def image_callback(data):
global current_rgb_img, current_gray_img
# Read image from message
current_img = np.array(cvbridge.imgmsg_to_cv(data, "bgr8"))
# Compute the gray image
current_gray_img = cv2.GaussianBlur(np.asarray(to_grayscale(current_img)), (5,5), 3)
# If the tracker is running, ask it to update and publish roi
if tracker.is_initialized():
# update
tracker.update(current_gray_img)
# publish roi
message = NNTrackerROI()
region = tracker.get_region()
message.ulx, message.uly = region[:,0]
message.urx, message.ury = region[:,1]
message.lrx, message.lry = region[:,2]
message.llx, message.lly = region[:,3]
roi_pub.publish(message)
def image_callback(self, img_msg):
self.on_frame(np.array(self.bridge.imgmsg_to_cv(img_msg, "bgr8")))
if self.trackers[0].is_initialized():
message = NNTrackerROI()
region = self.trackers[0].get_region()
message.ulx, message.uly = region[:,0]
message.urx, message.ury = region[:,1]
message.lrx, message.lry = region[:,2]
message.llx, message.lly = region[:,3]
self.roi_pub.publish(message)
def image_callback(data):
global current_rgb_img, current_gray_img
# Read image from message
current_img = np.array(cvbridge.imgmsg_to_cv(data, "bgr8"))
# Compute the gray image
current_gray_img = cv2.GaussianBlur(np.asarray(to_grayscale(current_img)),
(5, 5), 3)
# If the tracker is running, ask it to update and publish roi
if tracker.is_initialized():
# update
tracker.update(current_gray_img)
# publish roi
message = NNTrackerROI()
region = tracker.get_region()
message.ulx, message.uly = region[:, 0]
message.urx, message.ury = region[:, 1]
message.lrx, message.lry = region[:, 2]
message.llx, message.lly = region[:, 3]
roi_pub.publish(message)
