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August 25, 2017 23:41
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| import cv2 | |
| import rospy | |
| import numpy as np | |
| from cv_bridge import CvBridge | |
| from sensor_msgs.msg import CompressedImage, Image | |
| class ImageLoader(object): | |
| ''' | |
| Constantly loads images from a subscription channel and | |
| sets a flag showing it has a new image to prevent double image | |
| loading. | |
| ''' | |
| def __init__(self, | |
| subscribe_channel='/front_camera_flipped/image_color/compressed'): | |
| self.image = np.zeros(1) | |
| rospy.Subscriber( | |
| subscribe_channel, | |
| CompressedImage, | |
| self.image_callback, | |
| ) | |
| self.new_image = False | |
| self.bridge = CvBridge() | |
| def image_callback(self, compressed_image): | |
| self.image = self.bridge.compressed_imgmsg_to_cv2(compressed_image, | |
| desired_encoding='passthrough') | |
| self.new_image = True | |
| class CalibrationResult(object): | |
| def __init__(self, truck, camera, camera_matrix, distortion): | |
| self.truck = truck | |
| self.camera = camera | |
| self.camera_matrix = camera_matrix | |
| self.distortion = distortion | |
| def __str__(self): | |
| return '{}: {}'.format(self.truck, self.camera) | |
| class ImageCorrecter(object): | |
| ''' | |
| Receives an image and (if enabled) applies the cameras calibration, | |
| it then publishes the image to a channel. | |
| ''' | |
| def __init__(self, publish_channel, image_loader, calibration, flip_image=True, enabled=True): | |
| self.publisher = rospy.Publisher( | |
| publish_channel, | |
| Image, | |
| queue_size=1, | |
| ) | |
| self.image_loader = image_loader | |
| self.camera_matrix = calibration.camera_matrix | |
| self.distortion = calibration.distortion | |
| self.flip_image = flip_image | |
| self.enabled = enabled | |
| self.bridge = CvBridge() | |
| def publish(self, image): | |
| message = self.bridge.cv2_to_imgmsg(image, encoding='rgb8') | |
| self.publisher.publish(message) | |
| def correct(self, image): | |
| if self.flip_image: | |
| image = cv2.flip(image, 0) | |
| if self.enabled: | |
| image = cv2.undistort( | |
| image, | |
| self.camera_matrix, | |
| self.distortion, | |
| ) | |
| image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) | |
| return image | |
| def start(self): | |
| rospy.init_node('image_correcter', anonymous=False) | |
| while not rospy.is_shutdown(): | |
| if self.image_loader.new_image: | |
| corrected_image = self.correct(image_loader.image) | |
| self.publish(corrected_image) | |
| self.image_loader.new_image = False | |
| if __name__ == '__main__': | |
| image_loader = ImageLoader() | |
| calibration_result = CalibrationResult( | |
| truck='lizzie', | |
| camera='center_camera', | |
| camera_matrix=np.array([[227.285916, 0.000000, 332.218473], | |
| [0.000000, 227.520197, 249.377605], | |
| [0.000000, 0.000000, 1.000000]]), | |
| distortion=np.array([0.008439, -0.001149, -0.000811, 0.000408, 0.000000]) | |
| ) | |
| print('Using calibration result... | {} |'.format(calibration_result)) | |
| image_correcter = ImageCorrecter( | |
| '/corrected_image/', | |
| image_loader, | |
| calibration_result, | |
| ) | |
| image_correcter.start() |
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