update

vision_test/CMakeLists.txt

@@ -16,12 +16,19 @@ find_package(message_filters REQUIRED)
 find_package(interfaces REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
+find_package()
+
 
 add_executable(
   detect_node 
-  src/creat_detect_node.cpp 
-  src/VisionTestNode.cpp
-  src/CalculateTool.cpp
+  src/main.cpp 
+  src/detect_node.cpp
+  src/init_base.cpp
+  src/config_base.cpp
+
+  src/calculate_tools.cpp
+  src/read_file_tools.cpp
+
   )
 
 target_include_directories(
@@ -43,6 +50,7 @@ install(
   DIRECTORY configs DESTINATION share/${PROJECT_NAME}/configs
   DIRECTORY checkpoints DESTINATION share/${PROJECT_NAME}/checkpoints
   DIRECTORY launch DESTINATION share/${PROJECT_NAME}/launch
+  DIRECTORY calibration_mats DESTINATION share/${PROJECT_NAME}/calibration_mats
   )
 
 

vision_test/include/vision_test/config_base.hpp

@@ -36,6 +36,7 @@ class ConfigBase: public rclcpp::Node {
         explicit ConfigBase(const std::string name);
 
     protected:
+        // Variables
         nlohmann::json configs;
         nlohmann::json calculate_configs;
         nlohmann::json camera_data;
@@ -73,8 +74,7 @@ class ConfigBase: public rclcpp::Node {
         std::vector<std::vector<std::vector<int>>> color_range;
         std::vector<int> classes;
         
-        
-
+        // Functions
         void read_calibration_mat();
 
 };

vision_test/include/vision_test/detect_node.hpp

@@ -0,0 +1,12 @@
+
+
+
+
+#include "vision_test/init_base.hpp"
+
+
+class DetectNode: public InitBase {
+    public:
+        explicit DetectNode(const std::string name);
+
+};

vision_test/include/vision_test/init_base.hpp

@@ -1,3 +1,14 @@
 
 
-#include "vision_test/config_base.hpp"
+#include "vision_test/config_base.hpp"
+
+
+class InitBase: public ConfigBase {
+    public:
+        explicit InitBase(const std::string name);
+
+    protected:
+
+};
+
+

vision_test/src/detect_node.cpp

@@ -0,0 +1,8 @@
+
+
+#include "vision_test/detect_node.hpp"
+
+
+DetectNode::DetectNode(const std::string name): InitBase(name) {
+
+}

vision_test/src/init_base.cpp

@@ -1 +1,8 @@
-#include "vision_test/init_base.hpp"
+
+
+#include "vision_test/init_base.hpp"
+
+
+InitBase::InitBase(const std::string name): ConfigBase(name) {
+
+}

vision_test/src/main.cpp

@@ -1,13 +1,13 @@
 #include <iostream>
 #include <string>
 #include "rclcpp/rclcpp.hpp"
-#include "vision_test/vision_detect_node.hpp"
+#include "vision_test/detect_node.hpp"
 
 
 int main(int argc, char ** argv) {
     rclcpp::init(argc, argv);
     path::shared_path = ament_index_cpp::get_package_share_directory("vision_test");
-    auto node = std::make_shared<VisionDetectNode>("detect");
+    auto node = std::make_shared<DetectNode>("detect");
     rclcpp::spin(node);
 
     rclcpp::shutdown();