def updateParams(self, _event):
old_verbose = self.verbose
self.verbose = rospy.get_param('~verbose', True)
#self.loginfo('verbose = %r' % self.verbose)
#if self.verbose != old_verbose:
#self.loginfo('Verbose is now %r' % self.verbose)
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
#self.loginfo('verbose = %d' % self.top_cutoff)
if self.detector is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new detector config: %s' % str(c))
self.detector = instantiate(c[0], c[1])
if self.detector3 is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new detector3 config: %s' % str(c))
self.detector3 = instantiate(c[0], c[1])
if self.verbose and self.pub_edge is None:
self.pub_edge = rospy.Publisher("~parkingedge",
Image,
queue_size=1)
self.pub_colorSegment = rospy.Publisher("~parkingcolorSegment",
Image,
queue_size=1)
def updateParams(self, event):
if self.filter is None:
c = rospy.get_param('~filter')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new filter config: %s' % str(c))
self.filter = instantiate(c[0], c[1])
def updateParams(self, _event):
old_verbose = self.verbose
self.verbose = rospy.get_param('~verbose', True)
# self.loginfo('verbose = %r' % self.verbose)
if self.verbose != old_verbose:
self.loginfo('Verbose is now %r' % self.verbose)
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
if self.detector is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
# if str(self.detector_config) != str(c):
self.loginfo('new detector config: %s' % str(c))
self.detector = LineDetectorHSV(c[1]['configuration'])#instantiate(c[0], c[1])
# self.detector_config = c
self.detector_used = self.detector
if self.detector_intersection is None:
c = rospy.get_param('~detector_intersection')
assert isinstance(c, list) and len(c) == 2, c
# if str(self.detector_config) != str(c):
self.loginfo('new detector_intersection config: %s' % str(c))
self.detector_intersection = instantiate(c[0], c[1])
# self.detector_config = c
if self.verbose and self.pub_edge is None:
self.pub_edge = rospy.Publisher("~edge", Image, queue_size=1)
self.pub_colorSegment = rospy.Publisher("~colorSegment", Image, queue_size=1)
def parse_reg_test():
x = yaml_load(s)
if isinstance(x['description'], unicode):
msg = 'I do not expect Unicode'
msg += '\n' + x.__repr__()
raise ValueError(msg)
_ = instantiate(x['constructor'], x['parameters'])
def updateParams(self, event):
if self.filter is None:
c = rospy.get_param('~filter')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new filter config: %s' % str(c))
self.filter = instantiate(c[0], c[1])
# old_matrix_delta_d = self.matrix_delta_d
# old_matrix_delta_phi = self.matrix_delta_phi
old_matrix_mesh_size = self.matrix_mesh_size
#updating lane_offset
self.lane_offset = rospy.get_param('~lane_offset', True)
#updating matrix parameter delta_d and delta_phi
self.matrix_mesh_size = rospy.get_param('~matrix_mesh_size', True)
# self.matrix_delta_d = rospy.get_param('~matrix_delta_d', True)
# self.matrix_delta_phi = rospy.get_param('~matrix_delta_phi', True)
# self.loginfo('verbose = %r' % self.verbose)
#changing the size of belief and masurement likelihood matrix
# if self.matrix_delta_d != old_matrix_delta_d or self.matrix_delta_phi != old_matrix_delta_phi:
# self.filter.update_matrix(self.matrix_delta_d, self.matrix_delta_phi)
# self.loginfo('matrix_delta_d %r' % self.matrix_delta_d)
#changing the size of belief and masurement likelihood matrix
if self.matrix_mesh_size != old_matrix_mesh_size:
self.filter.update_matrix(self.matrix_mesh_size)
self.loginfo('matrix_mesh_size %r' % self.matrix_mesh_size)
def parse_reg_fail():
x = yaml_load(s_fail)
print x.__repr__()
try:
_ = instantiate(x['constructor'], x['parameters'])
except RTParseError:
pass
else:
raise Exception('Expected failure')
def updateParams(self,s):
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
print("img_size", self.image_size[0], self.image_size[1],"cut_off",self.top_cutoff )
#self.loginfo('top_cutoff = %d' % self.top_cutoff)
if self.detector is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new detector config: %s' % str(c))
self.detector = instantiate(c[0], c[1])
if self.detector2 is None:
c2 = rospy.get_param('~detector2')
assert isinstance(c2, list) and len(c2) == 2, c2
self.loginfo('new detector2 config: %s' % str(c2))
self.detector2 = instantiate(c2[0], c2[1])
def updateParams(self, _event):
old_verbose = self.verbose
self.verbose = rospy.get_param('~verbose', True)
# self.loginfo('verbose = %r' % self.verbose)
if self.verbose != old_verbose:
self.loginfo('Verbose is now %r' % self.verbose)
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
if self.detector is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
# if str(self.detector_config) != str(c):
self.loginfo('new detector config: %s' % str(c))
self.detector = instantiate(c[0], c[1])
def LineDetectorClass():
return instantiate(detector[0], detector[1])
def LineDetectorClass():
return instantiate(detector[0], detector[1])
