Test Script for Vision Stack #41
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…_cam topic has a specific message type.
… from the front_cam topic because it's not in a correct format. Currently trying to figure out how to convert it to a numpy array.
…nCV image. Also found more issues with the VisionStack application class, specifically the publisher naming conventions which cause the publisher initialization to fail. Got it working, but will have to make some more robust fixes.
…nCV image. Also found more issues with the VisionStack application class, specifically the publisher naming conventions which cause the publisher initialization to fail. Got it working, but will have to make some more robust fixes.
…th the example construction of ObjectDetectionLayer.
…etectionLayer since it uses weights, but the subscriber isn't running for some reason even though simulation is going.
…us which publisher corresponds to which filter.
…or me. Also cleaned up the vision_stack_test code and check that all layers work and I'm able to visualize them.
DaniParr
requested changes
Nov 4, 2025
… I made to some of the layer scripts. I agree with Daniel that changes to something as important as layers deserve their own PR.
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I wanted my team (VisualLocalization) to have an application class they can use to test the Vision Stack code with, as well as test code for layers they may implement.
To do so, I create a script called
vision_stack_test.pylocated in thetestdirectory. It creates a subscriber to thefront_cam/image_rawtopic and feeds that data to a VisionStack object. I've initialized every layer possible with the exception ofRobustScalingandSobelbecause they return floating point values which are unsupported? (I was getting an error because of their fp encoding type, I'll take a look in the future).This PR also has some changes to the VisionStack.py class to counteract some issues I had with imports and passing image data. The original implementation also had an issue with the naming of layer topics, so I changed the naming such that the topic for each CV layer uses the same name as the Python layer class.
For example, the topic for the Grayscale layer is called
front_cam/GrayscaleLayer.