pnambiar's profile - activity

I'm trying to use the following piece of code for acquiring depth as well as the color data from kinect. I would now like to use the depth information to extract some points/pixel in the color image after a keyboard input ('c') a) What is the best way to pass information from callback2 to callback ? b) How do I ensure that the depth data(callback2) is obtained before callback is executed?

Thanks, -P

import roslib
import sys
import rospy
import cv2
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import numpy as np
import math;
import cv2;
import matplotlib.pyplot as plt;
import sys;
import caffe;
import socket;

class image_converter:

  def __init__(self):
    cv2.namedWindow("Image window", 1)
    print 'start bridge and subscribe'
    self.bridge = CvBridge()
    self.depth_sub = rospy.Subscriber("/camera/depth_registered/image_raw",Image,self.callback2,queue_size=1)
    self.image_sub = rospy.Subscriber("/camera/rgb/image_color",Image,self.callback,queue_size=1)


  def callback2(self,data):
    try:
        depth_image_raw = self.bridge.imgmsg_to_cv2(data, "passthrough")
        depth_image = depth_image_raw.astype(np.uint8)
        cv2.imshow("Depth window", depth_image)
        key = cv2.waitKey(3)
        if (key == 99): # 'c'
            # save depth data as numpy array

    except CvBridgeError, e:
      print e


  def callback(self,data):

    try:
      image = self.bridge.imgmsg_to_cv2(data, "bgr8")
    except CvBridgeError, e:
      print e

    cv_image = image[:,:,:];

    if (key == 99): # 'c'
       # Use the depth data and get the corresponding points in the color image

def main(args):
  ic = image_converter()
  rospy.init_node('image_converter', anonymous=True)
  try:
    rospy.spin()
      except KeyboardInterrupt:
    print "Shutting down"
  cv2.destroyAllWindows()

if __name__ == '__main__':
    main(sys.argv)

PCL not updating I am able to view my lidar pointcloud using this script but not update it. viewer-> spin() does not

PCL not updating I am able to view my lidar pointcloud using this script but not update it. viewer-> spin() does not

visualize lidar point cloud data What would be the best way to visualize lidar data? I am using cv_bridge for images. d

I have trouble viewing color images from R200 realsense camera using the python-opencv interface. The window is blank when I run this script. When I comment out'cv2.namedWindow("Image window", 1)', it shows the first image.

-P

import roslib
import sys
import rospy
import cv2
from std_msgs.msg import String
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Image
from rospy.numpy_msg import numpy_msg
#from rospy_tutorials.msg import Floats
from cv_bridge import CvBridge, CvBridgeError
import numpy as np
import math;
import cv2;
#import matplotlib.pyplot as plt;
import sys;
#import caffe;
import socket;
#from sklearn import datasets;
import subprocess;

import message_filters
from rospy.numpy_msg import numpy_msg
import time
#####################

import os.path


class image_converter:

# Initializing variables, publishers and subscribers
  def __init__(self):
    print 'show window'
    cv2.namedWindow("Image window", 1)
#    print 'start bridge and subscribe'
    self.bridge = CvBridge()

    self.image_sub = rospy.Subscriber("/camera/rgb/image_color", Image, self.callback)


  # The main callback that processes the color and depth data.      
  def callback(self,color):


    start = time.time()
    # acquiring color and depth data (from ROS-python tutorial)
    try:

      frame = self.bridge.imgmsg_to_cv2(color, "bgr8")
    except CvBridgeError, e:
      print e

    frame = np.array(frame, dtype=np.uint8)

    cv2.imshow("Image window", frame)
    print 'test'
    cv2.waitKey(0)


def main(args):
  ic = image_converter()
  rospy.init_node('image_converter', anonymous=True)
  try:
    rospy.spin()
  except KeyboardInterrupt:
    print "Shutting down"
  cv2.destroyAllWindows()

if __name__ == '__main__':
    main(sys.argv)

I am currently running a ROS package (publishing multiple topics including image topics) on multiple computers connected wirelessly using http://www.netwifiworks.com/PicoStati... . While I get pretty good frame rate on master computer, the frame rate is pretty low on the listener computer. What is the solution? Image compression/ -P

Baxter Moveit-Commander Example script Is there a simple example python script available to plan trajectory and execute

yes. I did not word it properly earlier. Any leads will be highly appreciated.

@jayess Please refer to this post for the error that I am getting https://answers.ros.org/question/298104/cv_bridgeboost

roa wrapper for caffe 2 I am trying to create a ROS wrapper for caffe2 script (https://github.com/facebookresearch/Detec

cv_bridge.boost error I am trying to create a ROS wrapper for caffe2 (Ros Kinetic, opencv version-3.4.1) and I get the f

cv_bridge.boost error I am trying to create a ROS wrapper for caffe2 (Ros Kinetic, opencv version-3.4.1) and I get the f

cv_bridge.boost error I am trying to create a ROS wrapper for caffe2 (Ros Kinetic, opencv version-3.4.1) and I get the f

What is the best way to view and save hd images kinect 2? Driver used is: https://github.com/code-iai/iai_kinect2

I tried imagezero. Did not see a big difference in terms of speed. I will try ffmpeg or gstreamer

@gvdhoorn I have everything working with image transport theora. Now, the bottle neck is compression. For a stream of 6

image compression using image transport I don't have the hardware to implement this, hence I am asking this question. I

Sure! Done.

Running ROS on multiple computers I am currently running a ROS package (publishing multiple topics including image top

Thanks for the suggestions. I will definitely take a look at it.

max data rate of 54 mbps is what we have for this wireless access point (https://dl.ubnt.com/datasheets/picostationm/pi