def callback(self,data):
try:
cv_image = cv.GetImage(self.bridge.imgmsg_to_cv(data, "mono8"))
koki = PyKoki()
params = CameraParams(Point2Df( cv_image.width/2, cv_image.height/2 ),
Point2Df(571, 571),
Point2Di( cv_image.width, cv_image.height ))
markers = koki.find_markers( cv_image, 0.1, params )
seencodes=[]
seenmarkers=[]
#rospy.logwarn(markers)
for m in markers:
markerinfo=Kokimarker()
rospy.loginfo("Code: " + str(m.code))
rospy.loginfo("Bearing: " + str(m.bearing))
rospy.loginfo("distance: " + str(m.distance))
seencodes.append(m.code)
markerinfo.ID = m.code
markerinfo.bearing = m.bearing
markerinfo.distance = m.distance
seenmarkers.append(markerinfo)
except CvBridgeError, e:
rospy.logwarn(str(e))
"""print 'did not get image'"""
#!/usr/bin/env python
from pykoki import PyKoki, Point2Di, Point2Df, CameraParams
import cv, cv2
import sys
if len(sys.argv) != 2:
print >> sys.stderr, "opencv_example.py IMG_FILE"
exit(1)
img = cv.LoadImage(sys.argv[1], cv.CV_LOAD_IMAGE_GRAYSCALE)
koki = PyKoki()
params = CameraParams(Point2Df(img.width / 2, img.height / 2),
Point2Df(571, 571), Point2Di(img.width, img.height))
print koki.find_markers(img, 0.1, params)
#!/usr/bin/env python
from pykoki import PyKoki, Point2Di, Point2Df, CameraParams
import cv, cv2
import sys
if len(sys.argv) != 2:
print >>sys.stderr, "opencv_example.py IMG_FILE"
exit(1)
img = cv.LoadImage( sys.argv[1], cv.CV_LOAD_IMAGE_GRAYSCALE )
koki = PyKoki()
params = CameraParams(Point2Df( img.width/2, img.height/2 ),
Point2Df(571, 571),
Point2Di( img.width, img.height ))
print koki.find_markers( img, 0.1, params )
