Tracking cleanup

src/detection/src/detection_node.cpp

@@ -22,16 +22,6 @@ double angle(Point2f a, Point2f b);
 vector<vector<Point>> getContours(Mat& frame, const string& color);
 vector<Point2f> calculateCenters(Mat& frame, const string& color, bool draw = false, bool debug = false);
 
-Mat applyCanny(Mat& frame) {
-    Mat edges;
-    GaussianBlur(frame, frame, Size(5, 5), 1.5);
-    // Canny with thresholds 100 and 200
-    Canny(frame, edges, 100, 200);
-    Mat edgesColor;
-    cvtColor(edges, edgesColor, COLOR_GRAY2BGR);
-    return edgesColor;
-}
-
 class CVNode : public rclcpp::Node {
 public:
     CVNode() : Node("CVNode"), writer_initialized(false), last_frame_time(this->now()) {
@@ -59,15 +49,17 @@ class CVNode : public rclcpp::Node {
     bool flag_write_video_;
     std::string output_video_path_;
 
+    int frame_number = 0; 
+
     void topic_callback(const sensor_msgs::msg::CompressedImage &msg) {
         try {
 
+            frame_number ++; 
+
             cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
             Mat frame = cv_ptr->image;
 
-            Mat edges = applyCanny(frame);
-
-            vector<Point2f> centers = calculateCenters(frame, "blue", flag_write_video_, flag_debug_);
+            vector<Point2f> centers = calculateCenters(frame, "red", flag_write_video_, flag_debug_);
 
             Detection2DArray detections_msg;
             detections_msg.header = msg.header;
@@ -76,12 +68,14 @@ class CVNode : public rclcpp::Node {
                 Detection2D detection;
                 detection.bbox.center.position.x = center.x;
                 detection.bbox.center.position.y = center.y;
+                RCLCPP_INFO(this->get_logger(), "Frame Number: %d, Detection - x: %.2f, y: %.2f", frame_number, center.x, center.y);
                 detections_msg.detections.push_back(detection);
             }
 
             detections_publisher_->publish(detections_msg);
 
-            RCLCPP_INFO(this->get_logger(), "Published %zu detections", detections_msg.detections.size());
+            // RCLCPP_INFO(this->get_logger(), "Frame Number: %d, Published %zu detections", frame_number, detections_msg.detections.size());
+
 
             // Update the last received frame timestamp
             last_frame_time = this->now();

src/tracking/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.8)
+project(tracking)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(message_filters REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(tracking_node src/tracking_node.cpp)
+ament_target_dependencies(tracking_node rclcpp vision_msgs geometry_msgs cv_bridge OpenCV message_filters)
+target_include_directories(tracking_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(tracking_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS tracking_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/tracking/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tracking</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">endian</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>vision_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>opencv2</depend>
+  <depend>message_filters</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>