From 94e90f4286cfe31387c406d6df283c926580d71d Mon Sep 17 00:00:00 2001 From: Andrew Ealovega Date: Mon, 13 May 2024 02:18:38 -0400 Subject: [PATCH] Add params for hsv --- .../include/obj_detector/obj_detector.launch.py | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/phoenix_gazebo/launch/include/obj_detector/obj_detector.launch.py b/phoenix_gazebo/launch/include/obj_detector/obj_detector.launch.py index e377452..950f748 100644 --- a/phoenix_gazebo/launch/include/obj_detector/obj_detector.launch.py +++ b/phoenix_gazebo/launch/include/obj_detector/obj_detector.launch.py @@ -22,6 +22,8 @@ def generate_launch_description(): name = LaunchConfiguration('name') debug = LaunchConfiguration('debug') trans = LaunchConfiguration('transport') + hsv_lowerb = LaunchConfiguration('hsv_lowerb') + hsv_upperb = LaunchConfiguration('hsv_upperb') remappings = [('/camera/mid/rgb/camera_info', camera_info_topic), ('/camera/mid/depth', depth_topic), @@ -39,7 +41,9 @@ def generate_launch_description(): 'use_sim_time': use_sim_time, 'camera_frame': camera_frame, 'debug': debug, - 'transport_type': trans + 'transport_type': trans, + 'hsv_upperb': hsv_upperb, + 'hsv_lowerb': hsv_lowerb }], remappings=remappings ) @@ -73,6 +77,15 @@ def generate_launch_description(): DeclareLaunchArgument('transport', default_value='raw', description='Transport type'), + DeclareLaunchArgument('hsv_lowerb', + default_value="[0, 130, 130]", + description='Cone color filter lower bound in HSV'), + DeclareLaunchArgument('hsv_upperb', + default_value="[15, 255, 255]", + description='Cone color filter upper bound in HSV'), + DeclareLaunchArgument('gamma', + default_value="0.7", + description='Gamma value to filter images with'), # Nodes det,