Use distortion

ros-sports · Mar 19, 2024 · 41321f3 · 41321f3
1 parent 7b6e5ba
commit 41321f3
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/soccer_ipm/config/hl_kid.yaml b/soccer_ipm/config/hl_kid.yaml
@@ -25,3 +25,4 @@ soccer_ipm:
         z: 1.0
 
     output_frame: 'base_footprint'
+    use_distortion: false
diff --git a/soccer_ipm/soccer_ipm/soccer_ipm.py b/soccer_ipm/soccer_ipm/soccer_ipm.py
@@ -34,28 +34,29 @@ class SoccerIPM(Node):
 
     def __init__(self) -> None:
         super().__init__('soccer_ipm')
-        # We need to create a tf buffer
-        self.tf_buffer = tf2.Buffer(cache_time=Duration(seconds=30.0))
-        self.tf_listener = tf2.TransformListener(self.tf_buffer, self)
-
-        # Create an IPM instance
-        self.ipm = IPM(self.tf_buffer)
-
         # Declare params
         self.declare_parameter('balls.ball_diameter', 0.153)
-        self.declare_parameter('output_frame', 'base_footprint')
         self.declare_parameter('goalposts.footpoint_out_of_image_threshold', 0.8)
+        self.declare_parameter('goalposts.object_default_dimensions.x', 0.1)
+        self.declare_parameter('goalposts.object_default_dimensions.y', 0.1)
+        self.declare_parameter('goalposts.object_default_dimensions.z', 1.0)
         self.declare_parameter('obstacles.footpoint_out_of_image_threshold', 0.8)
-        self.declare_parameter('robots.footpoint_out_of_image_threshold', 0.8)
         self.declare_parameter('obstacles.object_default_dimensions.x', 0.2)
         self.declare_parameter('obstacles.object_default_dimensions.y', 0.2)
         self.declare_parameter('obstacles.object_default_dimensions.z', 1.0)
+        self.declare_parameter('output_frame', 'base_footprint')
+        self.declare_parameter('robots.footpoint_out_of_image_threshold', 0.8)
         self.declare_parameter('robots.object_default_dimensions.x', 0.2)
         self.declare_parameter('robots.object_default_dimensions.y', 0.2)
         self.declare_parameter('robots.object_default_dimensions.z', 1.0)
-        self.declare_parameter('goalposts.object_default_dimensions.x', 0.1)
-        self.declare_parameter('goalposts.object_default_dimensions.y', 0.1)
-        self.declare_parameter('goalposts.object_default_dimensions.z', 1.0)
+        self.declare_parameter('use_distortion', False)
+
+        # We need to create a tf buffer
+        self.tf_buffer = tf2.Buffer(cache_time=Duration(seconds=30.0))
+        self.tf_listener = tf2.TransformListener(self.tf_buffer, self)
+
+        # Create an IPM instance
+        self.ipm = IPM(self.tf_buffer, distortion=self.get_parameter('use_distortion').value)
 
         # Subscribe to camera info
         self.create_subscription(CameraInfo, 'camera_info', self.ipm.set_camera_info, 1)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -25,3 +25,4 @@ soccer_ipm:
		z: 1.0

		output_frame: 'base_footprint'
		use_distortion: false