void LocalizationPlugin::configure(tue::Configuration config) { std::string laser_topic; config.value("laser_topic", laser_topic); if (config.hasError()) return; ros::NodeHandle nh; // Subscribe to laser topic ros::SubscribeOptions sub_options = ros::SubscribeOptions::create<sensor_msgs::LaserScan>( laser_topic, 1, boost::bind(&LocalizationPlugin::laserCallback, this, _1), ros::VoidPtr(), &cb_queue_); sub_laser_ = nh.subscribe(sub_options); a_current_ = 0; laser_pose_ = geo::Pose3D::identity(); laser_pose_.t.z = 0.3; }
void FaceDetector::configureClassification(tue::Configuration config) { // default values in case configure(...) is not called! debug_mode_ = false; classifier_front_scale_factor_ = 1.2; classifier_front_min_neighbours_ = 3; classif_front_min_size_ = cv::Size(20,20); classifier_profile_scale_factor_= 1.2; classifier_profile_min_neighbours_ = 3; classif_profile_min_size_ = cv::Size(20,20); debug_folder_ = "/tmp/face_detector/"; // load training files for frontal classifier std::string cascade_front_files_path_; if (config.value("cascade_front_files_path", cascade_front_files_path_)) { if (!classifier_front_.load(cascade_front_files_path_)) config.addError("Unable to load front haar cascade files (" + cascade_front_files_path_ + ")"); } // load training files for profile classifier std::string cascade_profile_files_path_; if (config.value("cascade_profile_front_path", cascade_profile_files_path_)) { if (!classifier_profile_.load(cascade_profile_files_path_)) config.addError("Unable to load profile haar cascade files (" + cascade_profile_files_path_ + ")"); } if (config.hasError()) return; if (!config.value("debug_mode", debug_mode_, tue::OPTIONAL)) ed::log::info() << "Parameter 'debug_mode' not found. Using default: " << debug_mode_ << std::endl; if (!config.value("debug_folder", debug_folder_, tue::OPTIONAL)) ed::log::info() << "Parameter 'debug_folder' not found. Using default: " << debug_folder_ << std::endl; if (!config.value("classifier_front_scale_factor", classifier_front_scale_factor_, tue::OPTIONAL)) ed::log::info() << "Parameter 'classifier_front_scale_factor' not found. Using default: " << classifier_front_scale_factor_ << std::endl; if (!config.value("classifier_front_min_neighbours", classifier_front_min_neighbours_, tue::OPTIONAL)) ed::log::info() << "Parameter 'classifier_front_min_neighbours' not found. Using default: " << classifier_front_min_neighbours_ << std::endl; if (!config.value("classifier_profile_scale_factor", classifier_profile_scale_factor_, tue::OPTIONAL)) ed::log::info() << "Parameter 'classifier_profile_scale_factor' not found. Using default: " << classifier_profile_scale_factor_ << std::endl; if (!config.value("classifier_profile_min_neighbours", classifier_profile_min_neighbours_, tue::OPTIONAL)) ed::log::info() << "Parameter 'classifier_profile_min_neighbours' not found. Using default: " << classifier_profile_min_neighbours_ << std::endl; if (debug_mode_) { // clean the debug folder if debugging is active try { boost::filesystem::path dir(debug_folder_); boost::filesystem::remove_all(dir); boost::filesystem::create_directories(dir); } catch(const boost::filesystem::filesystem_error& e) { if(e.code() == boost::system::errc::permission_denied) ed::log::error() << "boost::filesystem permission denied" << std::endl; else ed::log::error() << "boost::filesystem failed with error: " << e.code().message() << std::endl; } // create debug window cv::namedWindow("Face Detector Output", CV_WINDOW_AUTOSIZE); } }
void GUIPlugin::configure(tue::Configuration config) { std::string srv_get_measurements, srv_set_label, srv_raise_event, srv_get_command, map_image_topic; config.value("srv_get_measurements", srv_get_measurements); config.value("srv_set_label", srv_set_label); config.value("srv_raise_event", srv_raise_event); config.value("srv_get_command", srv_get_command); config.value("map_image_topic", map_image_topic); // TODO: make configurable trigger_map_publish_ = ed::EventClock(10); int image_width, image_height; config.value("map_image_width", image_width); config.value("map_image_height", image_height); double world_width, world_height; config.value("world_width", world_width); config.value("world_height", world_height); double cam_x, cam_y, cam_z; config.value("cam_x", cam_x); config.value("cam_y", cam_y); config.value("cam_z", cam_z); if (config.hasError()) return; ros::NodeHandle nh; if (srv_get_measurements_.getService() != srv_get_measurements) { ros::AdvertiseServiceOptions opt_get_measurements = ros::AdvertiseServiceOptions::create<ed_msgs::GetMeasurements>( srv_get_measurements, boost::bind(&GUIPlugin::srvGetMeasurements, this, _1, _2), ros::VoidPtr(), &cb_queue_); srv_get_measurements_ = nh.advertiseService(opt_get_measurements); } if (srv_set_label_.getService() != srv_set_label) { ros::AdvertiseServiceOptions opt_set_label = ros::AdvertiseServiceOptions::create<ed_msgs::SetLabel>( srv_set_label, boost::bind(&GUIPlugin::srvSetLabel, this, _1, _2), ros::VoidPtr(), &cb_queue_); srv_set_label_ = nh.advertiseService(opt_set_label); } if (srv_raise_event_.getService() != srv_raise_event) { ros::AdvertiseServiceOptions opt_raise_event = ros::AdvertiseServiceOptions::create<ed_msgs::RaiseEvent>( srv_raise_event, boost::bind(&GUIPlugin::srvRaiseEvent, this, _1, _2), ros::VoidPtr(), &cb_queue_); srv_raise_event_ = nh.advertiseService(opt_raise_event); } if (srv_get_command_.getService() != srv_get_command) { ros::AdvertiseServiceOptions opt_get_command = ros::AdvertiseServiceOptions::create<ed_msgs::GetGUICommand>( srv_get_command, boost::bind(&GUIPlugin::srvGetCommand, this, _1, _2), ros::VoidPtr(), &cb_queue_); srv_get_command_ = nh.advertiseService(opt_get_command); } if (pub_image_map_.getTopic() != map_image_topic) pub_image_map_ = nh.advertise<tue_serialization::Binary>("/ed/gui/map_image", 1); map_image_ = cv::Mat(image_width, image_height, CV_8UC3, cv::Scalar(50, 50, 50)); projector_pose_.setOrigin(geo::Vector3(cam_x, cam_y, cam_z)); projector_pose_.setBasis(geo::Matrix3::identity()); projector_.setFocalLengths(image_width / (world_width / cam_z), image_height / (world_height / cam_z)); projector_.setOpticalCenter(image_width / 2, image_height / 2); projector_.setOpticalTranslation(0, 0); }