def __call__(self, image, camera_info):
if self._bag_capture.n_captures < 1:
self.setupCamera(camera_info)
self.setupStitch()
try:
cv_image = self.bridge.imgmsg_to_cv(image, "rgb8")
pano_image = pcv.convertCvMat2Mat(cv_image)
self.stitcher.addNewImage(pano_image)
except CvBridgeError, e:
print e
def stop(self):
#allocate a cv mat, this will be stitched to inplace
#2000 rows = 2000 height
#4000 cols = 4000 width (this is backwards from widthxheight
if(self.stitcher):
blended_t = cv.CreateMat(1500,3000,cv.CV_8UC3)
blended_num = numpy.asarray(blended_t)
blended = pcv.convertCvMat2Mat(blended_t)
self.stitcher.stitch(blended, self.stitch_cb)
img_msg = self.bridge.cv2_to_imgmsg(blended_num, "rgb8")
self.img_pub.publish(img_msg)
self._bag_capture.stop()
def __call__(self, image, camera_info):
if self._bag_capture.n_captures < 1:
self.setupCamera(camera_info)
self.setupStitch()
try:
self.img_pub.publish(image)
cv_image = self.bridge.imgmsg_to_cv(image, "rgb8")
pano_image = pcv.convertCvMat2Mat(cv_image)
self.stitcher.addNewImage(pano_image)
except CvBridgeError, e:
print e
def stitch(self):
bag = rosbag.Bag(self.bag_name)
saved_camera_info = False
img_n = 0
pano_dir = tempfile.mkdtemp("pano")
image_names = []
camera = pano.Camera()
blur_detector = pano.BlurDetector()
for topic, msg, t in bag.read_messages(topics=['camera_info']):
if ('camera_info' in topic):
print "reading camera info"
K = pcv.Mat(3,3,pcv.CV_32FC1)
K.fromarray(msg.K)
img_size = pcv.Size( msg.width, msg.height)
camera.setCameraIntrinsics(K,pcv.Mat(),img_size)
break
options = pano.Options()
options.camera = camera
options.stitch_size = pcv.Size(4000,2000)
options.directory = pano_dir
#options.image_names.assign(image_names)
params = options.fitter_params
params.error_thresh = 6;
params.inliers_thresh = 15;
params.maxiters = 100;
params.nNeeded = 2;
options.stitch_output = self.stitch_file_name
stitcher = pano.StitchEngine(options)
for topic, msg, t in bag.read_messages(topics=['image']):
if ('image' in topic):
try:
cv_image = self.bridge.imgmsg_to_cv(msg, "rgb8")
b_prob = blur_detector.checkBlur(cv_image)
print "image blur prob = %f" %b_prob
pano_image = pcv.convertCvMat2Mat(cv_image)
stitcher.addNewImage(pano_image)
img_n += 1
except CvBridgeError, e:
print e
def stitch(self):
bag = rosbag.Bag(self.bag_name)
saved_camera_info = False
img_n = 0
pano_dir = tempfile.mkdtemp("pano")
image_names = []
camera = pano.Camera()
blur_detector = pano.BlurDetector()
for topic, msg, t in bag.read_messages(topics=['camera_info']):
if ('camera_info' in topic):
print "reading camera info"
K = pcv.Mat(3, 3, pcv.CV_32FC1)
K.fromarray(msg.K)
img_size = pcv.Size(msg.width, msg.height)
camera.setCameraIntrinsics(K, pcv.Mat(), img_size)
break
options = pano.Options()
options.camera = camera
options.stitch_size = pcv.Size(4000, 2000)
options.directory = pano_dir
#options.image_names.assign(image_names)
params = options.fitter_params
params.error_thresh = 6
params.inliers_thresh = 15
params.maxiters = 100
params.nNeeded = 2
options.stitch_output = self.stitch_file_name
stitcher = pano.StitchEngine(options)
for topic, msg, t in bag.read_messages(topics=['image']):
if ('image' in topic):
try:
cv_image = self.bridge.imgmsg_to_cv(msg, "rgb8")
b_prob = blur_detector.checkBlur(cv_image)
print "image blur prob = %f" % b_prob
pano_image = pcv.convertCvMat2Mat(cv_image)
stitcher.addNewImage(pano_image)
img_n += 1
except CvBridgeError, e:
print e
