[objectness] add default training_path arg to pass the test and add F…

…ATAL when no training path were given
ros-perception · Apr 12, 2022 · bfca234 · bfca234
1 parent ba92d8d
commit bfca234
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/launch/objectness.launch b/launch/objectness.launch
@@ -8,9 +8,9 @@
   <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show image" />
   <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
 
-  <arg name="training_path" doc="The path of trained model.
-                                 Please download
-                                 https://github.com/opencv/opencv_contrib/tree/3.4/modules/saliency/samples/ObjectnessTrainedModel"     />
+  <arg name="training_path" default="" doc="The path of trained model.
+                                            Please download
+                                            https://github.com/opencv/opencv_contrib/tree/3.4/modules/saliency/samples/ObjectnessTrainedModel"     />
   <arg name="nss" default="2" doc="Size for non-maximal suppress" />
   <arg name="max_objectness" default="10" doc="Maximum number of objectness to be detected" />
 

diff --git a/src/nodelet/objectness_nodelet.cpp b/src/nodelet/objectness_nodelet.cpp
@@ -198,6 +198,9 @@ class ObjectnessNodelet : public opencv_apps::Nodelet
     pnh_->param("debug_view", debug_view_, false);
     pnh_->getParam("training_path", training_path_);
 
+    if (training_path_.empty())
+      NODELET_FATAL("Please set the path to directory of training data");
+
     window_name_ = "Objectness View";
 
     objectnessAlgorithm = cv::saliency::ObjectnessBING::create();  // support BING

diff --git a/test/test-objectness.test b/test/test-objectness.test
@@ -24,9 +24,9 @@
     </node>
     <param name="objectness_test/topic" value="objectness/image" />
     <test test-name="objectness_test" pkg="rostest" type="hztest" name="objectness_test" >
-      <param name="hz" value="10" />
-      <param name="hzerror" value="5" />
-      <param name="test_duration" value="5.0" />
+      <param name="hz" value="5" />
+      <param name="hzerror" value="10.0" />
+      <param name="test_duration" value="1.0" />
     </test>
 
   </group>