grasp_pos_rgbd_cluster.py 文件源码

def draw_rect(self,event,x,y,flags,param):
        if event == cv2.EVENT_LBUTTONDOWN:
            self.drawing = True
            self.rect_done = False
            self.ix1 = x
            self.iy1 = y

        elif event == cv2.EVENT_MOUSEMOVE:
            if self.drawing == True:
                self.ix2 = x
                self.iy2 = y


        elif event == cv2.EVENT_LBUTTONUP:
            self.drawing = False
            self.ix2 = x
            self.iy2 = y

            tempimg = self.rgb_image.copy()
            cv2.rectangle(tempimg,(self.ix1,self.iy1),(self.ix2,self.iy2),(0,255,0),2)
            center_point = self.get_center_point()

            cv2.circle(tempimg, tuple(center_point.astype(int)), 3, (0,0,255),-1)
            cv2.imshow('RGB Image', tempimg)
            cv2.waitKey(5)
            self.rect_done = True