def __init__(self):
self.reusing_bg_images = rospy.get_param('/camera/faa_image_processing/reusing_bg_images')
self.image_p_pub = rospy.Publisher("image_processed",Image)
self.image_d_pub = rospy.Publisher("data_image",Image)
self.tracking_data_pub = rospy.Publisher("tracking_data",TrackingData)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("image_conditioned",Image,self.conditioned_image_callback)
self.actuation_state_sub = rospy.Subscriber("/faa_actuation/actuation_state",ActuationState,self.actuation_state_callback)
self.tracking = False
self.drawing = False
self.tracker = Tracker()
self.drawer = Drawer()
self.parameters = Parameters()
self.tracker.setParameters(self.parameters)
self.drawer.setParameters(self.parameters)
self.display_images = False
if self.display_images:
# cv.NamedWindow("Image Processed", 1)
# cv.NamedWindow("Image Tracked", 1)
cv.NamedWindow("Image Data", 1)
self.image_conditioned = None
self.sbi = rospy.Service('/faa_image_processing/save_background_image', SaveImage, self.save_background_image_callback)
self.st = rospy.Service('/faa_image_processing/set_tracking', SetTracking, self.set_tracking_callback)
self.gp = rospy.Service('/faa_image_processing/get_parameters', GetParameters, self.get_parameters_callback)
self.sp = rospy.Service('/faa_image_processing/set_parameter', SetParameter, self.set_parameter_callback)
self.sap = rospy.Service('/faa_image_processing/set_array_parameter', SetArrayParameter, self.set_array_parameter_callback)
self.ss = rospy.Service('/faa_image_processing/set_status', SetStatus, self.set_status_callback)
