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MoscowskyAntonMoscowskyAnton
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Merge pull request #4 from Extended-Object-Detection-ROS/feat/big_refactoring
Feat/big refactoring
2 parents b98cc9c + e2bbbc4 commit e92a203

22 files changed

+1164
-1097
lines changed

‎CMakeLists.txt‎

Lines changed: 14 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ add_message_files(
5151
Track.msg
5252
ExtractedInfo.msg
5353
Contour.msg
54-
SimpleObject.msg
54+
BaseObject.msg
5555
SimpleObjectArray.msg
5656
ComplexObject.msg
5757
ComplexObjectArray.msg
@@ -60,7 +60,7 @@ add_message_files(
6060
## Generate services in the 'srv' folder
6161
add_service_files(
6262
FILES
63-
SetSimpleObjects.srv
63+
SetObjects.srv
6464
)
6565

6666
## Generate added messages and services with any dependencies listed here
@@ -90,7 +90,8 @@ set( EOD_SRC
9090
src/lib/types/Tracker.cpp
9191
src/lib/types/Relationship.cpp
9292
src/lib/types/Filtering.cpp
93-
src/lib/types/Clusterization.cpp
93+
src/lib/types/Clusterization.cpp
94+
src/lib/types/InfoImage.cpp
9495
# lib utils
9596
src/lib/utils/geometry_utils.cpp
9697
src/lib/utils/drawing_utils.cpp
@@ -118,6 +119,7 @@ set( EOD_SRC
118119
src/lib/detectors/FaceDlibDetector.cpp
119120
src/lib/detectors/ExtractedInfoIdChecker.cpp
120121
src/lib/detectors/ExtractedInfoStringChecker.cpp
122+
src/lib/detectors/UnitTranslationExtracter.cpp
121123

122124
# lib relations
123125
src/lib/relations/ImageRangeRelation.cpp
@@ -139,7 +141,7 @@ set ( EOD_INCLUDE
139141
# main node
140142
add_executable(
141143
extended_object_detection_node
142-
src/extended_object_detection_node/extended_object_detection_node.cpp
144+
src/extended_object_detection_node/eod_node.cpp
143145
${EOD_SRC}
144146
)
145147

@@ -173,6 +175,7 @@ add_executable(
173175
src/lib/types/SimpleObject.cpp
174176
src/lib/types/Filtering.cpp
175177
src/lib/types/Clusterization.cpp
178+
src/lib/types/InfoImage.cpp
176179
# utils
177180
src/lib/utils/geometry_utils.cpp
178181
src/lib/utils/drawing_utils.cpp
@@ -192,6 +195,7 @@ add_executable(
192195
src/lib/types/SimpleObject.cpp
193196
src/lib/types/Filtering.cpp
194197
src/lib/types/Clusterization.cpp
198+
src/lib/types/InfoImage.cpp
195199
# utils
196200
src/lib/utils/geometry_utils.cpp
197201
src/lib/utils/drawing_utils.cpp
@@ -210,7 +214,8 @@ add_executable(
210214
src/lib/types/Attribute.cpp
211215
src/lib/types/SimpleObject.cpp
212216
src/lib/types/Filtering.cpp
213-
src/lib/types/Clusterization.cpp
217+
src/lib/types/Clusterization.cpp
218+
src/lib/types/InfoImage.cpp
214219
# utils
215220
src/lib/utils/geometry_utils.cpp
216221
src/lib/utils/drawing_utils.cpp
@@ -230,6 +235,7 @@ add_executable(
230235
src/lib/types/SimpleObject.cpp
231236
src/lib/types/Filtering.cpp
232237
src/lib/types/Clusterization.cpp
238+
src/lib/types/InfoImage.cpp
233239
# utils
234240
src/lib/utils/geometry_utils.cpp
235241
src/lib/utils/drawing_utils.cpp
@@ -248,7 +254,8 @@ add_executable(
248254
src/lib/types/Attribute.cpp
249255
src/lib/types/SimpleObject.cpp
250256
src/lib/types/Filtering.cpp
251-
src/lib/types/Clusterization.cpp
257+
src/lib/types/Clusterization.cpp
258+
src/lib/types/InfoImage.cpp
252259
# utils
253260
src/lib/utils/geometry_utils.cpp
254261
src/lib/utils/drawing_utils.cpp
@@ -268,6 +275,7 @@ if(DLib)
268275
src/lib/types/SimpleObject.cpp
269276
src/lib/types/Filtering.cpp
270277
src/lib/types/Clusterization.cpp
278+
src/lib/types/InfoImage.cpp
271279
# utils
272280
src/lib/utils/geometry_utils.cpp
273281
src/lib/utils/drawing_utils.cpp

‎config/eod_example.rviz‎

Lines changed: 85 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ Panels:
55
Property Tree Widget:
66
Expanded: ~
77
Splitter Ratio: 0.5
8-
Tree Height: 665
8+
Tree Height: 361
99
- Class: rviz/Selection
1010
Name: Selection
1111
- Class: rviz/Tool Properties
@@ -24,7 +24,7 @@ Panels:
2424
Experimental: false
2525
Name: Time
2626
SyncMode: 0
27-
SyncSource: ""
27+
SyncSource: Detected Image
2828
Preferences:
2929
PromptSaveOnExit: true
3030
Toolbars:
@@ -55,9 +55,25 @@ Visualization Manager:
5555
Frame Timeout: 15
5656
Frames:
5757
All Enabled: true
58-
cam_optical_link:
58+
oak-d-base-frame:
5959
Value: true
60-
map:
60+
oak-d_frame:
61+
Value: true
62+
oak_imu_frame:
63+
Value: true
64+
oak_left_camera_frame:
65+
Value: true
66+
oak_left_camera_optical_frame:
67+
Value: true
68+
oak_model_origin:
69+
Value: true
70+
oak_rgb_camera_frame:
71+
Value: true
72+
oak_rgb_camera_optical_frame:
73+
Value: true
74+
oak_right_camera_frame:
75+
Value: true
76+
oak_right_camera_optical_frame:
6177
Value: true
6278
Marker Alpha: 1
6379
Marker Scale: 1
@@ -66,8 +82,21 @@ Visualization Manager:
6682
Show Axes: true
6783
Show Names: true
6884
Tree:
69-
map:
70-
{}
85+
oak-d-base-frame:
86+
oak-d_frame:
87+
oak_imu_frame:
88+
{}
89+
oak_left_camera_frame:
90+
oak_left_camera_optical_frame:
91+
{}
92+
oak_model_origin:
93+
{}
94+
oak_rgb_camera_frame:
95+
oak_rgb_camera_optical_frame:
96+
{}
97+
oak_right_camera_frame:
98+
oak_right_camera_optical_frame:
99+
{}
71100
Update Interval: 0
72101
Value: true
73102
- Alpha: 1
@@ -126,11 +155,51 @@ Visualization Manager:
126155
Transport Hint: raw
127156
Unreliable: false
128157
Value: true
158+
- Class: rviz/Image
159+
Enabled: true
160+
Image Topic: /oak/stereo/depth
161+
Max Value: 1
162+
Median window: 5
163+
Min Value: 0
164+
Name: DepthImage
165+
Normalize Range: false
166+
Queue Size: 2
167+
Transport Hint: raw
168+
Unreliable: false
169+
Value: true
170+
- Alpha: 1
171+
Autocompute Intensity Bounds: true
172+
Autocompute Value Bounds:
173+
Max Value: 10
174+
Min Value: -10
175+
Value: true
176+
Axis: Z
177+
Channel Name: intensity
178+
Class: rviz/PointCloud2
179+
Color: 255; 255; 255
180+
Color Transformer: Intensity
181+
Decay Time: 0
182+
Enabled: true
183+
Invert Rainbow: false
184+
Max Color: 255; 255; 255
185+
Min Color: 0; 0; 0
186+
Name: PointCloud2
187+
Position Transformer: XYZ
188+
Queue Size: 10
189+
Selectable: true
190+
Size (Pixels): 3
191+
Size (m): 0.009999999776482582
192+
Style: Flat Squares
193+
Topic: /oak/stereo/points/mono
194+
Unreliable: false
195+
Use Fixed Frame: true
196+
Use rainbow: true
197+
Value: true
129198
Enabled: true
130199
Global Options:
131200
Background Color: 48; 48; 48
132201
Default Light: true
133-
Fixed Frame: map
202+
Fixed Frame: oak-d-base-frame
134203
Frame Rate: 30
135204
Name: root
136205
Tools:
@@ -154,35 +223,37 @@ Visualization Manager:
154223
Views:
155224
Current:
156225
Class: rviz/Orbit
157-
Distance: 5.1412224769592285
226+
Distance: 5.629319667816162
158227
Enable Stereo Rendering:
159228
Stereo Eye Separation: 0.05999999865889549
160229
Stereo Focal Distance: 1
161230
Swap Stereo Eyes: false
162231
Value: false
163232
Field of View: 0.7853981852531433
164233
Focal Point:
165-
X: 1.535446047782898
166-
Y: -0.4598390758037567
167-
Z: -0.15033507347106934
234+
X: 1.152783751487732
235+
Y: -0.16227556765079498
236+
Z: -0.4943612217903137
168237
Focal Shape Fixed Size: true
169238
Focal Shape Size: 0.05000000074505806
170239
Invert Z Axis: false
171240
Name: Current View
172241
Near Clip Distance: 0.009999999776482582
173-
Pitch: 0.43979617953300476
242+
Pitch: 0.7097955346107483
174243
Target Frame: <Fixed Frame>
175-
Yaw: 2.5604374408721924
244+
Yaw: 2.1604249477386475
176245
Saved: ~
177246
Window Geometry:
247+
DepthImage:
248+
collapsed: false
178249
Detected Image:
179250
collapsed: false
180251
Displays:
181252
collapsed: false
182253
Height: 1015
183254
Hide Left Dock: false
184255
Hide Right Dock: false
185-
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000033dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000440000033d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000037e0000033dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc000000440000033d000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000033d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
256+
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000420000020d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004400650070007400680049006d0061006700650100000250000001330000002201000003000000010000031100000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000003030000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
186257
Selection:
187258
collapsed: false
188259
Time:

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