def getEdgePositions(self, row_rotation=0, col_rotation=0):
self.column_wise_rotation = basic_header.constrainf(col_rotation, -90, 90)
self.row_wise_rotation = basic_header.constrainf(row_rotation, -90, 90)
bottom_length = top_length = self.length
right_height = left_height = self.height
if self.column_wise_rotation >= 0 and self.column_wise_rotation <= 90:
bottom_length = top_length = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, self.length)
right_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, self.height)
elif self.column_wise_rotation <= 0 and self.column_wise_rotation >= -90:
self.column_wise_rotation = abs(self.column_wise_rotation)
bottom_length = top_length = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, self.length)
left_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, self.height)
if self.row_wise_rotation >= 0 and self.row_wise_rotation <= 90:
top_length = basic_header.mapf(self.row_wise_rotation, 90, 0, 0, top_length)
left_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, left_height)
right_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, right_height)
elif self.row_wise_rotation <= 0 and self.row_wise_rotation >= -90:
self.row_wise_rotation = abs(self.row_wise_rotation)
bottom_length = basic_header.mapf(self.row_wise_rotation, 90, 0, 0, bottom_length)
left_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, left_height)
right_height = basic_header.mapf(self.column_wise_rotation, 90, 0, 0, right_height)
c_row,c_column = self.center_position
top_left_pos = (c_row-(left_height/2), c_column-(top_length/2))
top_right_pos = (c_row-(right_height/2), c_column+(top_length/2))
bottom_left_pos = (c_row+(left_height/2), c_column-(bottom_length/2))
bottom_right_pos = (c_row+(right_height/2), c_column+(bottom_length/2))
return [top_left_pos, top_right_pos, bottom_left_pos, bottom_right_pos]
def __init__(self, fps=10):
#Create setup variables
self._created = False
self.color_config = (640, 480, 30)
#Set start frame to None
self.next_frame = None
self.curr_frame = None
self.last_frame = None
#Define buffer format for data
self.fmt = 'B' * (self.color_config[0] * self.color_config[1] * 3)
#Initialize this module as a rospy node
rospy.init_node("track_moving_objects_color", anonymous=True)
#Setup refresh rate variables
self.fps = basic_header.constrainf(fps, 1,
30) #constrain the fps to 1-30 Hz
self.rate = rospy.Rate(self.fps)
#Setup publisher
self.tracked_regions_pub = rospy.Publisher("TrackedRegions_1",
ContourData,
queue_size=10)
#Create buffer for data to send
self.tracked_regions_data_2_send = ContourData()
#Setup the buffers for data to send
self.tracked_regions_data_2_send.data_lengths = []
self.tracked_regions_data_2_send.data = []
def __init__(self, fps=7):
#Create setup variables
self._created = False
self.color_config = (640, 480, 30)
self.depth_config = (640, 480, 30)
#Set start frames to None
self.color_frame = None
self.depth_frame = None
#Initialize this module as a rospy node
rospy.init_node("tag_objects", anonymous=True)
#Setup publish data rate
self.fps = basic_header.constrainf(fps, 1,
30) #constrain the fps to 1-30 Hz
self.rate = rospy.Rate(self.fps)
#Setup publisher
self.tagged_objects_pub = rospy.Publisher("TaggedObjects_1",
TaggedObjects,
queue_size=10)
#Create buffer for data to send
self.tagged_objects = TaggedObjects()
#Setup the buffers for data to send
self.clearTaggedObjectsData()
#Create and array to keep track of objects in the frame
self.objects_buffer = []
self.scrap_objects_buffer = []
def __init__(self, fps=10, block_duration=20):
#Create started variable
self._started = False
#Setup device and image data properties
self.depth_config = (640, 480, 30)
self.color_config = (640, 480, 30)
self.depth_data_width = self.depth_config[0]
self.depth_data_height = self.depth_config[1]
self.depth_data_channel = 1
self.color_data_width = self.color_config[0]
self.color_data_height = self.color_config[1]
self.color_data_channel = 3
#Setup sound properties
self.sound_samplerate = 44100
self.sound_channels = 2
self._stream_sample_duration = block_duration
self.sound_data_height = int(self.sound_samplerate *
self._stream_sample_duration / 1000.0)
#Intialize Camera
try:
self.device = OrbbecDepthCamera(self.depth_config,
self.color_config)
except primesense.utils.OpenNIError:
print "Error: No device detected"
self.device = None
#Intialize Mic with a callback function
self.mic = Microphone(self.sound_channels, self.sound_samplerate,
self.callback)
#Initialize this module as a ros node
rospy.init_node('orbbec_data_publisher')
#Setup publishers
self.depth_data_pub = rospy.Publisher("DepthData_1",
Int32Array,
queue_size=10)
self.color_data_pub = rospy.Publisher("ColorData_1",
Int32Array,
queue_size=10)
self.sound_data_pub = rospy.Publisher("SoundData_1",
Float32Array,
queue_size=10)
#Setup refresh rate variables
self.fps = basic_header.constrainf(fps, 1,
30) #constrain the fps to 1-30 Hz
self.rate = rospy.Rate(self.fps)
#Create buffers for data to send
self.depth_data_2_send = Int32Array()
self.color_data_2_send = Int32Array()
self.sound_data_2_send = Float32Array()