def do_ecto():
#Set up the ecto_ros subscribers, with a dict of output name -> subscriber cell
subs = dict(
image=ImageSub(topic_name='image', queue_size=0),
depth=ImageSub(topic_name='depth', queue_size=0),
)
#The synchronizer expects this dict, and will have an output foreach key:value pair
sync = ecto_ros.Synchronizer('Synchronizator', subs=subs)
#some rosmsg ~> opencv type converters
rgb = ecto_ros.Image2Mat()
depth = ecto_ros.Image2Mat()
#declare a graph that just shows the images using opencv highgui
graph = [
sync["image"] >> rgb["image"], sync["depth"] >> depth["image"],
rgb["image"] >> imshow(name="rgb")["image"],
depth["image"] >> imshow(name="depth")["image"]
]
#add the graph to our ecto plasm
plasm = ecto.Plasm()
plasm.connect(graph)
#We'll use a threadpool based scheduler to execute this one.
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute() #execute forever
def do_ecto():
baggers = dict(
image=ImageBagger(topic_name='/camera/rgb/image_mono'),
depth=ImageBagger(topic_name='/camera/depth/image_raw'),
)
bagwriter = ecto_ros.BagWriter(
'Bag Writer',
baggers=baggers,
bag=sys.argv[1],
)
subs = dict(
image=ImageSub(topic_name='/camera/rgb/image_mono', queue_size=0),
depth=ImageSub(topic_name='/camera/depth/image_raw', queue_size=0),
)
sync = ecto_ros.Synchronizer('Synchronizator', subs=subs)
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
graph = [
sync["image"] >> im2mat_rgb["image"],
im2mat_rgb["image"] >> highgui.imshow("rgb show", name="rgb")[:],
sync[:] >> bagwriter[:], sync["depth"] >> im2mat_depth["image"],
im2mat_depth["image"] >> highgui.imshow("depth show", name="depth")[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.schedulers.Threadpool(plasm)
sched.execute(niter=30) #capture a second.
def declare_cells(p):
#this is the private synchronization subscriber setup.
#NOTE that these are all ROS remappable on the command line in typical ros fashion
qsize = 1
cells = BaseSource.declare_cells(p)
subs = dict(image=ImageSub(topic_name='/bogus_topic_image',
queue_size=qsize),
image_info=CameraInfoSub(topic_name='/bogus_topic_image',
queue_size=qsize),
depth=ImageSub(topic_name='/bogus_topic_depth',
queue_size=qsize),
depth_info=CameraInfoSub(topic_name='/bogus_topic_depth',
queue_size=qsize))
cells.update(subs)
cells['source'] = ecto_ros.Synchronizer('Synchronizator', subs=subs)
return cells
def declare_io(self, p, i, o):
BaseSource.declare_io(self, p, i, o)
#this is the private synchronization subscriber setup.
#NOTE that these are all ROS remappable on the command line in typical ros fashion
#TODO Should these just be simple names where remapping is expected?
subs = dict(
image=ImageSub(topic_name='/camera/rgb/image_color', queue_size=0),
depth=ImageSub(topic_name='/camera/depth/image', queue_size=0),
depth_info=CameraInfoSub(topic_name='/camera/depth/camera_info',
queue_size=0),
image_info=CameraInfoSub(topic_name='/camera/rgb/camera_info',
queue_size=0),
)
#Creating this in declare io, so that i can declare the output with a concrete type.
self._source = ecto_ros.Synchronizer('Synchronizator', subs=subs)
#notice that this is not a forward declare
#its a declaration with the name, and a pointer to a tendril.
o.declare('image_message', self._source.outputs.at('image'))
o.declare('depth_message', self._source.outputs.at('depth'))
o.declare('image_info_message', self._source.outputs.at('image_info'))
o.declare('depth_info_message', self._source.outputs.at('depth_info'))
debug = True
poser = OpposingDotPoseEstimator(plasm,
rows=5,
cols=3,
pattern_type="acircles",
square_size=0.04,
debug=debug)
camera_info = calib.CameraIntrinsics('Camera Info',
camera_file="camera.yml")
subs = dict(
image=ImageSub(topic_name='camera/rgb/image_color', queue_size=0),
depth=ImageSub(topic_name='camera/depth/image', queue_size=0),
)
sync = ecto_ros.Synchronizer('Synchronizator', subs=subs)
brg2rgb = imgproc.cvtColor('bgr -> rgb', flag=4)
rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
gray2rgb = imgproc.cvtColor('gray -> rgb', flag=8)
print gray2rgb.__doc__
display = highgui.imshow('Poses', name='Poses', waitKey=2, autoSize=True)
mask_display = highgui.imshow('Masks',
name='Masks',
waitKey=-1,
autoSize=True)
object_display = highgui.imshow('Object',
name='Object',
waitKey=-1,
autoSize=True)