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Sign Detection

Detects if there is a stop sign in front of the car.

  • Publish:
    • UInt8 on "~/stop_sign": Boolean value, true if sign detected, false otherwise
    • UInt32 on "~/sign_size": Size of sign in pixels

Launching

Make sure to have simple_camera_publisher in your ROS workspace.

By default, the included launch file will launch simple_camera_publisher example.launch. You may launch the camera somewhere else.

Update the camera subscription topic camera_topic in the launch file if you are launching the camera on a different topic.

<node name="stop_sign_detection" pkg="sign_detection" type="stop_sign_detection">
        <!-- Name of camera topic this node subscribes to -->
        <param name="camera_topic" type="string" value="/my_camera/cam_pub/image_raw" />
        <!-- Classifier to load and run detections on -->
        <param name="cascade_path" type="string" value="$(find sign_detection)/classifiers/stop_sign.xml" />
</node>