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)
