def __init__(self):
# self.image_pub = rospy.Publisher("image_topic_2",Image)
self.CMT = CMT.CMT()
self.bridge = CvBridge()
self.first = True
self.rect = None
self.init_img = None
self.center = None
self.prev_center = None
self.h = None
self.w = None
self.linear_speed_x = 0.1
self.k_yaw = 0.0005
self.k_alt = 0.0005
self.image_sub = rospy.Subscriber("/rexrov/rexrov/camera/camera_image",
Image, self.callback)
self.des_vel_pub = rospy.Publisher("/rexrov/cmd_vel",
numpy_msg(geometry_msgs.Twist),
queue_size=1)
def __init__(self):
self.image_pub = rospy.Publisher("image_topic_2", Image)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image,
self.callback)
#self.image_sub = rospy.Subscriber("/ocam/image_raw",Image,self.callback)
#self.image_sub = rospy.Subscriber("/usb2_cam/image_rect_color",Image,self.callback)
self.CRT = CMT.CMT()
self.CRT.estimate_scale = 'estimate_scale'
self.CRT.estimate_rotation = 'estimate_rotation'
self.pause_time = 10
###########################Primer Region
im0 = cv2.imread('./frame_cap.jpg',
flags=cv2.IMREAD_COLOR) #flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('/home/sergio/catikin_ws_user/src/cmt/scripts/frame.jpg', flags=cv2.IMREAD_COLOR)
#im0 = cv2.imread('/home/sergio/catikin_ws_user/src/cmt/scripts/frame.jpg',flags=cv2.IMREAD_GRAYSCALE)
cv2.imshow('im0', im0)
#im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_gray0 = im0
im_draw = np.copy(im0)
print('Selecciona Primer Region')
tl = (84, 55)
br = (557, 307)
#tl=(35,35)
#bl=(605,325)
(tl, br) = util.get_rect(im_draw)
print('usando %i, %i como init bb', tl, br)
self.CRT.initialise(im_gray0, tl, br)
self.frame = 1
def __init__(self, input_queue):
multiprocessing.Process.__init__(self)
self.CMT = CMT.CMT()
self.templet = cv2.resize(cv2.imread(config['Video']['original']), (FRAME_WIDTH, FRAME_HEIGHT))
self.cap = cv2.VideoCapture(config['Video']['cap'])
self.message_queue = input_queue
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, FRAME_WIDTH)
self.cap.set(cv2.CAP_PROP_FPS, 10)
def __init__(self):
# self.image_pub = rospy.Publisher("image_topic_2",Image)
self.CMT = CMT.CMT()
self.bridge = CvBridge()
self.tracker = cv2.TrackerTLD_create()
self.count = 0
self.first = True
self.first_ttc = True
self.rect = None
self.init_img = None
self.center = None
self.prev_center = None
self.hit_buoy = False
self.track_window = None
self.h = None
self.w = None
self.dt = 1.0 / 19.0
self.bbox_h = None
self.bbox_h_init = None
self.bbox_h_prev = None
self.linear_speed_x = 0.35
self.k_yaw = 0.0005
self.k_alt = 0.0005
# self.k_yaw = 0.0008
# self.k_alt = 0.0008
self.image_sub = rospy.Subscriber("/rexrov/rexrov/camera/camera_image",
Image, self.callback)
self.jerk_sub = rospy.Subscriber("/jerk", Float32, self.jerk_callback)
self.des_vel_pub = rospy.Publisher("/rexrov/cmd_vel",
numpy_msg(geometry_msgs.Twist),
queue_size=1)
smach.State.__init__(self, outcomes=['hit', 'in_pursuit'])
def __init__(self):
self.image_pub = rospy.Publisher("image_topic_2", Image)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image,
self.callback)
#self.image_sub = rospy.Subscriber("/usb2_cam/image_rect_color",Image,self.callback)
self.CRT = CMT.CMT()
self.CNT = CMT.CMT()
self.CST = CMT.CMT()
self.CRT = CMT.CMT()
self.CNT = CMT.CMT()
self.CST = CMT.CMT()
self.CRT.estimate_scale = 'estimate_scale'
self.CRT.estimate_rotation = 'estimate_rotation'
self.CNT.estimate_scale = 'estimate_scale'
self.CNT.estimate_rotation = 'estimate_rotation'
self.CST.estimate_scale = 'estimate_scale'
self.CST.estimate_rotation = 'estimate_rotation'
self.pause_time = 10
###########################Primer Region
im0 = cv2.imread('~/catikin_ws_c/src/cmt/scripts/imas.jpg',
flags=cv2.IMREAD_COLOR)
if im0:
print(im0.shape)
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im0)
print('Selecciona Primer Region')
(tl, br) = util.get_rect(im_draw)
print('using %i, %i as init bb', tl, br)
self.CRT.initialise(im_gray0, tl, br)
###########################Segunda Region
print('Selecciona Segunda Region')
(tl, br) = util.get_rect(im_draw)
print('using %i, %i as init bb', tl, br)
self.CNT.initialise(im_gray0, tl, br)
############################Tercer Region
print('Selecciona Tercer Region')
(tl, br) = util.get_rect(im_draw)
print('using %i, %i as init bb', tl, br)
self.CST.initialise(im_gray0, tl, br)
self.frame = 1
def __init__(self):
self.image_pub = rospy.Publisher("image_topic_cmt",
Image,
queue_size=1)
self.vis_odo_pub = rospy.Publisher("visual_odometry",
Odometry,
queue_size=1)
self.bridge = CvBridge()
#self.image_sub = rospy.Subscriber("/usb_cam/image_raw",Image,self.callback)
self.image_sub = rospy.Subscriber("/ocam/image_raw",
Image,
self.callback,
queue_size=1)
self.yaw_sub = rospy.Subscriber("model_car/yaw2",
Float32,
self.headingcallback,
queue_size=1)
#self.image_sub = rospy.Subscriber("/usb2_cam/image_rect_color",Image,self.callback)
self.CRT = CMT.CMT()
self.CRT.estimate_scale = 'estimate_scale'
self.CRT.estimate_rotation = 'estimate_rotation'
self.pause_time = 10
###########################Primer Region
#im0 = cv2.imread('./frame_cuadri_1500.jpg', flags=cv2.IMREAD_GRAYSCALE)
im0 = cv2.imread('./frame_cap13.jpg', flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('./frame_cap_13.jpg', flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('./frame_fisica3.jpg', flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('./frame_cap_16.jpg', flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('./frame_cap_noche.jpg', flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('./frame_cap3.jpg', flags=cv2.IMREAD_GRAYSCALE)#flags=cv2.IMREAD_GRAYSCALE)
#im0 = cv2.imread('/home/sergio/catikin_ws_user/src/cmt/scripts/frame.jpg', flags=cv2.IMREAD_COLOR)
#im0 = cv2.imread('/home/sergio/catikin_ws_user/src/cmt/scripts/frame.jpg',flags=cv2.IMREAD_GRAYSCALE)
#cv2.imshow('im0', im0)
#im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_gray0 = im0
#print(np.size(im_gray0))
#im_gray0=cv2.blur(im0,(3,3))
#cv2.line(im_gray0, (70,0), (70,300), (0, 0, 0), 150)
#cv2.line(im_gray0, (490,0), (490,300), (0, 0, 0), 150)
#im_gray0=cv2.resize(im0, (360, 240))
#im_draw = np.copy(im0)
print('Selecciona Primer Region')
#tl=(84, 55) #talvez
#br=(557, 307#tal vez
#tl=(68, 68)
#br=(544, 316)
#tl=(35,35)
#bl=(605,325)
#tl=(78, 59) #ultimos con156kp
#br=(553, 297)#uktimos con 156kp
tl = (73, 56) #labo umi
br = (449, 244) #labo umi
#tl=(88, 58) #camaras labo
#br=(429, 240)#camaras labo
#tl=(93, 61) #camaras labo nuevo
#br=(436, 241)#labo camaras nuevo
tl = (85, 59) #last camrasa
br = (428, 239) #lascamaras
#tl=(166, 64)
#br=(348, 237)
#(84, 63) (429, 237)
#tl=(87, 57)#camaras
#br= (426, 234)#camaras
tl = (87, 57) #camaras
br = (326, 154) #camaras
tl = (59, 44) #camaras peque
br = (300, 195) #camaras peque
tl = (128, 25)
br = (394, 278)
##cuadrilatero
#tl=(157,6)
#br=(408,257)
tl = (154, 21) #55)
br = (392, 259)
#tl=(40+20,27+20)
#br=(269-20, 256-20)
tl = (40 + 10, 27 + 10)
br = (269 - 10, 256 - 10)
tl = (320 - 146, 180 - 146)
br = (320 + 146, 180 + 146)
#(158, 14) (392, 261)
##fisica
#tl=(118, 54)
#br=(348, 250)
#(tl, br) = util.get_rect(im_gray0)
print('usando %i, %i como init bb', tl, br)
self.CRT.initialise(im_gray0, tl, br)
print('Num keypoint init', self.CRT.num_initial_keypoints)
self.frame = 1
self.conta = 0
self.frame_id = 'visual_odometry'
self.child_frame_id = 'base_link2'
self.msg = Odometry()
region = None
tracker = None
with trax.server.Server(options, verbose=True) as server:
while True:
request = server.wait()
if request.type in ["quit", "error"]:
break
if request.type == "initialize":
region = request.region
im0 = read_trax_image(request.image)
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
tl = (region.x, region.y)
br = (region.x + region.width - 1, region.y + region.height - 1)
tracker = None
try:
tracker = CMT.CMT()
tracker.initialise(im_gray0, tl, br)
except Exception:
tracker = None
else:
im = read_trax_image(request.image)
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
if not tracker == None:
tracker.process_frame(im_gray)
if not math.isnan(tracker.bb[0]):
region = trax.region.Rectangle(tracker.bb[0],
tracker.bb[1],
tracker.bb[2],
tracker.bb[3])
else:
region = trax.region.Special(0)
#!/usr/bin/env python
import argparse
import cv2
from numpy import empty, nan
import os
import sys
import time
import CMT
import numpy as np
import util
CMT = CMT.CMT()
parser = argparse.ArgumentParser(description='Track an object.')
parser.add_argument('inputpath', nargs='?', help='The input path.')
parser.add_argument('--challenge',
dest='challenge',
action='store_true',
help='Enter challenge mode.')
parser.add_argument('--preview',
dest='preview',
action='store_const',
const=True,
default=None,
help='Force preview')
parser.add_argument('--no-preview',
dest='preview',
action='store_const',
import cv2
from numpy import empty, nan
import os
import threading
import multiprocessing
import sys
import time
from multiprocessing.dummy import Pool as Threadpool
import CMT
import numpy as np
#import CMT2
import util
from functools import partial
CMT = [CMT.CMT(), CMT.CMT()]
#CMT2 = CMT2.CMT2()
parser = argparse.ArgumentParser(description='Track an object.')
parser.add_argument('inputpath', nargs='?', help='The input path.')
parser.add_argument('--challenge',
dest='challenge',
action='store_true',
help='Enter challenge mode.')
parser.add_argument('--preview',
dest='preview',
action='store_const',
const=True,
default=None,
help='Force preview')
def __init__(self):
"""Initialize CMT detector"""
self._cmt = CMT.CMT()
self.location = None
#!/usr/bin/env python
import argparse
import cv2
from numpy import empty, nan
import os
import sys
import time
import CMT
import numpy as np
import util
CMTobj = CMT.CMT()
parser = argparse.ArgumentParser(description='Track an object.')
parser.add_argument('inputpath', nargs='?', help='The input path.')
parser.add_argument('--challenge',
dest='challenge',
action='store_true',
help='Enter challenge mode.')
parser.add_argument('--preview',
dest='preview',
action='store_const',
const=True,
default=None,
help='Force preview')
parser.add_argument('--no-preview',
dest='preview',
action='store_const',
