def publish(self):
flystate = MsgFlystate()
flystate.header = Header(seq=self.iCount,
stamp=self.stamp,
frame_id='Fly')
if (self.params['gui']['head']['track']):
flystate.head = self.head.state
else:
flystate.head = MsgState()
if (self.params['gui']['abdomen']['track']):
flystate.abdomen = self.abdomen.state
else:
flystate.abdomen = MsgState()
if (self.params['gui']['left']['track']):
flystate.left = self.left.state
else:
flystate.left = MsgState()
if (self.params['gui']['right']['track']):
flystate.right = self.right.state
else:
flystate.right = MsgState()
if (self.params['gui']['aux']['track']):
flystate.aux = self.aux.state
else:
flystate.aux = MsgState()
self.iCount += 1
self.pubFlystate.publish(flystate)
def __init__(self, name=None, params={}, color='white', bEqualizeHist=False):
MotionTrackedBodypartPolar.__init__(self, name, params, color, bEqualizeHist)
self.phasecorr = imageprocessing.PhaseCorrelation()
self.state = MsgState() # In the bodypart frame.
self.stateOrigin_p = MsgState() # In the bodypart frame.
self.stateLo_p = MsgState() # In the bodypart frame.
self.stateHi_p = MsgState() # In the bodypart frame.
self.imgComparison = None
self.windowStabilized = ImageWindow(False, self.name+'Stable')
self.windowComparison = ImageWindow(True, self.name+'Comparison')
self.set_params(params)
def __init__(self, name=None, params={}, color='white', bEqualizeHist=False):
MotionTrackedBodypart.__init__(self, name, params, color, bEqualizeHist)
self.name = name
self.detector = EdgeDetectorByHoughTransform(self.name, params)
self.state = MsgState()
self.windowEdges = ImageWindow(False, self.name+'Edges')
self.set_params(params)
# Services, for live intensities plots via live_wing_histograms.py
self.service_trackerdata = rospy.Service('trackerdata_'+self.name, SrvTrackerdata, self.serve_trackerdata_callback)
def __init__(self, name=None, params={}, color='white', bEqualizeHist=False):
MotionTrackedBodypartPolar.__init__(self, name, params, color, bEqualizeHist)
self.name = name
self.detector = TipDetector()
self.state = MsgState()
self.set_params(params)
self.windowTip = ImageWindow(False, self.name+'Tip')
self.iAngle = 0
self.iRadius = 0
# Services, for live intensities plots via live_wing_histograms.py
self.service_trackerdata = rospy.Service('trackerdata_'+self.name, SrvTrackerdata, self.serve_trackerdata_callback)
def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
IntensityTrackedBodypart.__init__(self, name, params, color,
bEqualizeHist)
self.state = MsgState()
self.state.intensity = 0.0
self.state.freq = 0.0
self.wingbeat = WingbeatDetector(0, 1000)
self.set_params(params)