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
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(image_array)
# 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)
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(image_array)
# 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)
