'piano_detector_node/configuration_directory')
file_path = os.path.join(configuration_directory, 'piano_config.yaml')
with_cascade = True
vision = Vision(file_path)
ball_cascade = None
folder = os.getcwd()
folder = os.path.join(folder, 'src')
while not rospy.is_shutdown():
vision.read_camera()
vision.create_hsv()
for objs in vision.color_objects:
x, y, area, angle = piano(vision.frame, objs)
marker_cm = (1,5)
cv.putText(vision.frame, 'selected: {}'.format(vision.selected_object.name),
(10, 20), cv.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), 2)
cv.imshow(MAIN_WINDOW_NAME, vision.frame)
cv.imshow(DEBUG, vision.selected_object.debug)
if cv.waitKey(1) == ord('q'):
break
