def make_frame(self):
if not (self.ow_img is None or self.uvc_img is None):
#### Create Image ####
sz = (160, 120)
img_left = cv2.resize(self.ow_img, sz)
img_right = cv2.resize(self.uvc_img, sz)
montage = ResultsMontage((sz[1], sz[0]), 1, 2)
montage.addResult(img_left)
montage.addResult(img_right)
msg = Image()
msg.header.stamp = rospy.Time.now()
msg.encoding = 'bgr8'
msg.step = montage.montage.shape[1] * 3
msg.height = montage.montage.shape[0]
msg.width = montage.montage.shape[1]
msg.data = np.array(montage.montage).tostring()
# Publish new image
self.image_pub.publish(msg)
msg = CompressedImage()
msg.header.stamp = rospy.Time.now()
msg.format = 'jpeg'
msg.data = np.array(cv2.imencode('.jpg',
montage.montage)[1]).tostring()
self.image_pub_jpg.publish(msg)
montage = ResultsMontage((sz[1], sz[0]), 2, 2)
montage.addResult(img_left)
montage.addResult(img_right)
msg = Image()
msg.header.stamp = rospy.Time.now()
msg.encoding = 'bgr8'
msg.step = montage.montage.shape[1] * 3
msg.height = montage.montage.shape[0]
msg.width = montage.montage.shape[1]
msg.data = np.array(montage.montage).tostring()
# Publish new image
self.image_pub_h.publish(msg)
msg = CompressedImage()
msg.header.stamp = rospy.Time.now()
msg.format = 'jpeg'
msg.data = np.array(cv2.imencode('.jpg',
montage.montage)[1]).tostring()
self.image_pub_jpg_h.publish(msg)
self.ow_img = None
self.uvc_img = None
def callback():
#Change this to a loop over all image files in the rgb folder
rgb_filenames = [
os.path.join(args.input_dir, f)
for f in list(os.walk(args.input_dir))[0][2]
]
depth_filenames = [
os.path.join(args.output_dir, f)
for f in list(os.walk(args.output_dir))[0][2]
]
print("Reading images and converting them to the correct size.")
process_time = 0
image_saving_time = 0
print("Converting to depth images and storing in the output directory")
for i in range(len(rgb_filenames)):
rgb_image = scipy.misc.imread(rgb_filenames[i], mode="RGB")
original_height, original_width, num_channels = input_image.shape
input_image = scipy.misc.imresize(
input_image, [args.input_height, args.input_width],
interp='lanczos')
depth_image = scipy.misc.imread(depth_filenames[i])
#Form the rgb message
msg_rgb = Image()
msg_rgb.header.stamp = rospy.Time.now()
msg_rgb.format = "png"
msg_rgb.data = np.array(cv2.imencode('.png',
rgb_image)[1]).tostring()
#Form the depth message
msg_depth = Image()
msg_depth.header.stamp = rospy.Time.now()
msg_depth.format = "png"
msg_depth.data = np.array(cv2.imencode('.png',
depth_image)[1]).tostring()
# Publish both images
print("Publishing rgb image")
self.image_pub_rgb.publish(msg_rgb)
print("Publishing depth image")
self.image_pub_depth.publish(msg_depth)
def image_process(image, params):
#bridge = CvBridge()
lower = params['lowerY']
upper = params['upperY']
debug_info = params['debug_info']
global error
try:
#cv_image = bridge.imgmsg_to_cv2(image)
raw_data = np.fromstring(image.data, np.uint8)
cv_image = cv2.imdecode(raw_data, cv2.IMREAD_COLOR)
gray = cv2.imdecode(raw_data, cv2.IMREAD_GRAYSCALE)
_, gray = cv2.threshold(gray, 250, 255, cv2.THRESH_BINARY)
y_len, x_len = gray.shape
lower, upper = max(0, lower), min(upper, y_len)
if debug_info: print(lower, upper, 'image crop in Y')
gray = gray[lower:upper, :]
y_len, x_len = gray.shape
total_error = []
for y in range(10, y_len, 90):
weighted_mass = 0
mass = 0
for x in range(0, x_len):
if gray[y, x] == 255:
mass += 1
weighted_mass += x
if mass > 0:
final_x = int(weighted_mass / mass)
total_error.append(
float(final_x - x_len // 2) / float(x_len // 2))
if params['display_processed_image']:
cv2.rectangle(gray, (final_x - 10, y),
(final_x + 10, y + 35), 120, 2)
#cv2.imshow('wooho', gray)
if debug_info: print(total_error)
if len(total_error) > 2:
error = sum(total_error) / len(total_error)
if params['display_image']: cv2.imshow('raw', cv_image)
if params['display_processed_image']: cv2.imshow('processed', gray)
if params['publish_processed_image']:
msg = Image()
msg.header.stamp = rospy.Time.now()
msg.format = "jpeg"
msg.data = np.array(cv2.imencode('.jpg', gray)[1]).tostring()
params['img_pub'].publish(msg)
cv2.waitKey(1)
except Exception as e:
if debug_info:
print(e)
def image_process(image, params):
bridge = CvBridge()
global error
try:
cv_image = bridge.imgmsg_to_cv2(image, desired_encoding="bgr8")
lower = np.array([110, 50, 50], dtype="uint8")
upper = np.array([130, 255, 255], dtype="uint8")
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(cv_image, lower, upper)
#mask = cv2.erode(mask, None, iterations=2)
#mask = cv2.dilate(mask, None, iterations=2)
output = cv2.bitwise_and(cv_image, cv_image, mask=mask)
#output = mask
#cnts = cv2.findCountours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
#raw_data = np.fromstring(image.data, np.uint8)
#cv_image = cv2.imdecode(raw_data, cv2.IMREAD_COLOR)
#cv_image = cv2.cvtColor(cv_image, cv2.COLOR_HSV2BGR)
#print(reds.shape, cv_image.shape, len(cv_image))
#cv2.imshow('wooho', reds)
#reds = cv_image[:, :, 2].copy()
#print(reds.shape)
#_, reds = cv2.threshold(reds, 250, 255, cv2.THRESH_BINARY)
#print('here')
cv2.imshow('raw', cv_image)
cv2.imshow('mask', mask)
cv2.imshow('output', output)
cv2.waitKey(1)
return
if debug_info: print(total_error)
if len(total_error) > 2:
error = sum(total_error) / len(total_error)
if params['display_image']: cv2.imshow('raw', cv_image)
if params['display_processed_image']: cv2.imshow('processed', gray)
if params['publish_processed_image']:
msg = Image()
msg.header.stamp = rospy.Time.now()
msg.format = "jpeg"
msg.data = np.array(cv2.imencode('.jpg', gray)[1]).tostring()
params['img_pub'].publish(msg)
except Exception as e:
print(e)
