def __init__(self, params, imgtopic):
# Old and new imgs
self.old_frame = np.array([])
self.new_frame = np.array([])
#form str for csv file name
self.strfile = '~/catkin_ws/' + params['detector'] + params[
'matcher'] + str(datetime.datetime.now()) + '.csv'
log = pd.DataFrame(columns=[
'nfeatures', 'nmatches', 'ngoodmatches', 'reproj_error', 'ex_time'
])
log.to_csv(self.strfile)
rospy.loginfo('saving log file in %s', self.strfile)
# Create filter image instance for video VideoCorrections
self.videocorrect = VideoCorrect()
# Create Visual Odometry instance
self.vo = VisualOdometry(params)
self.image_sub = rospy.Subscriber(imgtopic,
CompressedImage,
self.img_callback,
queue_size=1)
rospy.loginfo("Subscribed to %s topic", imgtopic)
self.img_pub = rospy.Publisher('/BlueRov2/image_matches',
Image,
queue_size=1)
