def __init__(self):
rospy.init_node('test_transform')
height = 0.085 # meters
angle = -0.4
# view_points = Transform.get_view_points(angle, height)
''' Using our dict of known calibrations'''
self.im_sub = Image_Subscriber('/robot/base_camera/image_rect', self.image_callback, queue_size=1)
self.view_pub = Image_Publisher('/robot/base_camera/down_view', encoding="8UC1", queue_size=1)
self.view = Transform.views['20_half_max']
self.transformer = Transform(view=self.view, sq_size=10)
self.im_num = 0
def update(self):
top = cv2.getTrackbarPos('top_dist', 'image') - 40
bot = cv2.getTrackbarPos('bot_dist', 'image') - 40
# self.view = Transform.views['20_half_max']
self.view = {
'view_points': np.float32([
(440 - bot, 213),
(390 - top, 165),
(210 + top, 165),
(170 + bot, 213),
]),
'frame': {
'x': (95, 557),
'y': (0, 484),
}
}
self.transformer = Transform(view=self.view, sq_size=30)
class Test_Transform(object):
def __init__(self):
rospy.init_node('test_transform')
height = 0.085 # meters
angle = -0.4
# view_points = Transform.get_view_points(angle, height)
''' Using our dict of known calibrations'''
self.im_sub = Image_Subscriber('/robot/base_camera/image_rect', self.image_callback, queue_size=1)
self.view_pub = Image_Publisher('/robot/base_camera/down_view', encoding="8UC1", queue_size=1)
self.view = Transform.views['20_half_max']
self.transformer = Transform(view=self.view, sq_size=10)
self.im_num = 0
def update(self):
top = cv2.getTrackbarPos('top_dist', 'image') - 40
bot = cv2.getTrackbarPos('bot_dist', 'image') - 40
# self.view = Transform.views['20_half_max']
self.view = {
'view_points': np.float32([
(440 - bot, 213),
(390 - top, 165),
(210 + top, 165),
(170 + bot, 213),
]),
'frame': {
'x': (95, 557),
'y': (0, 484),
}
}
self.transformer = Transform(view=self.view, sq_size=30)
def image_callback(self, rected):
# self.update()
# for point in self.view_['view_points']
rected = rected[:, :, 2]
# bounds = self.view['bounds']
xformed = self.transformer.transform_image(rected, (1000, 1000))
if DEBUG:
cv2.imshow("rected", rected)
cv2.imshow("xformed", xformed)
# xform_cropped = xformed[310-(280 - 135):310, 135:280]
# xform_cropped = xformed[378 - (296 - 156):378, 156:296]
xform_cropped = xformed[194:345, 100:290]
# cv2.imshow("xform_cropped", xform_cropped)
key_press = cv2.waitKey(1)
if key_press & 0xFF == ord('q'):
exit()
elif key_press & 0xFF == ord('f'):
pyplot.imshow(xformed)
pyplot.show()
elif key_press & 0xFF == ord('p'):
cv2.imwrite('rected{}.png'.format(self.im_num), rected)
cv2.imwrite('xformed{}.png'.format(self.im_num), xformed)
self.im_num += 1
self.view_pub.publish(xformed)
