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Add option for single-shot detection and corresponding service. #67

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Add option for single-shot detection and corresponding service. #67

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9 changes: 7 additions & 2 deletions apriltag_ros/include/apriltag_ros/continuous_detector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,28 +48,33 @@
#include <memory>

#include <nodelet/nodelet.h>
#include <std_srvs/Trigger.h>

namespace apriltag_ros
{

class ContinuousDetector: public nodelet::Nodelet
{
public:
ContinuousDetector();
ContinuousDetector();
void onInit();

void imageCallback(const sensor_msgs::ImageConstPtr& image_rect,
const sensor_msgs::CameraInfoConstPtr& camera_info);


bool singleShotService (std_srvs::Trigger::Request& request,
std_srvs::Trigger::Response& response);
private:
std::shared_ptr<TagDetector> tag_detector_;
bool draw_tag_detections_image_;
bool single_shot_detection_;
cv_bridge::CvImagePtr cv_image_;

std::shared_ptr<image_transport::ImageTransport> it_;
image_transport::CameraSubscriber camera_image_subscriber_;
image_transport::Publisher tag_detections_image_publisher_;
ros::Publisher tag_detections_publisher_;
ros::ServiceServer single_shot_service_;
};

} // namespace apriltag_ros
Expand Down
49 changes: 45 additions & 4 deletions apriltag_ros/src/continuous_detector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,16 +52,29 @@ void ContinuousDetector::onInit ()
"publish_tag_detections_image", false);
it_ = std::shared_ptr<image_transport::ImageTransport>(
new image_transport::ImageTransport(nh));

camera_image_subscriber_ =
it_->subscribeCamera("image_rect", 1,
&ContinuousDetector::imageCallback, this);

single_shot_detection_ = getAprilTagOption<bool>(pnh,
"single_shot_detection", false);

if (!single_shot_detection_)
{
camera_image_subscriber_ =
it_->subscribeCamera("image_rect", 1,
&ContinuousDetector::imageCallback, this);
ROS_INFO("Running in continous mode.");
}
else {
ROS_INFO("Running in single shot detection mode.");
}

tag_detections_publisher_ =
nh.advertise<AprilTagDetectionArray>("tag_detections", 1);
if (draw_tag_detections_image_)
{
tag_detections_image_publisher_ = it_->advertise("tag_detections_image", 1);
}

single_shot_service_ = nh.advertiseService("single_shot_detect_tags", &ContinuousDetector::singleShotService, this);
}

void ContinuousDetector::imageCallback (
Expand Down Expand Up @@ -91,6 +104,34 @@ void ContinuousDetector::imageCallback (
tag_detector_->drawDetections(cv_image_);
tag_detections_image_publisher_.publish(cv_image_->toImageMsg());
}

if (single_shot_detection_)
{
camera_image_subscriber_.shutdown();
}
}

bool ContinuousDetector::singleShotService (
std_srvs::Trigger::Request& request,
std_srvs::Trigger::Response& response)
{
if (!camera_image_subscriber_) {
camera_image_subscriber_ =
it_->subscribeCamera("image_rect", 1,
&ContinuousDetector::imageCallback, this);
response.success = true;
response.message = "Single shot tag detection activated.";
}
else
{
response.success = false;
if (!single_shot_detection_)
response.message = "Not in single shot detection mode.";
else
response.message = "Already waiting for single shot detection.";

}
return true;
}

} // namespace apriltag_ros