示例#1
0
def callback(message):
    
    
    # Loop until the node is killed with Ctrl-C

    # pub_string = "hello world %s"%rospy.get_time() # define here f(message), or a function on a message
    #floorToPixel = uv_out
    #pixelToFloor = xy
    #objectToPixel = uv_out2
    #pixelToObject = xy2
    
    size = GRID_SIZE
    intervalSize = 0.3048/3
    homographies_out = homographies(floorX,floorY,objectX,objectY,size,intervalSize)
    
    #publish on many publishers related to this topic on arrival (if necessary)
    pub.publish(homographies_out)
    "otherpub.publish(message)"

    #assign globalvariables, we almost always need this
    #globalVar = function(message)
    global uv_out
    global uv_out2
    global xy
    global xy2
    "put more globalvar assignments here"
示例#2
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      global objy
      floorx, floory, objx, objy, im = check_homography(np_image, H, nx, ny)
      cv2.imshow('Check Homography', im)
      # # Loop until the user presses a key
      key = -1
      while key == -1:
        key = cv2.waitKey(10)
      raw_input('Press enter to continue: ')
      cv2.destroyAllWindows()
      r = rospy.Rate(.2) # 10hz
      while not rospy.is_shutdown():

        #publish on all of my publishing topics
        # print "publishing"
        # print objy
        pub.publish(homographies(floorx, floory, objx, objy, GRID_SIZE, GRID_LENGTH))

        r.sleep()
      

    except KeyboardInterrupt:
      print 'Keyboard Interrupt, exiting'
      break

    # Catch if anything went wrong with the Image Service
    except rospy.ServiceException, e:
      print "image_process: Service call failed: %s"%e

  # # When done, get rid of windows and start over