BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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added service for setting ball_detector params

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This commit is contained in:
Kayman 2018-02-23 16:24:03 +09:00
parent 72afe216cc
commit 72933c92ea
2 changed files with 57 additions and 1 deletions
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10
ball_detector/include/ball_detector/ball_detector.h
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@ -37,6 +37,8 @@
#include "ball_detector/circleSetStamped.h"
#include "ball_detector/ball_detector_config.h"
#include "ball_detector/detectorParamsConfig.h"
#include "ball_detector/GetParameters.h"
#include "ball_detector/SetParameters.h"
namespace robotis_op
{
@ -72,6 +74,8 @@ class BallDetector
void enableCallback(const std_msgs::Bool::ConstPtr &msg);
void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
bool setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res);
bool getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res);
void printConfig();
void saveConfig();
@ -89,7 +93,6 @@ class BallDetector
ros::NodeHandle nh_;
ros::Subscriber enable_sub_;
ros::Subscriber param_command_sub_;
//image publisher/subscriber
image_transport::ImageTransport it_;
@ -116,6 +119,11 @@ class BallDetector
std::string param_path_;
bool has_path_;
// web setting
ros::Subscriber param_command_sub_;
ros::ServiceServer get_param_client_;
ros::ServiceServer set_param_client_;
//flag indicating a new image has been received
bool new_image_flag_;

48
ball_detector/src/ball_detector.cpp
View File

@ -88,6 +88,10 @@ BallDetector::BallDetector()
callback_fnc_ = boost::bind(&BallDetector::dynParamCallback, this, _1, _2);
param_server_.setCallback(callback_fnc_);
// web setting
set_param_client_ = nh_.advertiseService("set_param", &BallDetector::setParamCallback, this);
get_param_client_ = nh_.advertiseService("get_param", &BallDetector::getParamCallback, this);
//sets config and prints it
params_config_ = detect_config;
init_param_ = true;
@ -279,6 +283,50 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
}
}
bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res)
{
params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
params_config_.canny_edge_th = req.params.canny_edge_th;
params_config_.hough_accum_resolution = req.params.hough_accum_resolution;
params_config_.min_circle_dist = req.params.min_circle_dist;
params_config_.hough_accum_th = req.params.hough_accum_th;
params_config_.min_radius = req.params.min_radius;
params_config_.max_radius = req.params.max_radius;
params_config_.filter_threshold.h_min = req.params.filter_h_min;
params_config_.filter_threshold.h_max = req.params.filter_h_max;
params_config_.filter_threshold.s_min = req.params.filter_s_min;
params_config_.filter_threshold.s_max = req.params.filter_s_max;
params_config_.filter_threshold.v_min = req.params.filter_v_min;
params_config_.filter_threshold.v_max = req.params.filter_v_max;
saveConfig();
res.returns = req.params;
return true;
}
bool BallDetector::getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res)
{
res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
res.returns.canny_edge_th = params_config_.canny_edge_th;
res.returns.hough_accum_resolution = params_config_.hough_accum_resolution;
res.returns.min_circle_dist = params_config_.min_circle_dist;
res.returns.hough_accum_th = params_config_.hough_accum_th;
res.returns.min_radius = params_config_.min_radius;
res.returns.max_radius = params_config_.max_radius;
res.returns.filter_h_min = params_config_.filter_threshold.h_min;
res.returns.filter_h_max = params_config_.filter_threshold.h_max;
res.returns.filter_s_min = params_config_.filter_threshold.s_min;
res.returns.filter_s_max = params_config_.filter_threshold.s_max;
res.returns.filter_v_min = params_config_.filter_threshold.v_min;
res.returns.filter_v_max = params_config_.filter_threshold.v_max;
return true;
}
void BallDetector::printConfig()
{
if (init_param_ == false)