switching updated

configs/params.yaml

@@ -42,7 +42,7 @@ stationaryDebug: False
 # Mode 2: Driving forward with back camera
 # Mode 3: Driving backwards with back camera
 # Mode 4: Driving backwards with front camera
-navigationMode: 4
+navigationMode: 1
 # angular velocity scaler
 maxOmega: 0.05 
 minOmega: 0.01 

scripts/featureMatching.py

@@ -37,6 +37,9 @@ def sampleCropRowFeatures(self, mode, rgbImg, greenIDx, binaryMask, wLocs):
  self.refWindowLoc)
  # draw keypoints on rgb Image
  self.drawKeyPoints(_rgbImg, self.refKeypoints, [255,0,0])
+
+ def reset(self):
+
 
  def detectNewCropLane(self, mode, rgbImg, greenIDx, binaryMask, wLocs, numofCropRows):
  _rgbImg = rgbImg.copy()

scripts/vs_nodeHandler.py

@@ -230,6 +230,9 @@ def navigate(self):
  self.switchDirection()
  print("#[INF] Turning Mode disabled, Entering next lane")
  self.updateNavigationStage()
+ self.imageProcessor.reset()
+ self.imageProcessor.isInitialized = False
+ self.imageProcessor.cropRowEnd = False
  else:
  # if the condition is not fulfilled the robot moves continouisly sidewards
  self.setRobotVelocities(0.0, -0.05, 0.0)
@@ -247,7 +250,6 @@ def navigate(self):
  round(self.velocityMsg.angular.z, 3),
  self.imageProcessor.numOfCropRows)
 
-
  def publishImageTopics(self):
  # Publish the Graphics image
  self.imageProcessor.drawGraphics()
@@ -428,7 +430,7 @@ def isUsingBackCamera(self):
  def switchDirection(self):
  """Function to manage the control variable for the driving direction
  """
- # self.linearMotionDir = -self.linearMotionDir
+ self.linearMotionDir = -self.linearMotionDir
  print("#####################switched Direction of Motion ...", self.linearMotionDir)
 
  def switchRotationDir(self):