import numpy as np import os #⬢⬢⬢⬢⬢➤ NODE node = RosNode("rosnode_example") #⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter( "camera_topic", "/camera/rgb/image_raw/compressed" ) camera_file = node.getFileInPackage( 'roars', 'data/camera_calibrations/asus_xtion.yml' ) camera = CameraRGB( configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic ) #⬢⬢⬢⬢⬢➤ Camera Callback def cameraCallback(frame): #⬢⬢⬢⬢⬢➤ Grabs image from Frame img = frame.rgb_image.copy() #⬢⬢⬢⬢⬢➤ Show cv2.imshow("output", img)
from roars.gui.widgets.WAxesEditor import WAxesEditor from PyQt4 import QtCore from PyQt4.QtCore import * from PyQt4.QtGui import * from PyQt4.QtGui import QFileDialog import PyQt4.QtGui as QtGui import sys import math import os #⬢⬢⬢⬢⬢➤ NODE node = RosNode("roars_scene_explorer") window_size = node.setupParameter("window_size", "1400;900", array_type=int) scene_manifest_file = node.setupParameter("manifest", '') WBaseWidget.DEFAULT_UI_WIDGETS_FOLDER = node.getFileInPackage( 'roars', 'data/gui_forms/widgets') class MainWindow(PyQtWindow): def __init__(self, uifile): super(MainWindow, self).__init__(uifile) # self.showMaximized() self.setFixedSize(window_size[0], window_size[1]) #⬢⬢⬢⬢⬢➤ Scene Management self.scene_filename = '' self.scene = None self.frames = None #⬢⬢⬢⬢⬢➤ Frame Visualizers Management self.ui_scene_visualizers_list = [
#⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) debug = node.setupParameter("debug", True) new_point_publisher = node.createPublisher("~new_point_event", Bool) new_point_publisher_callback = node.createSubscriber( "~new_point_event", Bool, newPointCallback) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter( "camera_topic", "/usb_cam/image_raw/compressed" ) camera_file = node.getFileInPackage( 'roars', 'data/camera_calibrations/microsoft_hd_focus2.yml' ) camera = CameraRGB( configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic ) #⬢⬢⬢⬢⬢➤ ARP arp_configuration = node.getFileInPackage( 'roars', 'data/arp_configurations/prototype_configuration.json' ) arp = ARP(configuration_file=arp_configuration, camera_file=camera_file)
import os import json #⬢⬢⬢⬢⬢➤ NODE node = RosNode("rosnode_example") #⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter( "camera_topic", "/camera/rgb/image_raw/compressed" ) camera_file = node.getFileInPackage( 'roars', 'data/camera_calibrations/asus_xtion.yml' ) camera = CameraRGB( configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic ) #⬢⬢⬢⬢⬢➤ ARP arp_configuration = node.getFileInPackage( 'roars', 'data/arp_configurations/prototype_configuration.json' ) arp = ARP(configuration_file=arp_configuration, camera_file=camera_file) #⬢⬢⬢⬢⬢➤ Points storage
import roars.vision.cvutils as cvutils import cv2 import numpy as np import os import json #⬢⬢⬢⬢⬢➤ NODE node = RosNode("rosnode_example") #⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter("camera_topic", "/camera/rgb/image_raw/compressed") camera_file = node.getFileInPackage('roars', 'data/camera_calibrations/asus_xtion.yml') camera = CameraRGB(configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic) #⬢⬢⬢⬢⬢➤ ARP arp_configuration = node.getFileInPackage( 'roars', 'data/arp_configurations/prototype_configuration.json') arp = ARP(configuration_file=arp_configuration, camera_file=camera_file) #⬢⬢⬢⬢⬢➤ Points storage points_per_object = node.setupParameter("points_per_object", 6) collected_points = [] output_file = node.setupParameter("output_file", "/tmp/arp_objects.json")
import numpy as np import os #⬢⬢⬢⬢⬢➤ NODE node = RosNode("rosnode_example") #⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter( "camera_topic", "/usb_cam/image_raw/compressed" ) camera_file = node.getFileInPackage( 'roars', 'data/camera_calibrations/microsoft_hd.yml' ) camera = CameraRGB( configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic ) #⬢⬢⬢⬢⬢➤ Creates marker detector marker_detector = MarkerDetector(camera_file=camera_file, z_up=True) markers_map = {} for i in range(1, 1024): markers_map[i] = 0.04
from PyQt4.QtCore import * from PyQt4.QtGui import * from PyQt4.QtGui import QFileDialog import PyQt4.QtGui as QtGui import sys import math import os #⬢⬢⬢⬢⬢➤ NODE node = RosNode("roars_scene_explorer") window_size = node.setupParameter("window_size", "1400;900", array_type=int) scene_manifest_file = node.setupParameter("manifest", '') WBaseWidget.DEFAULT_UI_WIDGETS_FOLDER = node.getFileInPackage( 'roars', 'data/gui_forms/widgets' ) class MainWindow(PyQtWindow): def __init__(self, uifile): super(MainWindow, self).__init__(uifile) # self.showMaximized() self.setFixedSize(window_size[0], window_size[1]) #⬢⬢⬢⬢⬢➤ Scene Management self.scene_filename = '' self.scene = None self.frames = None
from roars.rosutils.rosnode import RosNode from roars.vision.cameras import CameraRGB import cv2 import numpy as np import os #⬢⬢⬢⬢⬢➤ NODE node = RosNode("rosnode_example") #⬢⬢⬢⬢⬢➤ Sets HZ from parameters node.setHz(node.setupParameter("hz", 30)) #⬢⬢⬢⬢⬢➤ Creates Camera Proxy camera_topic = node.setupParameter("camera_topic", "/camera/rgb/image_raw/compressed") camera_file = node.getFileInPackage('roars', 'data/camera_calibrations/asus_xtion.yml') camera = CameraRGB(configuration_file=camera_file, rgb_topic=camera_topic, compressed_image="compressed" in camera_topic) #⬢⬢⬢⬢⬢➤ Camera Callback def cameraCallback(frame): #⬢⬢⬢⬢⬢➤ Grabs image from Frame img = frame.rgb_image.copy() #⬢⬢⬢⬢⬢➤ Show cv2.imshow("output", img) cv2.waitKey(1)