def service_callback(self, data):
print("\n### Service has been called ###")
res = rgbd_object_proposalResponse()
cv2ColorImg = None
cv2DepthImg = None
sys.stdout.write("Convert image message to cv2 image: ")
try:
cv2ColorImg = CvBridge().imgmsg_to_cv2(data.color)
cv2DepthImg = CvBridge().imgmsg_to_cv2(data.depth)
except CvBridgeError as e:
print(e)
return res
print("Done")
sys.stdout.write("Change the color order from BGR to RGB: ")
cv2ColorImg = cv2.cvtColor(cv2ColorImg, cv2.COLOR_BGR2RGB)
cv2DepthImg = cv2.cvtColor(cv2DepthImg, cv2.COLOR_BGR2RGB)
print("Done")
sys.stdout.write("Turn the cv2 images into matlab matries: ")
matlabColorImg = matlab.uint8(cv2ColorImg.tolist())
matlabDepthImg = matlab.uint8(cv2DepthImg.tolist())
print("Done")
print("Call the matlab object proposal function:\n")
matlabProposalImg = self.eng.rgbd_object_proposal_python_interface(
matlabColorImg, matlabDepthImg)
print("\n")
sys.stdout.write(
"Convert the image proposal response into numpy array: ")
npProposalImg = np.array(matlabProposalImg._data)
npProposalImg = npProposalImg.reshape(
matlabProposalImg.size, order='F') #order='F' is very important
npProposalImg = np.uint8(npProposalImg)
print("Done")
sys.stdout.write("Change the proposal color order from RGB to BGR: ")
npProposalImg = cv2.cvtColor(npProposalImg, cv2.COLOR_RGB2BGR)
print("Done")
sys.stdout.write("Turn the proposal into an image message: ")
try:
res.proposal = CvBridge().cv2_to_imgmsg(npProposalImg)
except CvBridgeError as e:
print(e)
return (res)
print("Done")
return res
