def imgPublisher():
image = sqlconnect()
rospy.init_node('ShelfPub', anonymous=True)
pubshelf = rospy.Publisher('shelfori', Image, queue_size=10)
pub = rospy.Publisher('shelfimg', Image, queue_size=10)
pub2 = rospy.Publisher('shelfimg2', Image, queue_size=10)
pub3 = rospy.Publisher('shelfimg3', Image, queue_size=10)
#numpub = rospy.Publisher('shelfnum',String, queue_size=10)
DBpub = rospy.Publisher('shelfDB', DBinfo, queue_size=10)
bridge = CvBridge()
DBdata = DBinfo()
idnum = 0
for i in range(20):
DBdata.Frame[i] = Info[i][0]
DBdata.id[i] = Info[i][1]
DBdata.Xmin[i] = Info[i][2]
DBdata.Ymin[i] = Info[i][3]
DBdata.Width[i] = Info[i][4]
DBdata.Height[i] = Info[i][5]
if (Info[i][1] == idnum):
imagenum[idnum] = i
idnum = idnum + 1
shelfOri = bridge.cv2_to_imgmsg(shelfCut, encoding="bgr8")
print(imagenum[0])
msg = bridge.cv2_to_imgmsg(image[imagenum[0]], encoding="bgr8")
print(imagenum[1])
msg2 = bridge.cv2_to_imgmsg(image[imagenum[1]], encoding="bgr8")
print(type(image[4]))
msg3 = bridge.cv2_to_imgmsg(image[imagenum[2]], encoding="bgr8")
rate = rospy.Rate(0.5)
#print(str(Info[0][0]))
print("Pulish")
for k in range(2):
#numpub.publish(str2)
DBpub.publish(DBdata)
rate.sleep()
for i in range(3):
pubshelf.publish(shelfOri)
pub.publish(msg)
pub2.publish(msg2)
pub3.publish(msg3)
rate.sleep()
print("finish")
print('Wait...')
def imgPublisher():
image = sqlconnect()
rospy.init_node('ShelfPub', anonymous=True)
pub = rospy.Publisher('shelfimg', Image, queue_size=10)
pub2 = rospy.Publisher('shelfimg2', Image, queue_size=10)
numpub = rospy.Publisher('shelfnum', String, queue_size=10)
DBpub = rospy.Publisher('shelfDB', DBinfo, queue_size=10)
bridge = CvBridge()
msg = bridge.cv2_to_imgmsg(image[0], encoding="bgr8")
msg2 = bridge.cv2_to_imgmsg(image[2], encoding="bgr8")
str2 = str(Info[0][0])
DBdata = DBinfo()
for i in range(20):
DBdata.Frame[i] = Info[i][0]
DBdata.id[i] = Info[i][1]
DBdata.Xmin[i] = Info[i][2]
DBdata.Ymin[i] = Info[i][3]
DBdata.Width[i] = Info[i][4]
DBdata.Height[i] = Info[i][5]
rate = rospy.Rate(0.5)
#print(str(Info[0][0]))
print("Pulish")
for k in range(2):
#numpub.publish(str2)
DBpub.publish(DBdata)
rate.sleep()
for i in range(3):
pub.publish(msg)
pub2.publish(msg2)
rate.sleep()
print("finish")
print('Wait...')
def imgPublisher():
# sqlconnect関数に入り物体情報を取得
global cntone
image = sqlconnect()
# 初期化 : ソフトウェア名は「ShelfPub」
rospy.init_node('ShelfPub', anonymous=True)
# nodeの宣言 : publisherのインスタンスを作成
# 「shelfori」というTopicにImage型のメッセージを送るPublisherの作成
#pubshelf = rospy.Publisher('shelfori',Image, queue_size=10)
# Topic「shelfDB」に[detect_object/msg/DBinfo.msg]型のメッセージを送るPublisherの作成
DBpub = rospy.Publisher('shelfDB', DBinfo, queue_size=10)
bridge = CvBridge()
DBdata = DBinfo()
dbcnt = 0
for i in range(20):
DBdata.FrameB[i] = Info[i][0]
DBdata.FrameT[i] = Info[i][1]
DBdata.TimeB[i] = Info[i][2]
DBdata.TimeT[i] = Info[i][3]
DBdata.id[i] = Info[i][4]
DBdata.Xmin[i] = Info[i][5]
DBdata.Ymin[i] = Info[i][6]
DBdata.Width[i] = Info[i][7]
DBdata.Height[i] = Info[i][8]
DBdata.Depth[i] = Info[i][9]
DBdata.Yobi[i] = 0
DBdata.YobiYobi[i] = 0
if (Info[i][9] == 0):
break
dbcnt = dbcnt + 1
DBdata.cnt = dbcnt
print('DBdataカウント数', DBdata.cnt)
for i in range(0, DBdata.cnt):
# Topic「shelfimg$i」にImage型のメッセージを送るPublisherの作成
pub[i] = rospy.Publisher('shelfimg' + str(i), Image, queue_size=10)
#shelfOri=bridge.cv2_to_imgmsg(shelfCut, encoding="bgr8")
for i in range(0, DBdata.cnt):
# sqlconnectの返り値をimgmsg形式に変換
msg[i] = bridge.cv2_to_imgmsg(image[i], encoding="bgr8")
if (cntone == 0):
# まず物体のサイズや座標などの情報をpublish
rate = rospy.Rate(0.5)
print("Pulish")
for k in range(pubcount):
DBpub.publish(DBdata)
rate.sleep()
# 物体の画像をpublish
for i in range(pubcount):
#pubshelf.publish(shelfOri)
for i in range(0, DBdata.cnt):
pub[i].publish(msg[i])
rate.sleep()
print("finish")
print('Wait...')
cntone = 1
def imgPublisher():
#sqlconnect関数に入り物体情報を取得
global cntone
image = sqlconnect()
rospy.init_node('ShelfPub', anonymous=True)
pubshelf = rospy.Publisher('shelfori', Image, queue_size=10)
DBpub = rospy.Publisher('shelfDB', DBinfo, queue_size=10)
bridge = CvBridge()
DBdata = DBinfo()
idnum = 0
vecnum = 0
dbcnt = 0
# データベースの情報を送信するデータに格納
for i in range(20):
DBdata.FrameB[i] = Info[i][0]
DBdata.FrameT[i] = Info[i][1]
DBdata.TimeB[i] = Info[i][2]
DBdata.TimeT[i] = Info[i][3]
DBdata.id[i] = Info[i][4]
DBdata.Xmin[i] = Info[i][5]
DBdata.Ymin[i] = Info[i][6]
DBdata.Width[i] = Info[i][7]
DBdata.Height[i] = Info[i][8]
DBdata.Depth[i] = Info[i][9]
DBdata.Yobi[i] = 0
DBdata.YobiYobi[i] = 0
if (Info[i][9] == 0):
break
dbcnt = dbcnt + 1
DBdata.cnt = dbcnt
print(DBdata.cnt)
for i in range(0, DBdata.cnt):
pub[i] = rospy.Publisher('shelfimg' + str(i), Image, queue_size=10)
shelfOri = bridge.cv2_to_imgmsg(shelfCut, encoding="bgr8")
for i in range(0, DBdata.cnt):
#print(imagenum[i])
msg[i] = bridge.cv2_to_imgmsg(image[i], encoding="bgr8")
if (cntone == 0):
# まず物体のサイズや座標などの情報をpublish
rate = rospy.Rate(0.5)
#print(str(Info[0][0]))
print("Pulish")
for k in range(2):
DBpub.publish(DBdata)
rate.sleep()
# 物体の画像をpublish
for i in range(2):
pubshelf.publish(shelfOri)
for i in range(0, DBdata.cnt):
pub[i].publish(msg[i])
rate.sleep()
print("finish")
print('Wait...')
cntone = 1
def imgPublisher():
#sqlconnect関数に入り物体情報を取得
global cntone
image = sqlconnect()
rospy.init_node('ShelfPub', anonymous=True)
if (ids == "true1"):
pubshelf = rospy.Publisher('shelfori_1', Image, queue_size=10)
elif (ids == "true2"):
pubshelf = rospy.Publisher('shelfori_2', Image, queue_size=10)
"""pub = rospy.Publisher('shelfimg',Image, queue_size=10)
pub2 = rospy.Publisher('shelfimg2',Image, queue_size=10)
pub3 = rospy.Publisher('shelfimg3',Image, queue_size=10)"""
"""pub[0]=rospy.Publisher('shelfimg',Image, queue_size=10)
pub[1]=rospy.Publisher('shelfimg2',Image, queue_size=10)
pub[2]=rospy.Publisher('shelfimg3',Image, queue_size=10)"""
#numpub = rospy.Publisher('shelfnum',String, queue_size=10)
#if(ids=="true1"):
DBpub = rospy.Publisher('shelfDB_1', DBinfo, queue_size=10)
#elif(ids=="true2"):
# DBpub = rospy.Publisher('shelfDB_2',DBinfo, queue_size=10)
bridge = CvBridge()
DBdata = DBinfo()
idnum = 0
vecnum = 0
dbcnt = 0
for i in range(20):
DBdata.FrameB[i] = Info[i][0]
DBdata.FrameT[i] = Info[i][1]
DBdata.TimeB[i] = Info[i][2]
DBdata.TimeT[i] = Info[i][3]
DBdata.id[i] = Info[i][4]
DBdata.Xmin[i] = Info[i][5]
DBdata.Ymin[i] = Info[i][6]
DBdata.Width[i] = Info[i][7]
DBdata.Height[i] = Info[i][8]
DBdata.Depth[i] = Info[i][9]
DBdata.Yobi[i] = 0
DBdata.YobiYobi[i] = 0
if (Info[i][9] == 0):
break
dbcnt = dbcnt + 1
"""if(Info[i][1]==idnum):
if(Info[i][7]==1):
imagenum[vecnum]=i
DBdata.WhatNo[vecnum]=i
idnum=idnum+1
vecnum=vecnum+1
elif(Info[i][7]==2):
idnum=idnum+1"""
DBdata.cnt = dbcnt
print(DBdata.cnt)
#print(DBdata.WhatNo[0])
#print(DBdata.WhatNo[1])
if (ids == "true1"):
for i in range(0, DBdata.cnt):
pub[i] = rospy.Publisher('shelfimg' + str(i) + '_1',
Image,
queue_size=10)
elif (ids == "true2"):
for i in range(0, DBdata.cnt):
pub[i] = rospy.Publisher('shelfimg' + str(i) + '_2',
Image,
queue_size=10)
shelfOri = bridge.cv2_to_imgmsg(shelfCut, encoding="bgr8")
for i in range(0, DBdata.cnt):
#print(imagenum[i])
msg[i] = bridge.cv2_to_imgmsg(image[i], encoding="bgr8")
"""
print(imagenum[1])
msg2 = bridge.cv2_to_imgmsg(image[imagenum[1]], encoding="bgr8")
print(type(image[4]))
msg3 = bridge.cv2_to_imgmsg(image[imagenum[2]], encoding="bgr8")
"""
if (cntone == 0):
# まず物体のサイズや座標などの情報をpublish
rate = rospy.Rate(0.5)
#print(str(Info[0][0]))
print("Pulish")
for k in range(2):
DBpub.publish(DBdata)
rate.sleep()
# 物体の画像をpublish
for i in range(2):
pubshelf.publish(shelfOri)
for i in range(0, DBdata.cnt):
pub[i].publish(msg[i])
rate.sleep()
print("finish")
print('Wait...')
cntone = 1
def imgPublisher():
image = sqlconnect()
rospy.init_node('ShelfPub', anonymous=True)
pubshelf = rospy.Publisher('shelfori', Image, queue_size=10)
"""pub = rospy.Publisher('shelfimg',Image, queue_size=10)
pub2 = rospy.Publisher('shelfimg2',Image, queue_size=10)
pub3 = rospy.Publisher('shelfimg3',Image, queue_size=10)"""
"""pub[0]=rospy.Publisher('shelfimg',Image, queue_size=10)
pub[1]=rospy.Publisher('shelfimg2',Image, queue_size=10)
pub[2]=rospy.Publisher('shelfimg3',Image, queue_size=10)"""
#numpub = rospy.Publisher('shelfnum',String, queue_size=10)
DBpub = rospy.Publisher('shelfDB', DBinfo, queue_size=10)
bridge = CvBridge()
DBdata = DBinfo()
idnum = 0
vecnum = 0
for i in range(20):
DBdata.Frame[i] = Info[i][0]
DBdata.id[i] = Info[i][1]
DBdata.Xmin[i] = Info[i][2]
DBdata.Ymin[i] = Info[i][3]
DBdata.Width[i] = Info[i][4]
DBdata.Height[i] = Info[i][5]
DBdata.Depth[i] = Info[i][6]
if (Info[i][1] == idnum):
if (Info[i][7] == 1):
imagenum[vecnum] = i
DBdata.WhatNo[vecnum] = i
idnum = idnum + 1
vecnum = vecnum + 1
elif (Info[i][7] == 2):
idnum = idnum + 1
DBdata.cnt = vecnum
print(DBdata.cnt)
#print(DBdata.WhatNo[0])
#print(DBdata.WhatNo[1])
for i in range(0, DBdata.cnt):
pub[i] = rospy.Publisher('shelfimg' + str(i), Image, queue_size=10)
shelfOri = bridge.cv2_to_imgmsg(shelfCut, encoding="bgr8")
for i in range(0, DBdata.cnt):
#print(imagenum[i])
msg[i] = bridge.cv2_to_imgmsg(image[imagenum[i]], encoding="bgr8")
"""
print(imagenum[1])
msg2 = bridge.cv2_to_imgmsg(image[imagenum[1]], encoding="bgr8")
print(type(image[4]))
msg3 = bridge.cv2_to_imgmsg(image[imagenum[2]], encoding="bgr8")
"""
rate = rospy.Rate(0.5)
#print(str(Info[0][0]))
print("Pulish")
for k in range(2):
DBpub.publish(DBdata)
rate.sleep()
for i in range(2):
pubshelf.publish(shelfOri)
for i in range(0, DBdata.cnt):
pub[i].publish(msg[i])
rate.sleep()
print("finish")
print('Wait...')