class SonarNodes(object):
#Initializes the node
def __init__(self):
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()
#Starts to listen to sonar images
def sonar_listener(self):
rospy.Subscriber("sonar_image_gray", Image, self.callback)
def gaussian_publisher(self):
self.pub_gauss = rospy.Publisher('gaussian_image',
Image,
queue_size=10)
def graph_publisher(self):
self.pub_graph = rospy.Publisher('graph_image', Image, queue_size=10)
def callback(self, data):
img, new_img = self.extract.initImage(data)
#publishing gaussian image
gaussian_image = self.extract.createSegments()
self.pub_gauss.publish(self.extract.convertImage(gaussian_image))
#publishing graph image
graph_image = self.extract.drawGraph()
self.pub_graph.publish(
self.extract.bridge.cv2_to_imgmsg(graph_image, "rgb8"))
class SonarNodes(object):
#Initializes the node
def __init__(self):
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()
#Starts to listen to sonar images
def sonar_listener(self):
rospy.Subscriber("sonar_image_gray", Image, self.callback)
def gaussian_publisher(self):
self.pub_gauss = rospy.Publisher('gaussian_image', Image, queue_size=10)
def graph_publisher(self):
self.pub_graph = rospy.Publisher('graph_image', Image, queue_size=10)
def callback(self, data):
img, new_img = self.extract.initImage(data)
#publishing gaussian image
gaussian_image = self.extract.createSegments()
self.pub_gauss.publish(self.extract.convertImage(gaussian_image))
#publishing graph image
graph_image = self.extract.drawGraph()
self.pub_graph.publish(self.extract.bridge.cv2_to_imgmsg(graph_image, "rgb8"))
def __init__(self):
#Parameters:
self.auto_thresholding = True
self.save_gaussian_image = False
self.gaussian_image_name = ''
self.merge = False
self.write_graph = False
self.export_graph_name = ''
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()
class SonarNodes(object):
#Initializes the node
def __init__(self):
#Parameters:
self.auto_thresholding = True
self.save_gaussian_image = False
self.gaussian_image_name = ''
self.merge = False
self.write_graph = False
self.export_graph_name = ''
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()
#Starts to listen to sonar images
def sonar_listener(self):
rospy.Subscriber("sonar_image_gray", Image, self.callback)
def gaussian_publisher(self):
self.pub_gauss = rospy.Publisher('gaussian_image',
Image,
queue_size=10)
def graph_publisher(self):
self.pub_graph = rospy.Publisher('graph_image', Image, queue_size=10)
def callback(self, data):
#Initiliazes time
init = time.time()
#img, new_img = self.extract.initImage(data)
self.extract.initImage(data, self.auto_thresholding)
#publishing gaussian image
gaussian_image = self.extract.createSegments()
#gaussian_image = self.extract.createSegmentsFloodFill()
self.pub_gauss.publish(self.extract.convertImage(gaussian_image))
#publishing graph image
graph_image = self.extract.drawGraph(self.merge, self.write_graph,
self.export_graph_name)
self.pub_graph.publish(
self.extract.bridge.cv2_to_imgmsg(graph_image, "rgb8"))
print time.time() - init
def __init__(self):
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()
def __init__(self):
rospy.init_node('sonar_node', anonymous=True)
self.extract = GaussianFeatureExtractor()