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MarlonRivMarlonRiv
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Merge branch 'master' of https://github.com/ctu-mrs/uvdar_core 
2 parents d8a66c4 + df5a7a4 commit deffbeb

16 files changed

+591
-23
lines changed

‎.gitignore

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*.swp
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*.swo
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.gitman
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.tmuxinator.yml

‎CMakeLists.txt

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@@ -6,6 +6,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
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add_definitions(-Wall)
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add_definitions(-Wextra)
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add_definitions(-fno-omit-frame-pointer)
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# add_definitions(-O0)
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if(NOT MRS_ENABLE_TESTING)
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message(WARNING "relwithdebinfo profile detected, building with -O3")

‎config/blinking_sequences/mixed_L18_p0.444_HD2_NO5_NZ2_Na6.txt

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0,0,1,0,0,1,0,0,1,0,1,1,0,1,1,0,1,0
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0,0,1,0,0,1,0,0,1,0,0,1,1,0,1,0,1,1
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0,0,1,0,0,1,0,1,0,1,0,1,0,1,1,0,0,1
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0,0,1,0,0,1,0,0,1,0,1,1,1,1,1,0,1,1
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0,0,1,0,0,1,0,1,1,1,1,1,0,1,1,0,1,1
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0,0,1,0,0,1,0,1,1,1,0,1,1,1,1,0,1,1

‎config/camera_config/basler_grayscale.yaml

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# (width / binning_x) x (height / binning_y).
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# The default values binning_x = binning_y = 0 are considered the same
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# as binning_x = binning_y = 1 (no subsampling).
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binning_x: 1
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binning_y: 1
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binning_x: 2
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binning_y: 2
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# The desired publisher frame rate if listening to the topics.
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# This parameter can only be set once at startup

‎config/models/quadrotor_foursided_px4_motor_aligned_charlotte.txt

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# X Y Z Type Pitch Yaw signal_id
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0.212132 0.212132 0 0 0.0 0 2
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0.212132 0.212132 0 0 0.0 1.57079632679 2
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0.212132 -0.212132 0 0 0.0 0 0
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0.212132 -0.212132 0 0 0.0 -1.57079632679 0
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-0.212132 -0.212132 0 0 0.0 -1.57079632679 3
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-0.212132 -0.212132 0 0 0.0 -3.14159265359 3
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-0.212132 0.212132 0 0 0.0 1.57079632679 1
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-0.212132 0.212132 0 0 0.0 3.14159265359 1

‎launch/baslertest.launch

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<launch>
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<arg name="uav_name" default="$(env UAV_NAME)"/>
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<arg name="mrs_id" default="$(env MRS_ID)"/>
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<arg name="standalone" default="false"/>
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<arg unless="$(arg standalone)" name="nodelet" value="load"/>
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<arg if="$(arg standalone)" name="nodelet" value="standalone"/>
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<arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg uav_name)_uvdar_nodelet_manager"/>
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<arg if="$(arg standalone)" name="nodelet_manager" value=""/>
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<arg name="debug" default="false"/>
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<!-- Basler camera settings: -->
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<arg name="BASLER_LEFT_ID" default="$(env BASLER_UV_LEFT)" />
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<arg name="BASLER_RIGHT_ID" default="$(env BASLER_UV_RIGHT)" />
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<arg name="BASLER_BACK_ID" default="$(env BASLER_UV_BACK)" />
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<arg name="camera_name_left" default="basler_left" />
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<arg name="camera_name_right" default="basler_right" />
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<arg name="camera_name_back" default="basler_back" />
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<arg name="expose_us_left" default="$(env BASLER_UV_LEFT_EXPOSE_US)"/>
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<arg name="expose_us_right" default="$(env BASLER_UV_RIGHT_EXPOSE_US)"/>
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<arg name="expose_us_back" default="$(env BASLER_UV_BACK_EXPOSE_US)"/>
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<arg name="camera_config_file" default="$(find uvdar_core)/config/camera_config/basler_grayscale.yaml" />
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<arg name="calibrations_folder" default="$(find mrs_uav_deployment)/config/uvdar_calibrations"/>
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<arg name="FRAME_RATE" default="59.9" />
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<!-- Point detector settings: -->
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<arg name="threshold" default="50"/>
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<!-- Blink processor settings: -->
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<arg name="blink_process_rate" default="10"/>
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<!--AMI values-->
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<arg name="pub_tracking_stats" default="false"/>
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<arg name="draw_predict_window_sec" default="0.0"/>
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<arg name="max_px_shift_y" default="3"/>
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<arg name="max_px_shift_x" default="3"/>
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<arg name="max_zeros_consecutive" default="10"/>
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<arg name="stored_seq_len_factor" default="20"/>
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<arg name="max_buffer_length" default="5000"/>
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<arg name="poly_order" default="4"/>
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<arg name="decay_factor" default="0.1"/>
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<arg name="confidence_probability" default="95.0"/>
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<arg name="allowed_BER_per_seq" default="0"/>
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<!--4DHT values-->
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<arg name="use_4DHT" default="false"/>
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<arg name="accumulator_length" default="18"/>
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<arg name="pitch_steps" default="16"/>
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<arg name="yaw_steps" default="16"/>
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<arg name="max_pixel_shift" default="4"/>
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<arg name="visual_debug" default="false"/>
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<!-- <arg name="gui" default="true"/> -->
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<arg name="gui" default="false"/>
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<arg name="publish_visualization" default="true"/>
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<arg name="visualization_rate" default="2"/>
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<arg name="id1" value="0"/>
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<arg name="id2" value="1"/>
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<arg name="id3" value="2"/>
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<arg name="id4" value="3"/>
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<arg name="id5" value="4"/>
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<arg name="id6" value="5"/>
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<arg name="id7" value="6"/>
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<arg name="id8" value="7"/>
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<arg name="id9" value="8"/>
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<arg name="id10" value="9"/>
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<arg name="id11" value="10"/>
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<arg name="id12" value="11"/>
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<arg name="id13" value="12"/>
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<arg name="id14" value="13"/>
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<arg name="id15" value="14"/>
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<arg name="id16" value="15"/>
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<arg name="id17" value="16"/>
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<arg name="id18" value="17"/>
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<arg name="id19" value="18"/>
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<arg name="id20" value="19"/>
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<arg name="id21" value="20"/>
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<arg name="sequence_file" default="$(find uvdar_core)/config/selected.txt"/>
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<!-- Model settings: -->
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<arg name="use_masks" default="false"/>
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<arg name="model_file" default="$(find uvdar_core)/config/models/quadrotor_foursided_px4_motor_aligned.txt"/>
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<arg name="beacon" default="false"/>
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<arg name="blink_throttle_rate" default="10"/>
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<arg name="output_frame" default="local_origin"/>
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<node
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name="uvcam_left_tf_$(arg uav_name)"
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pkg="tf2_ros"
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type="static_transform_publisher"
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args="0.03 0.10 0.06 -0.3490658504 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_left"/>
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<node
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name="uvcam_right_tf_$(arg uav_name)"
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pkg="tf2_ros"
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type="static_transform_publisher"
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args="0.03 -0.10 0.06 -2.792526803 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_right"/>
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<node
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name="uvcam_back_tf_$(arg uav_name)"
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pkg="tf2_ros"
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type="static_transform_publisher"
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args="-0.10 0.0 -0.02 0.0 1.57079632679 3.14159265 $(arg uav_name)/fcu $(arg uav_name)/uvcam_back"/>
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<!-- ideal angle: 1.221730476 - pi/2 -->
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<!-- OR -->
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<group ns="$(arg uav_name)">
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<arg name="respawn" default="false" />
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<arg name="startup_user_set" default="CurrentSetting" />
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<arg name="enable_status_publisher" default="true" />
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<arg name="nodelet_left" value="pylon_camera/PylonCameraNodelet" />
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<arg name="nodelet_load_left" value="load $(arg nodelet_left) $(arg nodelet_manager)"/>
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<arg name="nodelet_right" value="pylon_camera/PylonCameraNodelet" />
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<arg name="nodelet_load_right" value="load $(arg nodelet_right) $(arg nodelet_manager)"/>
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<arg name="nodelet_back" value="pylon_camera/PylonCameraNodelet" />
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<arg name="nodelet_load_back" value="load $(arg nodelet_back) $(arg nodelet_manager)"/>
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<!-- <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen" launch-prefix="debug_roslaunch"> -->
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen">
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<param name="num_worker_threads" value="10" />
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</node>
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<node pkg="nodelet" type="nodelet" name="$(arg camera_name_right)" args="$(arg nodelet_load_right)" output="screen" launch-prefix="bash -c 'sleep 6; $0 $@'; " respawn="$(arg respawn)" >
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<rosparam command="load" file="$(arg camera_config_file)" />
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<param name="camera_frame" value="$(arg uav_name)/$(arg camera_name_right)_optical"/>
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<param name="frame_rate" type="double" value="$(arg FRAME_RATE)"/>
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<param name="device_user_id" type="string" value="$(arg BASLER_RIGHT_ID)"/>
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<param name="startup_user_set" value="$(arg startup_user_set)"/>
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<param name="enable_status_publisher" value="$(arg enable_status_publisher)"/>
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<param name="enable_current_params_publisher" value="false"/>
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<param name="exposure" type="double" value="$(arg expose_us_right)"/>
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</node>
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<node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" launch-prefix="bash -c 'sleep 8; $0 $@'; " respawn="false">
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<!-- <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="debug_roslaunch"> -->
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<!-- <node name="uv_detect" pkg="uvdar" type="uv_detector_node" output="screen" launch-prefix="urxvt -e gdb -q -x /home/viktor/gdb.cmds -/-args"> -->
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<param name="uav_name" type = "string" value="$(arg uav_name)"/>
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<param name="debug" type="bool" value="$(arg debug)"/>
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<!-- <param name="debug" type="bool" value="true"/> -->
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<param name="gui" type="bool" value="false"/>
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<param name="publish_visualization" type="bool" value="false"/>
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<param name="justReport" type="bool" value="true"/>
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<param name="threshold" type="int" value="$(arg threshold)"/>
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<param name="use_masks" type="bool" value="$(arg use_masks)"/>
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<param name="body_name" type = "string" value="$(arg mrs_id)"/>
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<rosparam param="mask_file_names" subst_value="True"> ["$(arg calibrations_folder)/masks/$(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)_$(arg BASLER_BACK_ID).png"] </rosparam>
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<rosparam param="camera_topics"> [ "camera_right"] </rosparam>
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<rosparam param="points_seen_topics"> [ "points_seen_right"] </rosparam>
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<remap from="~camera_left" to="/$(arg uav_name)/basler_left/image_raw"/>
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<remap from="~camera_right" to="/$(arg uav_name)/basler_right/image_raw"/>
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<remap from="~camera_back" to="/$(arg uav_name)/basler_back/image_raw"/>
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<remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/>
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<remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/>
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<remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/>
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<remap from="~odometry" to="/$(arg uav_name)/mrs_odometry/new_odom"/>
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<remap from="~imu" to="mavros/imu/data"/>
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</node>
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<node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false">
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<param name="uav_name" type = "string" value="$(arg uav_name)"/>
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<!-- <param name="debug" type="bool" value="$(arg debug)"/> -->
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<param name="debug" type="bool" value="false"/>
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<param name="visual_debug" type="bool" value="$(arg visual_debug)"/>
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<param name="gui" type="bool" value="$(arg gui)"/>
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<param name="publish_visualization" type="bool" value="$(arg publish_visualization)"/>
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<param name="use_camera_for_visualization" type="bool" value="true"/>
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<param name="visualization_rate" type="int" value="$(arg visualization_rate)"/>
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<!-- <rosparam param="frequencies" subst_value="true"> [$(arg frequency1), $(arg frequency2), $(arg frequency3), $(arg frequency4)] </rosparam> -->
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<rosparam param="signal_ids" subst_value="true"> [$(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), $(arg id21)] </rosparam>
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<param name="sequence_file" type="string" value="$(arg sequence_file)"/>
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<param name="blink_process_rate" type="int" value="$(arg blink_process_rate)"/>
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<param name="pub_tracking_stats" type="bool" value="$(arg pub_tracking_stats)"/>
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<param name="draw_predict_window_sec" type="double" value="$(arg draw_predict_window_sec)"/>
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<param name="use_4DHT" type="bool" value="$(arg use_4DHT)"/>
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<param name="max_px_shift_x" type="int" value="$(arg max_px_shift_x)"/>
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<param name="max_px_shift_y" type="int" value="$(arg max_px_shift_y)"/>
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<param name="max_zeros_consecutive" type="int" value="$(arg max_zeros_consecutive)"/>
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<param name="stored_seq_len_factor" type="int" value="$(arg stored_seq_len_factor)"/>
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<param name="max_buffer_length" type="int" value="$(arg max_buffer_length)"/>
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<param name="poly_order" type="int" value="$(arg poly_order)"/>
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<param name="decay_factor" type="double" value="$(arg decay_factor)"/>
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<param name="confidence_probability" type="double" value="$(arg confidence_probability)"/>
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<param name="allowed_BER_per_seq" type="int" value="$(arg allowed_BER_per_seq)"/>
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<param name="accumulator_length" type="int" value="$(arg accumulator_length)"/>
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<param name="pitch_steps" type="int" value="$(arg pitch_steps)"/>
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<param name="yaw_steps" type="int" value="$(arg yaw_steps)"/>
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<param name="max_pixel_shift" type="int" value="$(arg max_pixel_shift)"/>
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<param name="nullify_radius" type="int" value="5"/>
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<rosparam param="camera_topics"> [ "camera_right"] </rosparam>
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<rosparam param="points_seen_topics"> [ "points_seen_right"] </rosparam>
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<rosparam param="blinkers_seen_topics"> [ "blinkers_seen_right"] </rosparam>
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<rosparam param="estimated_framerate_topics"> [ "estimated_framerate_right"] </rosparam>
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<rosparam param="ami_logging_topics"> [ "ami_logging_right"] </rosparam>
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<rosparam param="ami_all_seq_info_topics"> [ "ami_all_seq_info_right"] </rosparam>
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<remap from="~camera_left" to="/$(arg uav_name)/basler_left/image_raw"/>
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<remap from="~camera_right" to="/$(arg uav_name)/basler_right/image_raw"/>
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<remap from="~camera_back" to="/$(arg uav_name)/basler_back/image_raw"/>
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<remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/>
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<remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/>
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<remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/>
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<remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left"/>
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<remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right"/>
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<remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back"/>
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<remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/>
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<remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/>
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<remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/>
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<remap from="~ami_logging_left" to="/$(arg uav_name)/uvdar/ami_logging_left"/>
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<remap from="~ami_logging_right" to="/$(arg uav_name)/uvdar/ami_logging_right"/>
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<remap from="~ami_logging_back" to="/$(arg uav_name)/uvdar/ami_logging_back"/>
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<remap from="~ami_all_seq_info_left" to="/$(arg uav_name)/uvdar/ami_all_seq_info_left"/>
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<remap from="~ami_all_seq_info_right" to="/$(arg uav_name)/uvdar/ami_all_seq_info_right"/>
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<remap from="~ami_all_seq_info_back" to="/$(arg uav_name)/uvdar/ami_all_seq_info_back"/>
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</node>
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</group>
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</launch>

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