class Sub:
def __init__(self,name,parent):
self.name = name
self.pub = rospy.Publisher('/%s/compressed'%name, CompressedImage)
self.blank_pub = rospy.Publisher('/%s_blank/compressed'%name, CompressedImage)
self.info = Info()
self.sub = None
self.detect = getattr(VUtil, name)
self.parent = parent
self.kern = (3,3)
self.thresh = 100
self.canPublish = False
self.box = getCheckBox(name)
self.box.stateChanged.connect(self.box_cb)
def cam_cb(self,rosimg):
cvimg = VUtil.rosimg2cv(rosimg)
y,x = cvimg.shape[:2]
cvimg = cv2.resize(cvimg, (x/2,y/2))
if self.canPublish:
blank = np.zeros_like(cvimg)
out = self.detect(cvimg,self.info.data,blank)
self.info.draw(blank)
self.pub.publish(VUtil.writeCompressed(out))
self.blank_pub.publish(VUtil.writeCompressed(blank))
def box_cb(self, state):
if state == QtCore.Qt.Checked:
topic = str(self.parent.currTopic)
self.sub = rospy.Subscriber(topic,Image,self.cam_cb)
self.canPublish = True
self.parent.analyseTopic = '/%s/compressed'%self.name
self.ps = subprocess.Popen(['rosrun','image_view','image_view','image:='+'/%s_blank'%self.name,'compressed'])
else:
self.canPublish = False
self.sub.unregister()
self.ps.terminate()
