Saving devel before checking upstream changes

launch/sim_three_sided_combined_marlon.launch

@@ -104,7 +104,7 @@
       <param name="num_worker_threads" value="8" />
     </node>
 
-    <node name="bluefox_emulator" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBluefoxEmulator $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 0; $0 $@'">
+    <node name="bluefox_emulator" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBluefoxEmulator $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 5; $0 $@'">
       <rosparam param="camera_output_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam>
       <rosparam param="calib_files"> ["default", "default", "default"] </rosparam>
       <remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox_left/image_raw"/>
@@ -129,7 +129,7 @@
       <param name="publish"         type="bool" value="$(arg publish)"/>
       <param name="justReport" type="bool" value="true"/>
       <param name="threshold" type="int" value="$(arg threshold)"/>
-      <param name="adaptive_threshold" type="bool" value="true"/>
+      <param name="adaptive_threshold" type="bool" value="false"/>
 
       <rosparam param="camera_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam>
       <rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam>
@@ -162,7 +162,7 @@
     </node>
 
 
-    <node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 20; $0 $@'">
+    <node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 15; $0 $@'">
     <!-- <node name="UVDARBlinkProcessor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="debug_roslaunch"> -->
 
       <param name="uav_name" type = "string" value="$(arg uav_name)"/>
@@ -236,7 +236,7 @@
 
 
       <!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" output="screen" launch-prefix="debug_roslaunch"> --> 
-    <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" output="screen" > 
+    <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" output="screen" launch-prefix="bash -c 'sleep 20; $0 $@'">> 
         <!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out -/-instr-atstart=no -/-collect-atstart=yes"> --> 
             <!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out"> --> 
       <param name="uav_name" type = "string" value="$(arg uav_name)"/>

scripts/two_drones/config/custom_config.yaml

@@ -11,10 +11,11 @@ mrs_uav_managers:
     state_estimators: [
       "gps_garmin",
       "gps_baro",
+      "rtk",
 
     ]
 
-    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    initial_state_estimator: "rtk" # will be used as the first state estimator
     agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
 
   uav_manager:

scripts/two_drones/session_marlon.yml

@@ -97,7 +97,7 @@ windows:
   - record:
       layout: even-vertical
       panes:
-        # - waitForRos; sleep 3; rosbag record -O ~/Desktop/MRS_Master_Project/rosbags/simulation/sim_otsu_topics.bag /uav1/uvdar/adaptive_logging_back /uav1/uvdar/adaptive_logging_left /uav1/uvdar/adaptive_logging_right --duration=3m  
+        - 'history -s rosbag record -O ~/Desktop/MRS_Master_Project/rosbags/simulation/standard_topics.bag /uav1/uvdar/adaptive_logging_back /uav1/uvdar/adaptive_logging_left /uav1/uvdar/adaptive_logging_right /uav1/uvdar/blinkers_seen_back /uav1/uvdar/blinkers_seen_left /uav1/uvdar/blinkers_seen_right /uav1/control_manager/control_reference' 
         #- rosbag record -O rosbags/first/omta_38.bag -e "(.*)_camp"
         # - rosbag record -O rosbags/first/omta_39.bag -e "(.*)_camp"
 

src/detector.cpp

@@ -348,10 +348,9 @@ class UVDARDetector : public nodelet::Nodelet{
   }
   //}
 
-
-
   /* publishVisualizationImage //{ */
   void publishVisualizationImage(const cv::Mat& visualization_image) {
+
     if (!visualization_image.empty()) {
         // Convert OpenCV image to ROS message
         cv_bridge::CvImage cv_image;
@@ -369,6 +368,16 @@ class UVDARDetector : public nodelet::Nodelet{
 
   /* processStandard //{ */
   void processStandard(const cv_bridge::CvImageConstPtr& image, int image_index){
+  /**
+   * @brief Extracts small bright points from input image
+   * 
+   * @param image - the input image
+   * @param image_index - index of the camera that produced this image
+   * 
+   * @return success
+   * 
+   * 
+  */
     ROS_INFO_STREAM("[UVDARDetector]: Processing image with standard thresholding.");
 
     if ( ! (uvdf_[image_index]->processImage(
@@ -397,6 +406,17 @@ class UVDARDetector : public nodelet::Nodelet{
 
   /* processAdaptive //{ */
   void processAdaptive(const cv_bridge::CvImageConstPtr& image, int image_index, const std::vector<cv::Point>& trackingPoints){
+  /**
+   * @brief Extracts adaptively small bright points from input image
+   * 
+   * @param image - the input image
+   * @param image_index - index of the camera that produced this image
+   * @param trackingPoints - the tracking points for the camera
+   * 
+   * @return success
+  */
+
+
     ROS_INFO_STREAM("[UVDARDetector]: Processing image with tracking points only.");
 
     if( ! (uvda_[image_index]->processImageAdaptive(
@@ -418,18 +438,8 @@ class UVDARDetector : public nodelet::Nodelet{
 
   }
   //}
-  /* processSingleImage //{ */
-
-  /**
-   * @brief Extracts small bright points from input image and publishes them. Optionally also publishes points corresponding to the sun.
-   *
-   * @param te - timer event - necessary for use of this method as a timer callback
-   * @param image - the input image
-   * @param image_index - index of the camera that produced this image
-   */
-
-
 
+  /* publishAdaptive //{ */
   void publishAdaptive(const cv_bridge::CvImageConstPtr& image, int image_index, const std::vector<cv::Point>& adaptive_detected_points) {
     ROS_INFO_STREAM("[UVDARDetector]: Publishing adaptive points.");
     uvdar_core::ImagePointsWithFloatStamped msg_detected;
@@ -455,8 +465,10 @@ class UVDARDetector : public nodelet::Nodelet{
 
     pub_adaptive_logging_[image_index].publish(msg_adaptive);
   }
+  //}
 
 
+  /* publishStandard //{ */
   void publishStandard(const cv_bridge::CvImageConstPtr& image, int image_index, const std::vector<cv::Point>& detected_points) {
     ROS_INFO_STREAM("[UVDARDetector]: Publishing standard points.");
     ROS_INFO_STREAM("[UVDARDetector]: This is the image index: " << image_index);
@@ -484,9 +496,18 @@ class UVDARDetector : public nodelet::Nodelet{
     }
     pub_candidate_points_[image_index].publish(msg_detected);
   }
+  //}
 
+  /* processSingleImage //{ */
 
-
+  /**
+   * @brief Extracts small bright points from input image and publishes them. Optionally also publishes points corresponding to the sun.
+   *
+   * @param te - timer event - necessary for use of this method as a timer callback
+   * @param image - the input image
+   * @param image_index - index of the camera that produced this image
+   */
+
   void processSingleImage([[maybe_unused]] const ros::TimerEvent& te, const cv_bridge::CvImageConstPtr image, int image_index) {
     if (!initialized_){
       ROS_WARN_STREAM_THROTTLE(1.0,"[UVDARDetector]: Not yet initialized, dropping message...");