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00001 #! /usr/bin/env python 00002 00003 import roslib; roslib.load_manifest('camera_pose_calibration') 00004 import rospy 00005 import actionlib 00006 import sys 00007 00008 from image_cb_detector.msg import * 00009 00010 00011 def usage(): 00012 print "Usage:" 00013 print " start_cb_detector_action_old.py num_x num_y spacing [image_scaling]" 00014 00015 00016 if __name__ == '__main__': 00017 rospy.init_node('start_checkerboard_detector') 00018 00019 if len(rospy.myargv()) < 4: 00020 usage() 00021 sys.exit(-1) 00022 elif len(rospy.myargv()) < 5: 00023 scaling = 1.0 00024 else: 00025 scaling = rospy.myargv()[4] 00026 00027 print "Configuring checkerboard size %sx%s, checker size %s"%(rospy.myargv()[1], rospy.myargv()[2], rospy.myargv()[3]) 00028 00029 client = actionlib.SimpleActionClient('cb_detector_config', ConfigAction) 00030 print "Waiting for Server" 00031 client.wait_for_server() 00032 print "Found Server" 00033 00034 goal = ConfigGoal() 00035 # Fill in the goal here 00036 goal.num_x = int(rospy.myargv()[1]) 00037 goal.num_y = int(rospy.myargv()[2]) 00038 goal.spacing_x = float(rospy.myargv()[3]) 00039 goal.spacing_y = float(rospy.myargv()[3]) 00040 goal.width_scaling = scaling 00041 goal.height_scaling = scaling 00042 goal.subpixel_window = 5 00043 goal.subpixel_zero_zone = 1 00044 client.send_goal_and_wait(goal) 00045 print "Done sending goal"