def add_image(self):
rospy.loginfo("add image called!")
image_marker = Marker()
image_marker.type = image_marker.POINTS
image_marker.scale.x = 0.05
image_marker.scale.y = 0.05
image_marker.scale.z = 0.05
for col in xrange(0, self.image.cols, 3):
for row in xrange(0, self.image.rows, 3):
# sinking it a bit s.t. the Interactive Markers are easier to grab
(xx, yy) = im_utils.metersFromPixels(row, col, self.ppm, self.image.rows, self.image.cols)
pt = Point(xx, yy, -0.05)
image_marker.points.append(pt)
(red, green, blue) = im_utils.rosFromCVbridgeColor(self.image[row,col])
cc = ColorRGBA(red, green, blue, 1.0)
image_marker.colors.append(cc)
image_control = InteractiveMarkerControl()
image_control.always_visible = True
image_control.markers.append(image_marker)
image_im = InteractiveMarker()
image_im.header.frame_id = self.frame_id
image_im.name = "CameraIM"
image_im.description = ""
image_im.controls.append(image_control)
self.im_server.insert(image_im)
self.im_server.applyChanges()
def add_image(self):
rospy.loginfo("add image called!")
image_marker = Marker()
image_marker.type = image_marker.POINTS
image_marker.scale.x = 0.05
image_marker.scale.y = 0.05
image_marker.scale.z = 0.05
for col in xrange(0, self.image.cols, 3):
for row in xrange(0, self.image.rows, 3):
# sinking it a bit s.t. the Interactive Markers are easier to grab
(xx, yy) = im_utils.metersFromPixels(row, col, self.ppm,
self.image.rows,
self.image.cols)
pt = Point(xx, yy, -0.05)
image_marker.points.append(pt)
(red, green,
blue) = im_utils.rosFromCVbridgeColor(self.image[row, col])
cc = ColorRGBA(red, green, blue, 1.0)
image_marker.colors.append(cc)
image_control = InteractiveMarkerControl()
image_control.always_visible = True
image_control.markers.append(image_marker)
image_im = InteractiveMarker()
image_im.header.frame_id = self.frame_id
image_im.name = "CameraIM"
image_im.description = ""
image_im.controls.append(image_control)
self.im_server.insert(image_im)
self.im_server.applyChanges()
def add_image(self):
rospy.loginfo("add image called!")
menu_handler = MenuHandler()
menu_foreground = menu_handler.insert("Foreground",
callback=self.foreground_cb)
menu_background = menu_handler.insert("Background",
callback=self.background_cb)
image_marker = Marker()
image_marker.type = image_marker.POINTS
image_marker.scale.x = 0.05
image_marker.scale.y = 0.05
image_marker.scale.z = 0.05
# displaying every pixel is too much; downsample before turning image into IM
for col in xrange(0, self.image.cols, 3):
for row in xrange(0, self.image.rows, 3):
# sinking it a bit s.t. the Interactive Markers are easier to grab
(xx, yy) = im_utils.metersFromPixels(row, col, self.ppm,
self.image.rows,
self.image.cols)
mask_val = self.mask[row, col]
(red, green,
blue) = im_utils.rosFromCVbridgeColor(self.image[row, col])
# TODO: these are magic numbers from opencv, indicating forground/probable foreground
# (in OpenCV, they're cv::GC_FGC cf::GC_PR_FGD)
if (mask_val == 1) or (mask_val == 3):
pt = Point(xx, yy, 0.0)
cc = ColorRGBA(red, green, blue, 1.0)
else:
# putting this one literally in the background
pt = Point(xx, yy, -0.5)
grey = im_utils.greyFromRGB(red, green, blue)
# int is required in order to not be random shades! 0.5 makes it lighter
grey = max(int(0.5 * grey), 1)
cc = ColorRGBA(grey, grey, grey, 0.5)
image_marker.points.append(pt)
image_marker.colors.append(cc)
image_control = InteractiveMarkerControl()
image_control.always_visible = True
image_control.interaction_mode = InteractiveMarkerControl.MENU
image_control.markers.append(image_marker)
image_im = InteractiveMarker()
image_im.header.frame_id = self.frame_id
image_im.name = "LabeledImage"
image_im.description = ""
image_im.controls.append(image_control)
self.im_server.insert(image_im)
menu_handler.apply(self.im_server, "LabeledImage")
self.im_server.applyChanges()
def add_image(self):
rospy.loginfo("add image called!")
menu_handler = MenuHandler()
menu_foreground = menu_handler.insert("Foreground", callback=self.foreground_cb)
menu_background = menu_handler.insert("Background", callback=self.background_cb)
image_marker = Marker()
image_marker.type = image_marker.POINTS
image_marker.scale.x = 0.05
image_marker.scale.y = 0.05
image_marker.scale.z = 0.05
# displaying every pixel is too much; downsample before turning image into IM
for col in xrange(0, self.image.cols, 3):
for row in xrange(0, self.image.rows, 3):
# sinking it a bit s.t. the Interactive Markers are easier to grab
(xx, yy) = im_utils.metersFromPixels(row, col, self.ppm, self.image.rows, self.image.cols)
mask_val = self.mask[row,col]
(red, green, blue) = im_utils.rosFromCVbridgeColor(self.image[row,col])
# TODO: these are magic numbers from opencv, indicating forground/probable foreground
# (in OpenCV, they're cv::GC_FGC cf::GC_PR_FGD)
if (mask_val == 1) or (mask_val == 3):
pt = Point(xx, yy, 0.0)
cc = ColorRGBA(red, green, blue, 1.0)
else:
# putting this one literally in the background
pt = Point(xx, yy, -0.5)
grey = im_utils.greyFromRGB(red, green, blue)
# int is required in order to not be random shades! 0.5 makes it lighter
grey = max(int(0.5*grey),1)
cc = ColorRGBA(grey, grey, grey, 0.5)
image_marker.points.append(pt)
image_marker.colors.append(cc)
image_control = InteractiveMarkerControl()
image_control.always_visible = True
image_control.interaction_mode = InteractiveMarkerControl.MENU
image_control.markers.append(image_marker)
image_im = InteractiveMarker()
image_im.header.frame_id = self.frame_id
image_im.name = "LabeledImage"
image_im.description = ""
image_im.controls.append(image_control)
self.im_server.insert(image_im)
menu_handler.apply(self.im_server, "LabeledImage")
self.im_server.applyChanges()
