hai_sandbox: test15_draw_surf_orientation.py Source File

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00001 import roslib; roslib.load_manifest('hai_sandbox')
00002 import cv
00003 import hai_sandbox.features as fea
00004 import hrl_camera.ros_camera as rc
00005 import rospy
00006 
00007 #prosilica = rc.Prosilica('prosilica', 'streaming')
00008 #prosilica = rc.ROSCamera('/narrow_stereo/right/image_rect')
00009 prosilica = rc.ROSCamera('/wide_stereo/right/image_rect_color')
00010 cv.NamedWindow('surf', 1)
00011 while not rospy.is_shutdown():
00012     f = prosilica.get_frame()
00013     loc, desc = fea.surf_color(f, params=(0, 3000, 3, 4))
00014     fdrawn = fea.draw_surf(f, loc, (0, 255, 0))
00015     cv.ShowImage('surf', fdrawn)
00016     cv.WaitKey(33)
00017