def __init__(self):
rospy.init_node('moments')
image_topic = rospy.get_param('~image', '/tachyon/image')
rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
self.bridge = CvBridge()
geo_topic = '/%s/moments' % image_topic.split('/')[1]
self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
self.msg_geo = MsgGeometry()
threshold = rospy.get_param('~threshold', 127)
self.moments = Moments(threshold)
self.calibration = Calibration(0.375)
rospy.spin()
class NdMoments():
def __init__(self):
rospy.init_node('moments')
image_topic = rospy.get_param('~image', '/tachyon/image')
rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
self.bridge = CvBridge()
geo_topic = '/%s/moments' % image_topic.split('/')[1]
self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
self.msg_geo = MsgGeometry()
threshold = rospy.get_param('~threshold', 127)
self.moments = Moments(threshold)
self.calibration = Calibration(0.375)
rospy.spin()
def cb_image(self, msg_image):
try:
stamp = msg_image.header.stamp
frame = self.bridge.imgmsg_to_cv2(msg_image)
if msg_image.encoding == 'rgb8':
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
major_axis, minor_axis, angle = self.moments.find_geometry(frame)
self.msg_geo.header.stamp = stamp
self.msg_geo.major_axis = self.calibration.correct(major_axis)
self.msg_geo.minor_axis = self.calibration.correct(minor_axis)
self.msg_geo.orientation = angle
self.pub_geo.publish(self.msg_geo)
except CvBridgeError, e:
print e
def __init__(self):
rospy.init_node('moments')
image_topic = rospy.get_param('~image', '/tachyon/image')
rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
self.bridge = CvBridge()
geo_topic = '/%s/moments' % image_topic.split('/')[1]
self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
self.msg_geo = MsgGeometry()
threshold = rospy.get_param('~threshold', 127)
path = rospkg.RosPack().get_path('mashes_measures')
config = rospy.get_param(
'~config', os.path.join(path, 'config', 'tachyon.yaml'))
self.moments = Moments(threshold)
self.projection = Projection(config)
rospy.spin()
class NdMoments():
def __init__(self):
rospy.init_node('moments')
image_topic = rospy.get_param('~image', '/tachyon/image')
rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
self.bridge = CvBridge()
geo_topic = '/%s/moments' % image_topic.split('/')[1]
self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
self.msg_geo = MsgGeometry()
threshold = rospy.get_param('~threshold', 127)
path = rospkg.RosPack().get_path('mashes_measures')
config = rospy.get_param(
'~config', os.path.join(path, 'config', 'tachyon.yaml'))
self.moments = Moments(threshold)
self.projection = Projection(config)
rospy.spin()
def cb_image(self, msg_image):
try:
stamp = msg_image.header.stamp
frame = self.bridge.imgmsg_to_cv2(msg_image)
if msg_image.encoding == 'rgb8':
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
center, axis, angle = self.moments.find_geometry(frame)
if axis[1] > 0:
center, axis, angle = self.projection.transform_ellipse(center, axis, angle)
self.msg_geo.header.stamp = stamp
self.msg_geo.x = center[0]
self.msg_geo.y = center[1]
self.msg_geo.major_axis = axis[0]
self.msg_geo.minor_axis = axis[1]
self.msg_geo.orientation = angle
self.pub_geo.publish(self.msg_geo)
except CvBridgeError, e:
print e