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, roi.y)!=(0,0): cv2.circle(rgb_im, (roi.x, roi.y), 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, roi.y) != (0, 0): cv2.circle( rgb_im, (roi.x, roi.y), 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 got_image(image_message): STATE["last_image_header"]=image_message.header STATE["image"]=image_to_array(image_message) if STATE["image"] is not None: handle_images()