def __init__(self):
rospy.Subscriber('/usb_cam/image_raw/compressed',
CompressedImage,
self.image_proc,
queue_size=1,
buff_size=2**24)
self.pub = rospy.Publisher('/proc_image', Image, queue_size=1)
self.lane_pub = rospy.Publisher('/lane_loc', Lanepoints, queue_size=1)
self.Bridge = CvBridge()
# camera parameters
# rosparam.load_file('/home/aj/Desktop/barc_calibrationdata/ost.yaml')
self.cam_mtx = rosparam.get_param('camera_matrix/data')
self.cam_rows = rosparam.get_param('camera_matrix/rows')
self.cam_cols = rosparam.get_param('camera_matrix/cols')
self.cam_mtx = np.array(
np.array(self.cam_mtx).reshape(self.cam_rows, self.cam_cols))
self.dst_mtx = rosparam.get_param('distortion_coefficients/data')
(self.dst_rows,
self.dst_cols) = (rosparam.get_param('distortion_coefficients/rows'),
rosparam.get_param('distortion_coefficients/cols'))
self.dst_mtx = np.array(
np.array(self.dst_mtx).reshape(self.dst_rows, self.dst_cols))
# ~camera paramters
self.mono = monocular.Monocular(self.cam_mtx.T, 1.06, 0.0, 0.0, 0.0,
np.array([0.0, 0.0]))
def __init__(self):
self.image_pub = rospy.Publisher("debug_image", Image, queue_size=1)
self.map_pub = rospy.Publisher("world_lane", Image, queue_size=1)
self.object_pub = rospy.Publisher("objects",
Detection2DArray,
queue_size=1)
self.loc_pub = rospy.Publisher("vehicle_loc", Lanepoints, queue_size=1)
self.bridge = CvBridge()
# camera parameters
# rosparam.load_file('/home/aj/Desktop/barc_calibrationdata/ost.yaml')
self.cam_mtx = rosparam.get_param('camera_matrix/data')
self.cam_rows = rosparam.get_param('camera_matrix/rows')
self.cam_cols = rosparam.get_param('camera_matrix/cols')
self.cam_mtx = np.array(
np.array(self.cam_mtx).reshape(self.cam_rows, self.cam_cols))
self.dst_mtx = rosparam.get_param('distortion_coefficients/data')
(self.dst_rows,
self.dst_cols) = (rosparam.get_param('distortion_coefficients/rows'),
rosparam.get_param('distortion_coefficients/cols'))
self.dst_mtx = np.array(
np.array(self.dst_mtx).reshape(self.dst_rows, self.dst_cols))
# ~camera paramters
self.image_sub = rospy.Subscriber("/usb_cam/image_raw/compressed",
CompressedImage,
self.image_cb,
queue_size=1,
buff_size=2**24)
self.sess = tf.Session(graph=detection_graph, config=config)
# intrinsic matrix is transposed as monocular class expects a transposed matrix
# monocular class can be modified to make the matrix transposed
self.m = mono.Monocular(
self.cam_mtx.T, 1.06, 0.0, 0.0, 0.0,
np.array([0.0, 0.0
])) # (0.0762, 2.0) is height,pitch for barc real time