def _draw_tips(self, image, tips):
"""Take an Image message and a Tips message, draw a boc around the
tips in the image and publish the result.
Record *image*'s sequence number in _last_published_seq.
"""
# Convert image into RGB image
rgb_im = image_to_array(image)
# Use OpenCV to draw boxes in image
for tip in tips.tips:
roi = tip.roi
# NB: cv2.circle will modify the image it works on.
if (roi.x, roi.y)!=(0,0):
cv2.circle(rgb_im,
(roi.x, roi.y),
5,
(0, 255, 0), # green
2 # thickness
)
# Publish image
self._image_pub.publish(array_to_image(rgb_im))
self._last_published_seq = image.header.seq
def _draw_tips(self, image, tips):
"""Take an Image message and a Tips message, draw a boc around the
tips in the image and publish the result.
Record *image*'s sequence number in _last_published_seq.
"""
# Convert image into RGB image
rgb_im = image_to_array(image)
# Use OpenCV to draw boxes in image
for tip in tips.tips:
roi = tip.roi
# NB: cv2.circle will modify the image it works on.
if (roi.x, roi.y) != (0, 0):
cv2.circle(
rgb_im,
(roi.x, roi.y),
5,
(0, 255, 0), # green
2 # thickness
)
# Publish image
self._image_pub.publish(array_to_image(rgb_im))
self._last_published_seq = image.header.seq
def got_image(image_message):
STATE["last_image_header"]=image_message.header
STATE["image"]=image_to_array(image_message)
if STATE["image"] is not None:
handle_images()
