Ejemplo n.º 1
0
    def _draw_tips(self, image, tips):
        """Take an Image message and a Tips message, draw a boc around the
        tips in the image and publish the result.

        Record *image*'s sequence number in _last_published_seq.
        """

        # Convert image into RGB image
        rgb_im = image_to_array(image)

        # Use OpenCV to draw boxes in image
        for tip in tips.tips:
            roi = tip.roi

            # NB: cv2.circle will modify the image it works on.
	    if (roi.x_offset, roi.y_offset)!=(0,0):
        	cv2.circle(rgb_im,
                    (roi.x_offset, roi.y_offset),
                    5,
                    (0, 255, 0), # green
                    2 # thickness
                )

        # Publish image
        self._image_pub.publish(array_to_image(rgb_im))
        self._last_published_seq = image.header.seq
    def _draw_tips(self, image, tips):
        """Take an Image message and a Tips message, draw a boc around the
        tips in the image and publish the result.

        Record *image*'s sequence number in _last_published_seq.
        """

        # Convert image into RGB image
        rgb_im = image_to_array(image)

        # Use OpenCV to draw boxes in image
        for tip in tips.tips:
            roi = tip.roi

            # NB: cv2.circle will modify the image it works on.
            if (roi.x_offset, roi.y_offset) != (0, 0):
                cv2.circle(
                    rgb_im,
                    (roi.x_offset, roi.y_offset),
                    5,
                    (0, 255, 0),  # green
                    2  # thickness
                )

        # Publish image
        self._image_pub.publish(array_to_image(rgb_im))
        self._last_published_seq = image.header.seq
Ejemplo n.º 3
0
    def _detect_tips_callback(self, event):
        """Called periodically to detect tips in an image and publish the
        result.

        """

        # Get the latest image to arrive
        image = self._latest_image

        # Don't do anything if there is no latest image
        if image is None:
            return

        # "Claim" this image by clearing _latest_image
        self._latest_image = None

        # Create the tip message we will eventually publish
        tips_msg = Tips()

        # Copy the header from the input image so we know when and what these
        # tip detection results relate to.
        tips_msg.header = image.header

        # Parse image message into numpy array
        image_array = image_to_array(image)
        imageArray = reduce_size(image_array,'rgb',2);
	#imageArray = reduce_size(imageArray,'rgb',2);
	#imageArray = reduce_size(imageArray,'rgb',2);
        
        # Detect tips
        #detect_tip = TipDetector
        #tips = detect_tip(imageArray)
	tips = (330, 100)

        # Create a tip bounding box for each tip
        #for tip_idx, tip_bbox in enumerate(tips):
        #    rospy.logdebug('Tip #%s at %s', tip_idx+1, tip_bbox)

            # Create tip message
        tip_msg = Tip()
        tip_msg.header = tips_msg.header

            # Initialise roi
	if tips != (0,0):
            tip_msg.roi.x_offset = tips[0]
            tip_msg.roi.y_offset = tips[1]
            tip_msg.roi.do_rectify = False

            # Append to list of tips
        tips_msg.tips.append(tip_msg)

        # Publish tips messages
        self._tips_pub.publish(tips_msg)

	rospy.logdebug('Coordinates of tip: %s',
            tips)
Ejemplo n.º 4
0
    def _detect_tips_callback(self, event):
        """Called periodically to detect tips in an image and publish the
        result.

        """

        # Get the latest image to arrive
        image = self._latest_image

        # Don't do anything if there is no latest image
        if image is None:
            return

        # "Claim" this image by clearing _latest_image
        self._latest_image = None

        # Create the tip message we will eventually publish
        tips_msg = Tips()

        # Copy the header from the input image so we know when and what these
        # tip detection results relate to.
        tips_msg.header = image.header

        # Parse image message into numpy array
        image_array = image_to_array(image)
        imageArray = reduce_size(image_array, 'rgb', 2)
        #imageArray = reduce_size(imageArray,'rgb',2);
        #imageArray = reduce_size(imageArray,'rgb',2);

        # Detect tips
        #detect_tip = TipDetector
        #tips = detect_tip(imageArray)
        tips = (330, 100)

        # Create a tip bounding box for each tip
        #for tip_idx, tip_bbox in enumerate(tips):
        #    rospy.logdebug('Tip #%s at %s', tip_idx+1, tip_bbox)

        # Create tip message
        tip_msg = Tip()
        tip_msg.header = tips_msg.header

        # Initialise roi
        if tips != (0, 0):
            tip_msg.roi.x_offset = tips[0]
            tip_msg.roi.y_offset = tips[1]
            tip_msg.roi.do_rectify = False

            # Append to list of tips
        tips_msg.tips.append(tip_msg)

        # Publish tips messages
        self._tips_pub.publish(tips_msg)

        rospy.logdebug('Coordinates of tip: %s', tips)
Ejemplo n.º 5
0
def got_image(side, image_message):
    STATE["last_image_header"]=image_message.header
    STATE[side]=image_to_array(image_message)
    if STATE["left"] is not None and STATE["right"] is not None:
        handle_images()
Ejemplo n.º 6
0
def got_image(side, image_message):
    STATE["last_image_header"] = image_message.header
    STATE[side] = image_to_array(image_message)
    if STATE["left"] is not None and STATE["right"] is not None:
        handle_images()