Exemplo n.º 1
0
    def __init__(self):
        rospy.init_node('geometry')

        scale = rospy.get_param('~scale', 0.375)

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        self.geometry = Geometry(threshold)
        self.calibration = Calibration(scale)

        rospy.spin()
Exemplo n.º 2
0
    def __init__(self):
        rospy.init_node('geometry')

        scale = rospy.get_param('~scale', 0.375)

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        self.geometry = Geometry(threshold)
        self.calibration = Calibration(scale)

        rospy.spin()
Exemplo n.º 3
0
    def __init__(self):
        rospy.init_node('geometry')

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        path = rospkg.RosPack().get_path('mashes_measures')
        config = rospy.get_param(
            '~config', os.path.join(path, 'config', 'tachyon.yaml'))
        self.geometry = Geometry(threshold)
        self.projection = Projection(config)

        rospy.spin()
Exemplo n.º 4
0
class NdGeometry():
    def __init__(self):
        rospy.init_node('geometry')

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        path = rospkg.RosPack().get_path('mashes_measures')
        config = rospy.get_param(
            '~config', os.path.join(path, 'config', 'tachyon.yaml'))
        self.geometry = Geometry(threshold)
        self.projection = Projection(config)

        rospy.spin()

    def cb_image(self, msg_image):
        try:
            stamp = msg_image.header.stamp
            frame = self.bridge.imgmsg_to_cv2(msg_image)
            if msg_image.encoding == 'rgb8':
                frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
            center, axis, angle = self.geometry.find_geometry(frame)
            if axis[1] > 0:
                center, axis, angle = self.projection.transform_ellipse(center, axis, angle)
            self.msg_geo.header.stamp = stamp
            self.msg_geo.x = center[0]
            self.msg_geo.y = center[1]
            self.msg_geo.major_axis = axis[0]
            self.msg_geo.minor_axis = axis[1]
            self.msg_geo.orientation = angle
            self.pub_geo.publish(self.msg_geo)
        except CvBridgeError, e:
            print e
Exemplo n.º 5
0
class NdGeometry():
    def __init__(self):
        rospy.init_node('geometry')

        scale = rospy.get_param('~scale', 0.375)

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        self.geometry = Geometry(threshold)
        self.calibration = Calibration(scale)

        rospy.spin()

    def cb_image(self, msg_image):
        try:
            stamp = msg_image.header.stamp
            frame = self.bridge.imgmsg_to_cv2(msg_image)
            if msg_image.encoding == 'rgb8':
                frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
            major_axis, minor_axis, angle, center = self.geometry.find_geometry(
                frame)
            self.msg_geo.header.stamp = stamp
            self.msg_geo.major_axis = self.calibration.correct(major_axis)
            self.msg_geo.minor_axis = self.calibration.correct(minor_axis)
            self.msg_geo.x = center[0]
            self.msg_geo.y = center[1]
            self.msg_geo.orientation = angle
            self.pub_geo.publish(self.msg_geo)
        except CvBridgeError, e:
            print e
Exemplo n.º 6
0
class NdGeometry():
    def __init__(self):
        rospy.init_node('geometry')

        scale = rospy.get_param('~scale', 0.375)

        image_topic = rospy.get_param('~image', '/tachyon/image')
        rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
        self.bridge = CvBridge()

        geo_topic = '/%s/geometry' % image_topic.split('/')[1]
        self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
        self.msg_geo = MsgGeometry()

        threshold = rospy.get_param('~threshold', 127)
        self.geometry = Geometry(threshold)
        self.calibration = Calibration(scale)

        rospy.spin()

    def cb_image(self, msg_image):
        try:
            stamp = msg_image.header.stamp
            frame = self.bridge.imgmsg_to_cv2(msg_image)
            if msg_image.encoding == 'rgb8':
                frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
            major_axis, minor_axis, angle, center = self.geometry.find_geometry(frame)
            self.msg_geo.header.stamp = stamp
            self.msg_geo.major_axis = self.calibration.correct(major_axis)
            self.msg_geo.minor_axis = self.calibration.correct(minor_axis)
            self.msg_geo.x = center[0]
            self.msg_geo.y = center[1]
            self.msg_geo.orientation = angle
            self.pub_geo.publish(self.msg_geo)
        except CvBridgeError, e:
            print e