def videoFrame1(self, image):
self.cv_image = self.cv.imgmsg_to_cv2(image, "rgb8")
self.cv_image = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2RGB)
self.cv_image = cv2.resize(self.cv_image, (self.cv_image.shape[1]/2, self.cv_image.shape[0]/2))
lab_img, cont_image, center_mass, cont_area = find_car(self.cv_image, self.trackingColor, self.hsThreshold.value()/100.0)
self.cv_image = find_rectangles(self.cv_image)
qi = QImage(cont_image.data, cont_image.shape[1], cont_image.shape[0], QImage.Format_RGB888).rgbSwapped()
self.lbVideo1.setFixedHeight(cont_image.shape[0])
self.lbVideo1.setFixedWidth(cont_image.shape[1])
self.lbVideo1.setPixmap(QPixmap.fromImage(qi))
def videoFrame(self, image):
self.cv_image = self.cv.imgmsg_to_cv2(image, "rgb8")
self.cv_image = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2RGB)
self.cv_image = cv2.resize(self.cv_image, (self.cv_image.shape[1]/2, self.cv_image.shape[0]/2))
lab_img, cont_image, center_mass, cont_area = find_car(self.cv_image, self.trackingColor, self.hsThreshold.value()/100.0)
self.cv_image = find_rectangles(self.cv_image)
qi = QImage(cont_image.data, cont_image.shape[1], cont_image.shape[0], QImage.Format_RGB888).rgbSwapped()
self.lbVideo.setFixedHeight(cont_image.shape[0])
self.lbVideo.setFixedWidth(cont_image.shape[1])
self.lbVideo.setPixmap(QPixmap.fromImage(qi))
x_center = center_mass[0]
y_center = center_mass[1]
self.handle(cont_area)
if self.cbAuto.isChecked():
self.fly(x_center, y_center, cont_area)
else:
self.lbAuto.setText('Disabled.')
