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lets get this over with #1

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d4035e3
lets get this over with
buttegab Apr 24, 2017
bbfed41
Merge branch 'master' into mergebranch
buttegab Apr 24, 2017
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14 changes: 10 additions & 4 deletions shape_recognizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,10 @@ def __init__(self):
self.minVal = 50
self.maxVal = 87
self.test_image = cv2.imread("./circle_base.png",-1)
if self.test_image:
self.test_image = cv2.medianBlur(img,5)
self.edge_detected = cv2.Canny(self.test_image,self.minVal,self.maxVal)
# if self.test_image:
self.test_image = cv2.medianBlur(self.test_image,5)
self.edge_detected = cv2.Canny(self.test_image,self.minVal,self.maxVal)




Expand Down Expand Up @@ -64,7 +65,7 @@ def process_image(self, msg):
""" Process image messages from ROS and stash them in an attribute
called cv_image for subsequent processing """
self.cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
self.cv_image = cv2.medianBlur(img,5)
self.cv_image = cv2.medianBlur(self.cv_image,5)
self.gray_image = cv2.adaptiveThreshold(self.cv_image,255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C,\
cv2.THRESH_BINARY,11,2)
# self.gray_image = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2GRAY)
Expand All @@ -76,6 +77,9 @@ def process_image(self, msg):
# (158,255,236))

self.edge_detected = cv2.Canny(self.cv_image,self.minVal,self.maxVal)



_, self.contours, self.contour_hierarchy = cv2.findContours(self.edge_detected, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
self.contour_image = cv2.drawContours(self.cv_image, self.contours, -1, (0,255,0), 3)
print dp(self.edge_detected, 1)
Expand Down Expand Up @@ -154,6 +158,8 @@ def set_maxVal(self, val):
def run(self):
""" The main run loop"""
r = rospy.Rate(10)

print dp(self.edge_detected, 1)
while not rospy.is_shutdown():

if not self.cv_image is None:
Expand Down