BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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added missing parameter

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This commit is contained in:
Kayman 2018-02-23 21:03:49 +09:00
parent e1f3607568
commit c064c779e1
3 changed files with 6 additions and 2 deletions
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4
ball_detector/launch/ball_detector_params_default.yaml
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@ -12,7 +12,7 @@ filter_s_min: 220
filter_s_max: 255
filter_v_min: 30
filter_v_max: 255
use_second_filter: true
use_second_filter: false
filter2_h_min: 30
filter2_h_max: 355
filter2_s_min: 0
@ -20,4 +20,4 @@ filter2_s_max: 40
filter2_v_min: 200
filter2_v_max: 255
ellipse_size: 1
filter_debug: false
filter_debug: false

1
ball_detector/msg/BallDetectorParams.msg
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@ -14,3 +14,4 @@ uint32 filter_s_min # 0 - 255
uint32 filter_s_max
uint32 filter_v_min # 0 - 255
uint32 filter_v_max
uint32 ellipse_size # 1 - 9

3
ball_detector/src/ball_detector.cpp
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@ -302,6 +302,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
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;
params_config_.ellipse_size = req.params.ellipse_size;
saveConfig();
@ -326,6 +327,7 @@ bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req,
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;
res.returns.ellipse_size = params_config_.ellipse_size;
return true;
}
@ -400,6 +402,7 @@ void BallDetector::publishParam()
params.filter_s_max = params_config_.filter_threshold.s_max;
params.filter_v_min = params_config_.filter_threshold.v_min;
params.filter_v_max = params_config_.filter_threshold.v_max;
params.filter_v_max = params_config_.ellipse_size;
param_pub_.publish(params);
}