import rospy
from sensor_msgs.msg import Image
import cv2 as cv
from cv_bridge import CvBridge, CvBridgeError
# from geometry_msgs.msg import PoseStamped
from flipkart.msg import detection
import numpy as np
bridge = CvBridge()
rospy.init_node('opencv_example', anonymous=True)
mid_pub = rospy.Publisher('cvmsg', detection,queue_size=10)
midpoint = detection()
def show_image(frame):
cv.namedWindow("RGB Image Window",cv.WINDOW_NORMAL)
lower = np.array([20, 100, 100]) #hsv limits vary based on hoops yellow
upper = np.array([30, 255, 255])
frame_HSV = cv.cvtColor(frame, cv.COLOR_BGR2HSV)
mask = cv.inRange(frame_HSV, lower, upper)
mask_Open = cv.morphologyEx(mask, cv.MORPH_OPEN, np.ones((10, 10)))
mask_Close = cv.morphologyEx(mask_Open, cv.MORPH_CLOSE, np.ones((20, 20))) #to reduce noise and get smooth image
mask_Perfect = mask_Close
_,conts, h = cv.findContours(mask.copy(), cv.RETR_EXTERNAL, cv.CHAIN_APPROX_NONE) # detects contours
for c in conts: #creates bounding boxes around the detected hoop
areas = [cv.contourArea(c) for c in conts] # Find the index of the largest contour
max_index = np.argmax(areas)
import rospy
from sensor_msgs.msg import Image
import cv2 as cv
from cv_bridge import CvBridge, CvBridgeError
from flipkart.msg import detection
import numpy as np
dbridge = CvBridge()
rospy.init_node('opencvdepth', anonymous=True)
bbox = detection()
def cvcallback(cv_msg):
global bbox
bbox = cv_msg
# print(bbox)
def show_image(frame):
frame= frame*10 # for representation
cv.waitKey(1)
cv.namedWindow("depth Image Window",cv.WINDOW_NORMAL)
rospy.Subscriber('cvmsg',detection, cvcallback)
x = bbox.x
y = bbox.y
h = bbox.breadth
w = bbox.length
value = frame[int(x)][int(y)]
print(len(frame))
cv.rectangle(frame,(int(x-w/2),int(y-h/2)),(int(x+w/2),int(y+h/2)),(255, 255, 255), 2,1)
import copy
import rospy
import random
import math
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import TwistStamped
from flipkart.msg import detection
from armf import armtakeoff
rospy.init_node('navigation', anonymous=True)
xpixel = 640
ypixel = 480
fovx = 1.047
bbox = detection()
oldbbox = detection()
setpoint = PoseStamped()
current_position = PoseStamped()
vel = TwistStamped()
i = 0
def cvcallback(cv_msg):
global bbox
bbox = cv_msg
def callback_pos(pos):