def test_visualize_stow_json():
json_file = osp.join(_this_dir, 'data', 'stow_layout_1.json')
img = jsk_apc2016_common.visualize_stow_json(json_file)
assert_equal(img.shape, (3985, 2067, 3))
assert_equal(img.dtype, np.uint8)
def test_visualize_stow_json():
json_file = osp.join(_this_dir, 'data', 'stow_layout_1.json')
img = jsk_apc2016_common.visualize_stow_json(json_file)
assert_equal(img.shape, (3985, 2067, 3))
assert_equal(img.dtype, np.uint8)
import cv_bridge
import rospy
from sensor_msgs.msg import Image
import jsk_apc2016_common
def publish_cb(event):
imgmsg.header.stamp = rospy.Time.now()
pub.publish(imgmsg)
if __name__ == '__main__':
rospy.init_node('visualize_stow_json')
pub = rospy.Publisher('~output', Image, queue_size=10)
parser = argparse.ArgumentParser()
parser.add_argument('json',
help='JSON file with bin_contents and work_order')
args = parser.parse_args(rospy.myargv()[1:])
json = args.json
img = jsk_apc2016_common.visualize_stow_json(json)
br = cv_bridge.CvBridge()
imgmsg = br.cv2_to_imgmsg(img, encoding='bgr8')
timer = rospy.Timer(rospy.Duration(0.1), publish_cb)
rospy.spin()
