grasp_pos_rgbd_cluster.py 文件源码

def rgb_callback(self,data):
        try:
            self.rgb_image = self.br.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print(e)


        tempimg = self.rgb_image.copy()
        if self.drawing or self.rect_done:
            if (self.ix1 != -1 and self.iy1 != -1 and self.ix2 != -1 and self.iy2 != -1):
                cv2.rectangle(tempimg,(self.ix1,self.iy1),(self.ix2,self.iy2),(0,255,0),2)
                if self.rect_done:
                    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)
        # print "rgb"