Sameer Parekh
75 linhas
1.9 KiB
Python
Arquivo Executável
75 linhas
1.9 KiB
Python
Arquivo Executável
#!/usr/bin/env python
|
|
import roslib
|
|
roslib.load_manifest('falkor_ardrone')
|
|
|
|
import sys
|
|
import rospy
|
|
import cv
|
|
import cv2
|
|
import math
|
|
|
|
from std_msgs.msg import String
|
|
from sensor_msgs.msg import Image
|
|
from geometry_msgs.msg import Point
|
|
from cv_bridge import CvBridge, CvBridgeError
|
|
|
|
import numpy as np
|
|
import tracker
|
|
|
|
class ardroneTracker:
|
|
|
|
def __init__(self, tracker):
|
|
self.point_pub = rospy.Publisher("/ardrone_tracker/found_point", Point )
|
|
|
|
self.bridge = CvBridge()
|
|
self.image_sub = rospy.Subscriber("/ardrone/front/image_raw",Image,self.callback)
|
|
self.image_pub = rospy.Publisher( "/ardrone_tracker/image", Image )
|
|
|
|
self.tracker = tracker
|
|
|
|
def callback(self,data):
|
|
try:
|
|
cv_image = self.bridge.imgmsg_to_cv(data, "bgr8")
|
|
except CvBridgeError, e:
|
|
print e
|
|
|
|
numpy_image = np.asarray( cv_image )
|
|
trackData = self.tracker.track( numpy_image )
|
|
if trackData:
|
|
x,y,z = trackData[0],trackData[1],trackData[2]
|
|
|
|
point = Point( x,y,z )
|
|
self.point_pub.publish( point )
|
|
else:
|
|
self.point_pub.publish( Point( 0, 0, -1 ) )
|
|
|
|
try:
|
|
vis = self.tracker.get_vis()
|
|
image_message = self.bridge.cv_to_imgmsg(cv2.cv.fromarray( vis ), encoding="passthrough")
|
|
self.image_pub.publish( image_message )
|
|
except CvBridgeError, e:
|
|
print e
|
|
|
|
def main():
|
|
rospy.init_node( 'ardrone_tracker' )
|
|
# ardroneTracker(tracker.LkTracker() )
|
|
# ardroneTracker(tracker.DummyTracker() )
|
|
# '/usr/local/share/OpenCV/haarcascades/haarcascade_frontalface_alt.xml'
|
|
|
|
cascade_file = rospy.get_param( '~cascadefile', 'NULL' )
|
|
if cascade_file == 'NULL':
|
|
print "Must set cascadefile parameter!"
|
|
exit
|
|
|
|
ardroneTracker( tracker.CascadeTracker( cascade_file ) )
|
|
try:
|
|
rospy.spin()
|
|
except KeyboardInterrupt:
|
|
print "Shutting down"
|
|
cv.DestroyAllWindows()
|
|
|
|
if __name__ == '__main__':
|
|
# import cProfile
|
|
# cProfile.run('main()')
|
|
main()
|