87 lines
3.3 KiB
Python
Executable file
87 lines
3.3 KiB
Python
Executable file
#! /usr/bin/python
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import rospy
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from sensor_msgs.msg import Image
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from cv_bridge import CvBridge
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import numpy as np
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import dynamic_reconfigure.server
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from vqimg.msg import component_centers, component_center
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from find_targets import find_targets, normalize_coordinates
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from detect_targets.cfg import DetectTargetsConfig
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class Publisher:
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def __init__(self):
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self.threshold_blue = (140, 255)
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self.threshold_red = (0, 120)
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self.threshold_green = (0, 190)
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self.binary_view = False
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self.draw_targets = False
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self.centers = component_centers()
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self.pub = rospy.Publisher('targets', component_centers, queue_size=10)
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self.img_pub = rospy.Publisher('img_targets', Image, queue_size=0)
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rospy.Subscriber("/bebop/image_raw", Image, self.on_picture)
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self.bridge = CvBridge()
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self.config_srv = dynamic_reconfigure.server.Server(DetectTargetsConfig, self.on_reconf)
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def on_reconf(self, config, level):
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self.threshold_red = (config['red_min'], config['red_max'])
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self.threshold_blue = (config['blue_min'], config['blue_max'])
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self.threshold_green = (config['green_min'], config['green_max'])
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self.binary_view = config['binary']
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self.draw_targets = config['targets']
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return config
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def on_picture(self, msg):
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img = np.array(np.asarray(self.bridge.imgmsg_to_cv2(msg)), copy=True)
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try:
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if not self.binary_view:
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H, L, R = find_targets(
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img,
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threshold_blue=self.threshold_blue,
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threshold_red=self.threshold_red,
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threshold_green=self.threshold_green
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)
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else:
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H, L, R, points = find_targets(
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img,
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threshold_blue=self.threshold_blue,
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threshold_red=self.threshold_red,
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threshold_green=self.threshold_green,
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return_binary=True
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)
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except ValueError:
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return
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pub_H = normalize_coordinates(H, msg.width, msg.height)
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pub_L = normalize_coordinates(L, msg.width, msg.height)
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pub_R = normalize_coordinates(R, msg.width, msg.height)
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self.centers.data = [
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component_center(x=pub_H[0], y=pub_H[1], nb_vertex=1, label=1),
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component_center(x=pub_L[0], y=pub_L[1], nb_vertex=1, label=2),
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component_center(x=pub_R[0], y=pub_R[1], nb_vertex=1, label=3),
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]
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self.pub.publish(self.centers)
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if self.binary_view:
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img[:,:,1] = points * 255
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img[:,:,0] = np.zeros((len(img), len(img[0])))
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img[:,:,2] = np.zeros((len(img), len(img[0])))
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if self.draw_targets:
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for i in range(-20, 20):
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for j in range(-20, 20):
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try:
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img[int(H[1])-i, int(H[0])-j] = [0, 255, 0]
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img[int(L[1])-i, int(L[0])-j] = [255, 0, 0]
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img[int(R[1])-i, int(R[0])-j] = [0, 0, 255]
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except Exception:
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pass
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self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
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if __name__ == '__main__':
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rospy.init_node('target_publisher')
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publisher = Publisher()
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rospy.spin()
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