def click_and_crop(event, x, y, flags, param):
# grab references to the global variables
global refPt, cropping, cropImage
# if the left mouse button was clicked, record the starting
# (x, y) coordinates and indicate that cropping is being
# performed
if event == cv2.EVENT_LBUTTONDOWN:
refPt = [(x, y)]
cropping = True
# check to see if the left mouse button was released
elif event == cv2.EVENT_LBUTTONUP:
# record the ending (x, y) coordinates and indicate that
# the cropping operation is finished
refPt.append((x, y))
cropping = False
# draw a rectangle around the region of interest
cv2.rectangle(cropImage, refPt[0], refPt[1], (0, 255, 0), 2)
cv2.imshow("crop1", cropImage)
msg = Target()
msg.bb.x = refPt[0][0]
msg.bb.y = refPt[0][1]
msg.bb.width = x - refPt[0][0]
msg.bb.height = y - refPt[0][1]
msg.bb.confidence = 1
msg.img = bridge.cv2_to_imgmsg(cropImage, 'bgr8')
pub1 = rospy.Publisher("tld_gui_bb", Target, queue_size = 10)
cv2.waitKey(1000)
cv2.destroyWindow('crop1')
pub1.publish(msg)
def get_faces(boxes):
board["num_faces"]=len(boxes.faces)
idist=0#len(boxes.faces)/2
# cent=0.5
# idist=0
# td=2.0
# din=0
# for fc in boxes.faces:
# dx=(0.5-fc.top_left.x+fc.width_height.x/2.0)
# dx2=dx*dx
# dy=(0.5-fc.top_left.y+fc.width_height.y/2.0)
# dy2=dy*dy
# dist=(math.sqrt(dx2+dy2))
# if dist<td:idist=din
# din=din+1
tgt=Target()
#bridge=CvBridge()
#source=bridge.imgmsg_to_cv2(board["img"],"bgr8")
#tgt.img=source
tgt.img=board["img"]#.deepcopy or .copy
bb=BoundingBox()
bb.x=(boxes.faces[idist].top_left.x)*640
bb.y=(boxes.faces[idist].top_left.y)*480
bb.width=boxes.faces[idist].width_height.x*640
bb.height=boxes.faces[idist].width_height.y*480
bb.confidence=1.0
bb.tracker_id="face"
tgt.bb=bb
board["Target"]=tgt
board["face_memory"]=50# = 1/2 sec
def get_faces(boxes):
board["num_faces"] = len(boxes.faces)
idist = 0 #len(boxes.faces)/2
# cent=0.5
# idist=0
# td=2.0
# din=0
# for fc in boxes.faces:
# dx=(0.5-fc.top_left.x+fc.width_height.x/2.0)
# dx2=dx*dx
# dy=(0.5-fc.top_left.y+fc.width_height.y/2.0)
# dy2=dy*dy
# dist=(math.sqrt(dx2+dy2))
# if dist<td:idist=din
# din=din+1
tgt = Target()
#bridge=CvBridge()
#source=bridge.imgmsg_to_cv2(board["img"],"bgr8")
#tgt.img=source
tgt.img = board["img"] #.deepcopy or .copy
bb = BoundingBox()
bb.x = (boxes.faces[idist].top_left.x) * 640
bb.y = (boxes.faces[idist].top_left.y) * 480
bb.width = boxes.faces[idist].width_height.x * 640
bb.height = boxes.faces[idist].width_height.y * 480
bb.confidence = 1.0
bb.tracker_id = "face"
tgt.bb = bb
board["Target"] = tgt
board["face_memory"] = 50 # = 1/2 sec
def __sendTrackingBox(self):
target = Target()
target.bb.x = self.tracking_box.x
target.bb.y = self.tracking_box.y
target.bb.width = self.tracking_box.width
target.bb.height = self.tracking_box.height
target.bb.confidence = 1.0
#print "Target =" , target
target.img = self.select_image
self.publisher_tracking_box.publish( target )
print "Bounding box send"
self.clock.tick(100)
self.tracking_box = None
self.tracking = False
def click_and_crop(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
self.cropping = True
self.refPt = [(x,y)]
if event == cv2.EVENT_LBUTTONUP:
self.refPt.append((x,y))
cv2.rectangle(self.currentImage, self.refPt[0], self.refPt[1], (0,255,0), 2)
msg = Target()
msg.bb.x = self.refPt[0][0]
msg.bb.y = self.refPt[0][1]
msg.bb.width = x - self.refPt[0][0]
msg.bb.height = y - self.refPt[0][1]
msg.bb.confidence = 1
msg.img = self.bridge.cv2_to_imgmsg(self.currentImage, 'bgr8')
self.pub_bb.publish(msg)
cv2.imshow(self.ui_name, self.currentImage)
cv2.waitKey(1000)
cv2.destroyWindow(self.ui_name)
cv2.namedWindow(self.ui_name, 1)
cv2.moveWindow(self.ui_name, int(rospy.get_param('~window_pos')), 0)
self.cropping = False
self.tracking = True
board["wake_up_time"] = 6000 # 60 seconds
board["stt"] = ""
board["stt_read"] = True
board["stop_counter"] = 0
board["sonar_cm"] = 0
board["compass_deg"] = 0
board["num_faces"] = 0
board["trackers"] = trackers
board["tracker_watch"] = 0
board["to_track"] = "null"
board[
"track_delay"] = 0 #delay motor movement commands about 1/2 sec or 1/4 sec
board["face_memory"] = 0
#board["face_seen"]=face_box()
board["img"] = Image()
board["Target"] = Target()
ges = gesture_r()
ges.direction = 'o'
board["gesture"] = ges
board["num_objects"] = 0
board["object_id_list"] = []
board["objects_memory"] = 0
rospy.Subscriber("/sense/robot/get_sonar_cm",
sonar,
set_sonar,
queue_size=1)
rospy.Subscriber("/sense/robot/get_compass_deg",
compass,
set_compass,
queue_size=1)
rospy.Subscriber("/sense/stt/get_text", String, set_speech, queue_size=1)
