modified parking

turtlebot3_autorace_detect/nodes/detect_parking

@@ -210,7 +210,7 @@ class DetectParking():
 
  det = cv2.SimpleBlobDetector_create(params)
  keypts = det.detect(self.cv_bitn_img)
- frame = cv2.drawKeypoints(self.cv_bitn_img, keypts, np.array([]), (0, 0, 255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
+ # frame = cv2.drawKeypoints(self.cv_bitn_img, keypts, np.array([]), (0, 0, 255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
 
  count = 0
  for i in range(len(keypts)):
@@ -231,37 +231,6 @@ class DetectParking():
  if self.blink_count % 8 == 0:
  self.blink_trigger = 1 - self.blink_trigger
  self.blink_count = 0
- '''
- if self.is_parking_allowed == False:
- if self.blink_trigger == 1:
- x_offset = 874
- y_offset = 0
-
- y1, y2 = y_offset, y_offset + self.img1.shape[0]
- x1, x2 = x_offset, x_offset + self.img1.shape[1]
-
- alpha_s = self.img1[:, :, 3] / 255.0
- alpha_l = 1.0 - alpha_s
-
- for c in range(0, 3):
- self.cv_image[y1:y2, x1:x2, c] = (alpha_s * self.img1[:, :, c] +
- alpha_l * self.cv_image[y1:y2, x1:x2, c])
-
- else:
- if self.blink_trigger == 1:
- x_offset = 874
- y_offset = 0
-
- y1, y2 = y_offset, y_offset + self.img2.shape[0]
- x1, x2 = x_offset, x_offset + self.img2.shape[1]
-
- alpha_s = self.img2[:, :, 3] / 255.0
- alpha_l = 1.0 - alpha_s
-
- for c in range(0, 3):
- self.cv_image[y1:y2, x1:x2, c] = (alpha_s * self.img2[:, :, c] +
- alpha_l * self.cv_image[y1:y2, x1:x2, c])
- '''
 
  def main(self):
  rospy.spin()