Exemplo n.º 1
0
    def get_second_image(self, image_topic):
        # Set exposure
        print "Changing the exposure of camera to 0.2"
        self.client.update_configuration({'exposure': 0.2})
        rospy.sleep(0.1)
        image1 = TopicUtils.get_next_message(image_topic, Image)
        print "Changing the exposure of camera to 0.4"
        self.client.update_configuration({'exposure': 0.4})
        rospy.sleep(0.1)
        image2 = TopicUtils.get_next_message(image_topic, Image)

        return (image1, image2)
Exemplo n.º 2
0
    def get_second_image(self,image_topic):
        # Set exposure
        print "Changing the exposure of camera to 0.2"
        self.client.update_configuration({'exposure':0.2})
        rospy.sleep(0.1)
        image1 = TopicUtils.get_next_message(image_topic,Image)
        print "Changing the exposure of camera to 0.4"
        self.client.update_configuration({'exposure':0.4})
        rospy.sleep(0.1)
        image2 = TopicUtils.get_next_message(image_topic,Image)
        

        
        return (image1,image2)
Exemplo n.º 3
0
 def process_mono(self,req):
     image_topic = "/%s/image_rect_color"%req.camera
     info_topic = "/%s/camera_info"%req.camera
     if self.ignore_first_picture:
         image = None
     else:
         image = TopicUtils.get_next_message(image_topic,Image)
     info = TopicUtils.get_next_message(info_topic,CameraInfo)
     (click_points,params,param_names,image_annotated) = self.unpack_and_process(image,info)
     #Publish annotated image stream
     self.anno_pub.publish(image_annotated)
     #Compute 3d points
     pts3d = []
     try:
         convert_to_3d = rospy.ServiceProxy(self.convert_mono_service,ConvertPoint)
         pts3d = [convert_to_3d(pt).pt3d for pt in click_points]
     except rospy.ServiceException,e:
         rospy.loginfo("Service Call Failed: %s"%e)
Exemplo n.º 4
0
 def process_stereo(self,req):
     image_topic_left = "/%s/left/image_rect_color"%req.camera
     info_topic_left = "%s/left/camera_info"%req.camera
     image_topic_right = "/%s/right/image_rect_color"%req.camera
     info_topic_right = "%s/right/camera_info"%req.camera
     image_left = TopicUtils.get_next_message(image_topic_left,Image)
     info_left = TopicUtils.get_next_message(info_topic_left,CameraInfo)
     image_right = TopicUtils.get_next_message(image_topic_right,Image)
     info_right = TopicUtils.get_next_message(info_topic_right,CameraInfo)
     (click_points_left,params,param_names,image_annotated_left) = self.unpack_and_process(image_left,info_left)
     (click_points_right,params,param_names,image_annotated_right) = self.unpack_and_process(image_right,info_right)
     #Publish annotated image stream
     self.left_anno_pub.publish(image_annotated_left)
     self.right_anno_pub.publish(image_annotated_right)
     #Compute 3d points
     try:
         convert_to_3d = rospy.ServiceProxy(self.convert_stereo_service,ConvertPoints)
         pts3d = [convert_to_3d(click_points_left[i],click_points_right[i]).pt3d for i in range(len(click_points_left))]
     except rospy.ServiceException,e:
         rospy.loginfo("Service Call Failed: %s"%e)
Exemplo n.º 5
0
 def get_info(self):
     info = TopicUtils.get_next_message(self.cameraInfoTopic,CameraInfo)
     return info
Exemplo n.º 6
0
 def get_image(self):
     image = TopicUtils.get_next_message(self.cameraTopic,Image)
     return image