diff --git a/config/blinking_sequences/test_assignment.txt b/config/blinking_sequences/test_assignment.txt index 02a6daf..c61a59b 100644 --- a/config/blinking_sequences/test_assignment.txt +++ b/config/blinking_sequences/test_assignment.txt @@ -1,4 +1,4 @@ -1,0,0,0,1,1,0,0,0,0,0 -1,0,0,0,0,0,0,0,1,1,0 1,0,1,1,0,0,0,0,0,0,0 1,0,0,0,0,0,1,1,0,0,0 +1,0,0,0,0,0,0,0,1,1,0 +1,0,0,0,1,1,0,0,0,0,0 \ No newline at end of file diff --git a/install/install_on_real_UAV.sh b/install/install_on_real_UAV.sh index 66167c2..159b6c2 100755 --- a/install/install_on_real_UAV.sh +++ b/install/install_on_real_UAV.sh @@ -4,7 +4,7 @@ set -e ####################### USER Parameter ######################## # default workspace location -workspace=/home/$USER/workspace +workspace=/home/$USER/ws_uvdar # default git folder GIT_PATH="/home/$USER/git" # default exposure for bluefox cams @@ -122,6 +122,7 @@ build_workspace(){ ln -s $GIT_PATH/bluefox2 $workspace/src/bluefox2 fi cd $workspace + catkin init catkin clean -y catkin build else diff --git a/launch/uvdar_fpga_frontend.launch b/launch/fpga/uvdar_fpga_frontend.launch similarity index 100% rename from launch/uvdar_fpga_frontend.launch rename to launch/fpga/uvdar_fpga_frontend.launch diff --git a/launch/new_signaling.launch b/launch/new_signaling.launch deleted file mode 120000 index 9ad94ae..0000000 --- a/launch/new_signaling.launch +++ /dev/null @@ -1 +0,0 @@ -sim_two_sided.launch \ No newline at end of file diff --git a/launch/record_calibration.launch b/launch/record_calibration.launch deleted file mode 100644 index 39d11ce..0000000 --- a/launch/record_calibration.launch +++ /dev/null @@ -1,115 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/rosbag_camp.launch b/launch/rosbag_camp.launch deleted file mode 100644 index 4c8ca60..0000000 --- a/launch/rosbag_camp.launch +++ /dev/null @@ -1,225 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - ["ami_logging_left", "ami_logging_right"] - ["ami_all_seq_info_left","ami_all_seq_info_right"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/rw_left_only_basler.launch b/launch/rw_left_only_basler.launch deleted file mode 100644 index 0399016..0000000 --- a/launch/rw_left_only_basler.launch +++ /dev/null @@ -1,265 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_LEFT_ID).png"] - - - ["camera_left"] - - ["points_seen_left"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["aht_logging_left"] - ["aht_all_seq_info_left"] - - ["camera_left"] - ["points_seen_left"] - ["blinkers_seen_left"] - ["estimated_framerate_left"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - ["blinkers_seen_left"] - ["estimated_framerate_left"] - ["$(arg uav_name)/uvcam_left"] - - - - - - - - - ["$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg BASLER_LEFT_ID).txt"] - - - - - - - - - - - - - diff --git a/launch/rw_one_sided.launch b/launch/rw_one_sided.launch deleted file mode 100644 index 389c421..0000000 --- a/launch/rw_one_sided.launch +++ /dev/null @@ -1,238 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg cam).png"] - - ["camera"] - ["points_seen"] - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - ["estimated_framerate"] - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - ["blinkers_seen"] - ["estimated_framerate"] - ["$(arg uav_name)/uvcam"] - - - - - ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg cam).txt"] - - - - - - - - - diff --git a/launch/rw_three_sided.launch b/launch/rw_three_sided.launch index 3004cc7..18b757e 100644 --- a/launch/rw_three_sided.launch +++ b/launch/rw_three_sided.launch @@ -20,7 +20,7 @@ - + @@ -75,6 +75,8 @@ + + @@ -98,9 +100,12 @@ + + + ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] + ["omta_logging_left", "omta_logging_right", "omta_logging_back"] + ["omta_all_seq_info_left", "omta_all_seq_info_right", "omta_all_seq_info_back"] + @@ -286,7 +294,21 @@ + + + + + + + + + + + @@ -302,31 +324,28 @@ [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - + + + ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] - - - + + + ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg back).txt"] - - - + + - - - + - diff --git a/launch/rw_three_sided_basler.launch b/launch/rw_three_sided_basler.launch index edaedae..3b266b4 100644 --- a/launch/rw_three_sided_basler.launch +++ b/launch/rw_three_sided_basler.launch @@ -29,7 +29,7 @@ - + @@ -41,12 +41,25 @@ - + + + + + + + + + + + + + + + - @@ -97,6 +110,9 @@ + + + - @@ -195,7 +210,6 @@ - @@ -205,55 +219,8 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + @@ -263,35 +230,34 @@ - + [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - - - - - - ["aht_logging_left", "aht_logging_right", "aht_logging_back"] - ["aht_all_seq_info_left", "aht_all_seq_info_right", "aht_all_seq_info_back"] - - - - - + + + + + + + + + + + + + + + + + + + ["camera_left", "camera_right", "camera_back"] - ["points_seen_left","points_seen_right","points_seen_back"] - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back" ] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back" ] + ["points_seen_left", "points_seen_right", "points_seen_back"] + ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] + ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] + ["ami_logging_left", "ami_logging_right", "ami_logging_back"] + ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] @@ -305,53 +271,49 @@ - - - - - - - + + + + + + + + + + + + + + + + + + + [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] + + + + + + + ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] + ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] + ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] + + + + + + + + + ["$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg back).txt"] + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/rw_three_sided_combined.launch b/launch/rw_three_sided_combined.launch deleted file mode 100644 index aed0a41..0000000 --- a/launch/rw_three_sided_combined.launch +++ /dev/null @@ -1,361 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg left).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg right).png", "$(arg calibrations_folder)/masks/default_back.png"] - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["ami_logging_left", "ami_logging_right", "ami_logging_back"] - ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] - - - - - - - - - ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg back).txt"] - - - - - - - - - - - - - diff --git a/launch/rw_three_sided_combined_basler.launch b/launch/rw_three_sided_combined_basler.launch deleted file mode 100644 index c1150b2..0000000 --- a/launch/rw_three_sided_combined_basler.launch +++ /dev/null @@ -1,320 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_LEFT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_RIGHT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_BACK_ID).png"] - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["ami_logging_left", "ami_logging_right", "ami_logging_back"] - ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/rw_three_sided_throttled.launch b/launch/rw_three_sided_throttled.launch deleted file mode 100644 index d802d83..0000000 --- a/launch/rw_three_sided_throttled.launch +++ /dev/null @@ -1,353 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg left).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg right).png", "$(arg calibrations_folder)/masks/default_back.png"] - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - - ["omta_logging_left", "omta_logging_right", "omta_logging_back"] - ["omta_all_seq_info_left", "omta_all_seq_info_right", "omta_all_seq_info_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] - - - - - - - - - ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg back).txt"] - - - - - - - - - - - - - diff --git a/launch/rw_two_sided.launch b/launch/rw_two_sided.launch deleted file mode 100644 index b5c87cb..0000000 --- a/launch/rw_two_sided.launch +++ /dev/null @@ -1,298 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg left).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg right).png"] - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - - - - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - - ["omta_logging_left", "omta_logging_right", "omta_logging_back"] - ["omta_all_seq_info_left", "omta_all_seq_info_right", "omta_all_seq_info_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] - - - - - - - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right"] - - - - - - - ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg right).txt"] - - - - - - - - - - - diff --git a/launch/sim_three_sided.launch b/launch/sim_three_sided.launch index dece30a..aed367d 100644 --- a/launch/sim_three_sided.launch +++ b/launch/sim_three_sided.launch @@ -8,7 +8,7 @@ - + @@ -17,17 +17,8 @@ - + - - - - - - - - - @@ -35,24 +26,13 @@ - + + - - - - - - - - - - - - - + @@ -66,7 +46,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -93,12 +99,12 @@ type="static_transform_publisher" args="-0.10 0.0 -0.02 0.0 1.57079632679 3.14159265 $(arg uav_name)/fcu $(arg uav_name)/uvcam_back"/> - - + + - + ["camera_left", "camera_right", "camera_back"] ["default", "default", "default"] @@ -109,9 +115,7 @@ - - - + @@ -129,11 +133,7 @@ ["camera_left", "camera_right", "camera_back"] ["points_seen_left", "points_seen_right", "points_seen_back"] - - - ["$(arg calibrations_folder)/masks/blank_bluefox.png", "$(arg calibrations_folder)/masks/blank_bluefox.png", "$(arg calibrations_folder)/masks/blank_bluefox.png"] - - + @@ -149,40 +149,51 @@ - - + + + + - - - - - - + + + + + + - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12)] + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - ["camera_left", "camera_right", "camera_back"] ["points_seen_left", "points_seen_right", "points_seen_back"] ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["ami_logging_left", "ami_logging_right", "ami_logging_back"] ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] - - + - @@ -194,19 +205,25 @@ - - - + - + + + + + + @@ -234,22 +251,17 @@ ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] - - - + + + ["default", "default", "default"] - - - - - - - + + diff --git a/launch/sim_three_sided_combined.launch b/launch/sim_three_sided_combined.launch deleted file mode 100644 index 366b389..0000000 --- a/launch/sim_three_sided_combined.launch +++ /dev/null @@ -1,277 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["default", "default", "default"] - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right", "camera_back"] - ["points_seen_left", "points_seen_right", "points_seen_back"] - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["ami_logging_left", "ami_logging_right", "ami_logging_back"] - ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12)] - - - - - - - - - - ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] - ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] - - - - - - - - - ["default", "default", "default"] - - - - - - - - - - - - - - - - diff --git a/launch/sim_two_sided.launch b/launch/sim_two_sided.launch deleted file mode 100644 index fd4a0fa..0000000 --- a/launch/sim_two_sided.launch +++ /dev/null @@ -1,219 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right"] - ["default", "default"] - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12)] - - - - - - - - - - - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12)] - - - - - - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right"] - - - - - - - ["default", "default"] - - - - - - - - - - - diff --git a/launch/sim_two_sided_com.launch b/launch/sim_two_sided_com.launch deleted file mode 100644 index 59cc3b7..0000000 --- a/launch/sim_two_sided_com.launch +++ /dev/null @@ -1,215 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right"] - ["default", "default"] - - - - - - - - - - - - - - - - - - - - - - - - ["camera_left", "camera_right"] - ["points_seen_left", "points_seen_right"] - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12)] - - - - - - ["blinkers_seen_left", "blinkers_seen_right"] - ["estimated_framerate_left", "estimated_framerate_right"] - ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right"] - - - - - - - ["default", "default"] - - - - - - - - - - - diff --git a/launch/swarm_tf_connector.launch b/launch/swarm_tf_connector.launch deleted file mode 100644 index 4267a2c..0000000 --- a/launch/swarm_tf_connector.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/swarm_visualizer_rviz.launch b/launch/swarm_visualizer_rviz.launch deleted file mode 100644 index 069cf53..0000000 --- a/launch/swarm_visualizer_rviz.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/launch/back_camera.launch b/launch/testing/back_camera.launch similarity index 100% rename from launch/back_camera.launch rename to launch/testing/back_camera.launch diff --git a/launch/basler_test.launch b/launch/testing/basler_test.launch similarity index 100% rename from launch/basler_test.launch rename to launch/testing/basler_test.launch diff --git a/launch/cam_only_basler.launch b/launch/testing/cam_only_basler.launch similarity index 100% rename from launch/cam_only_basler.launch rename to launch/testing/cam_only_basler.launch diff --git a/launch/camera_only.launch b/launch/testing/camera_only.launch similarity index 100% rename from launch/camera_only.launch rename to launch/testing/camera_only.launch diff --git a/launch/camera_only_three_sided.launch b/launch/testing/camera_only_three_sided.launch similarity index 100% rename from launch/camera_only_three_sided.launch rename to launch/testing/camera_only_three_sided.launch diff --git a/launch/camera_only_three_sided_basler.launch b/launch/testing/camera_only_three_sided_basler.launch similarity index 100% rename from launch/camera_only_three_sided_basler.launch rename to launch/testing/camera_only_three_sided_basler.launch diff --git a/launch/camera_only_two_sided.launch b/launch/testing/camera_only_two_sided.launch similarity index 100% rename from launch/camera_only_two_sided.launch rename to launch/testing/camera_only_two_sided.launch diff --git a/launch/double_bluefox.launch b/launch/testing/double_bluefox.launch similarity index 100% rename from launch/double_bluefox.launch rename to launch/testing/double_bluefox.launch diff --git a/launch/just_blink.launch b/launch/testing/just_blink.launch similarity index 100% rename from launch/just_blink.launch rename to launch/testing/just_blink.launch diff --git a/launch/just_blink_2.launch b/launch/testing/just_blink_2.launch similarity index 100% rename from launch/just_blink_2.launch rename to launch/testing/just_blink_2.launch diff --git a/launch/right_camera_view.launch b/launch/testing/right_camera_view.launch similarity index 100% rename from launch/right_camera_view.launch rename to launch/testing/right_camera_view.launch diff --git a/launch/uvdar_kf.launch b/launch/uvdar_kf.launch deleted file mode 100644 index 402bb50..0000000 --- a/launch/uvdar_kf.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - ["measured_poses_camp"] - - - ["measured_poses_L_camp", "measured_poses_R_camp"] - - - - ["measured_poses_L", "measured_poses_R", "measured_poses_B"] - - - - - - - - - - - - \ No newline at end of file diff --git a/msg/AMIDataForLogging.msg b/msg/AMIDataForLogging.msg index fc7b6f1..ed7ad6e 100644 --- a/msg/AMIDataForLogging.msg +++ b/msg/AMIDataForLogging.msg @@ -4,7 +4,6 @@ int8 stored_seq_len_factor int16 max_buffer_length int8 default_poly_order int8 max_zeros_consecutive -int8 max_ones_consecutive float32 confidence_probab_t_dist float32 decay_factor_weight_func uvdar_core/Point2DWithFloat max_px_shift \ No newline at end of file diff --git a/scripts/two_drones/session.yml b/scripts/two_drones/session.yml index 55e0506..c0cb664 100644 --- a/scripts/two_drones/session.yml +++ b/scripts/two_drones/session.yml @@ -21,7 +21,6 @@ windows: panes: - export UAV_NAME=uav1; waitForHw; roslaunch mrs_uav_status status.launch - export UAV_NAME=uav2; waitForHw; roslaunch mrs_uav_status status.launch - - export UAV_NAME=uav3; waitForHw; roslaunch mrs_uav_status status.launch - spawn: layout: tiled panes: @@ -32,7 +31,6 @@ windows: panes: - export UAV_NAME=uav1; waitForTime; roslaunch mrs_uav_px4_api api.launch - export UAV_NAME=uav2; waitForTime; roslaunch mrs_uav_px4_api api.launch - - export UAV_NAME=uav3; waitForTime; roslaunch mrs_uav_px4_api api.launch - core: layout: tiled panes: @@ -56,17 +54,11 @@ windows: - uv_observer: layout: even-vertical panes: - - waitForCompile; gz world --pause=0; sleep 6; export UAV_NAME=uav1; waitForControl; roslaunch uvdar_core sim_three_sided_combined.launch use_4DHT:=false + - waitForCompile; gz world --pause=0; sleep 6; export UAV_NAME=uav1; waitForControl; roslaunch uvdar_core sim_three_sided.launch use_4DHT:=false - slow_down: layout: even-vertical panes: - waitForGazebo; waitForRos; sleep 20; gz physics -u 80 - # - trajectories: - # layout: tiled - # panes: - # - export UAV_NAME=uav1; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="tx1/line.txt" loop:=true - # - export UAV_NAME=uav2; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="tx2/line.txt" loop:=true - # - export UAV_NAME=uav3; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="two_tx/tx2_fly_by.txt" loop:=true - rviz: layout: even-vertical panes: diff --git a/src/blink_processor.cpp b/src/blink_processor.cpp index 85fb463..0362b60 100755 --- a/src/blink_processor.cpp +++ b/src/blink_processor.cpp @@ -195,7 +195,6 @@ namespace uvdar{ // params for AMI cv::Point _max_px_shift_; int _max_zeros_consecutive_; - int _max_ones_consecutive_; int _stored_seq_len_factor_; int _max_buffer_length_; int _poly_order_; @@ -312,7 +311,6 @@ namespace uvdar{ param_loader.loadParam("max_px_shift_x", _max_px_shift_.x, int(2)); param_loader.loadParam("max_px_shift_y", _max_px_shift_.y, int(2)); param_loader.loadParam("max_zeros_consecutive", _max_zeros_consecutive_, int(2)); - param_loader.loadParam("max_ones_consecutive", _max_ones_consecutive_, int(2)); param_loader.loadParam("stored_seq_len_factor", _stored_seq_len_factor_, int(15)); param_loader.loadParam("max_buffer_length", _max_buffer_length_, int(1000)); param_loader.loadParam("poly_order", _poly_order_, int(2)); @@ -435,7 +433,6 @@ namespace uvdar{ loadedParamsForAMI params_AMI; params_AMI.max_px_shift = _max_px_shift_; params_AMI.max_zeros_consecutive = _max_zeros_consecutive_; - params_AMI.max_ones_consecutive = _max_ones_consecutive_; params_AMI.stored_seq_len_factor = _stored_seq_len_factor_; params_AMI.max_buffer_length = _max_buffer_length_; params_AMI.poly_order = _poly_order_; @@ -705,7 +702,6 @@ namespace uvdar{ ami_logging_msg.max_buffer_length = _max_buffer_length_; ami_logging_msg.default_poly_order = _poly_order_; ami_logging_msg.max_zeros_consecutive = _max_zeros_consecutive_; - ami_logging_msg.max_ones_consecutive = _max_ones_consecutive_; max_px_shift.x = _max_px_shift_.x; max_px_shift.y = _max_px_shift_.y; ami_logging_msg.confidence_probab_t_dist = _conf_probab_percent_;