
else:
print('Error {}: Not supported type.'.format(
args.file_.split('.')[-1]))
quit()
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing......" % (self.node_name))
self.bridge = CvBridge()
self.cv_image = None
self.detector = LineDetector()
self.visualization = True
self.size = (320, 240)
self.pid_enabled = False
self.base_speed = 50
# self.car = CarDriver()
# self.config_file = os.path.dirname(os.path.abspath(__file__)) + "/default.yaml"
self.image_msg = None
self.lost_count = 0
self.line_msg = GetLineDetectionResponse()
self.pub_detections = rospy.Publisher("~image_color",
CompressedImage,
queue_size=1)
self.pub_line_detection = rospy.Publisher("~line_detection",
LineDetection,
queue_size=1)
self.detect_line_srv = rospy.Service('~detect_line', GetLineDetection,
self.cbGetLineDetection)
self.set_color_srv = rospy.Service('~set_color_threshold',
SetColorThreshold,
self.cbSetColorThreshold)
self.get_color_srv = rospy.Service('~get_color_threshold',
GetColorThreshold,
self.cbGetColorThreshold)
self.set_color_list_srv = rospy.Service('~get_color_list', GetStrings,
self.cbGetColorList)
# self.pid_set_enable_srv = rospy.Service('~pid_set_enable', SetInt32, self.cbPidSetEnable)
# self.sub_image = rospy.Subscriber("~image_raw", Image, self.cbImg ,queue_size=1)
self.sub_image = rospy.Subscriber("~image_raw/compressed",
CompressedImage,
self.cbImg,
queue_size=1)
# rospy.loginfo("[%s] wait_for_service : camera_get_frame..." % (self.node_name))
# rospy.wait_for_service('~camera_get_frame')
# self.get_frame = rospy.ServiceProxy('~camera_get_frame', GetFrame)
rospy.loginfo("[%s] Initialized." % (self.node_name))
# Note for vz:
# vz < 0 => ascend
# vz > 0 => descend
# UP = -0.5
# DOWN = 0.5
UP = 0
DOWN = 0
PRECISION = 3
YAW_CONTROL = True
ABS_MAX_TURNING_ANGLE = 75
ld = LineDetector(PRECISION)
arm_and_takeoff(1.5)
print("!!!!!!!!!!! MOVING START !!!!!!!!!")
while True:
# getTurnDir returns
dir = ld.getTurnDir()
print("getTurnDir returns %d" % dir)
# If there is no line, land the vehicle
if dir == (PRECISION + 1):
break
# If YAW_CONTROL is true, it is possible to trace curves.
def __init__(self, node_name):
# Initialize the DTROS parent class
super(LineDetectorNode, self).__init__(node_name=node_name,
node_type=NodeType.PERCEPTION)
# Define parameters
self._line_detector_parameters = rospy.get_param(
"~line_detector_parameters", None)
self._colors = rospy.get_param("~colors", None)
self._img_size = rospy.get_param("~img_size", None)
self._top_cutoff = rospy.get_param("~top_cutoff", None)
self.bridge = CvBridge()
# The thresholds to be used for AntiInstagram color correction
self.ai_thresholds_received = False
self.anti_instagram_thresholds = dict()
self.ai = AntiInstagram()
# This holds the colormaps for the debug/ranges images after they are computed once
self.colormaps = dict()
# Create a new LineDetector object with the parameters from the Parameter Server / config file
self.detector = LineDetector(**self._line_detector_parameters)
# Update the color ranges objects
self.color_ranges = {
color: ColorRange.fromDict(d)
for color, d in list(self._colors.items())
}
# Publishers
self.pub_lines = rospy.Publisher("~segment_list",
SegmentList,
queue_size=1,
dt_topic_type=TopicType.PERCEPTION)
self.pub_d_segments = rospy.Publisher("~debug/segments/compressed",
CompressedImage,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
self.pub_d_edges = rospy.Publisher("~debug/edges/compressed",
CompressedImage,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
self.pub_d_maps = rospy.Publisher("~debug/maps/compressed",
CompressedImage,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
# these are not compressed because compression adds undesired blur
self.pub_d_ranges_HS = rospy.Publisher("~debug/ranges_HS",
Image,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
self.pub_d_ranges_SV = rospy.Publisher("~debug/ranges_SV",
Image,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
self.pub_d_ranges_HV = rospy.Publisher("~debug/ranges_HV",
Image,
queue_size=1,
dt_topic_type=TopicType.DEBUG)
# Subscribers
self.sub_image = rospy.Subscriber("~image/compressed",
CompressedImage,
self.image_cb,
buff_size=10000000,
queue_size=1)
self.sub_thresholds = rospy.Subscriber("~thresholds",
AntiInstagramThresholds,
self.thresholds_cb,
queue_size=1)
if self.cv_image is None:
print('image msg received')
self.cv_image = self.bridge.imgmsg_to_cv2(image_msg,
desired_encoding="bgr8")
def getImage(self):
return self.cv_image
# print(__name__)
if __name__ == '__main__':
import cv2
import time
from line_detector import LineDetector
detector = LineDetector()
subscriber = RosImageSubscriber()
count = 1
start = time.time()
while True:
# image_frame = subscriber.get_frame(GetFrameRequest())
# cv_image = subscriber.bridge.imgmsg_to_cv2(image_frame.image, desired_encoding="bgr8")
cv_image = subscriber.cv_image
rect_image = cv_image
detection, image_color = detector.detect_hsv(rect_image,
detector.colors[u'黄色'])
count = count + 1
if (count > 100):
end = time.time()
def __init__(self):
self.line_detector = LineDetector()
self.thresh_image = None
