def lineDrawer(self,event,x,y,flags,param): if event == cv.CV_EVENT_LBUTTONDOWN: self.startPt = Geometry2D.Point(x,y) elif event == cv.CV_EVENT_LBUTTONUP: self.endPt = Geometry2D.Point(x,y) line = Geometry2D.DirectedLineSegment(self.startPt,self.endPt) self.addCVShape(CVDirectedLineSegment(cv.RGB(255,255,255),10,line,2)) elif cv.CV_EVENT_FLAG_LBUTTON == flags-32: line = Geometry2D.DirectedLineSegment(self.startPt,Geometry2D.Point(x,y)) self.addTempCVShape(CVDirectedLineSegment(cv.RGB(150,150,150),10,line,2)) elif event == cv.CV_EVENT_RBUTTONDOWN: self.startPt = Geometry2D.Point(x,y) elif event == cv.CV_EVENT_RBUTTONUP: self.endPt = Geometry2D.Point(x,y) line = Geometry2D.DirectedLineSegment(self.startPt,self.endPt) self.addCVShape(CVDirectedLineSegment(cv.RGB(0,0,255),10,line,2)) return
self.count = self.count + 1
return adjusted_foldline
def adjustFoldline(self,intended):
#intended.expand(10)
start = self.convert_to_world_frame(intended.start())
end = self.convert_to_world_frame(intended.end())
try:
srv = rospy.ServiceProxy('adjust_fold',AdjustFold)
resp = srv(start,end)
except rospy.ServiceException,e:
rospy.loginfo("Service Call Failed: %s"%e)
return False
new_start = self.convert_from_world_frame(resp.start)
new_end = self.convert_from_world_frame(resp.end)
newfold = Geometry2D.DirectedLineSegment(new_start,new_end)
newfold.expand(0.1)
return newfold
def send_traj(self,fold_traj):
try:
srv = rospy.ServiceProxy('execute_fold',ExecuteFold)
resp = srv(ExecuteFoldRequest(fold_traj=fold_traj))
return True
except rospy.ServiceException,e:
rospy.loginfo("Service Call Failed: %s"%e)
return False
def main(args):
rospy.init_node("poly_gui_bridge")
pg = PolyGUIBridge()
