crosstyan/RapidPoseTriangulation
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Some small updates.

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This commit is contained in:
Daniel
2025-02-03 17:19:02 +01:00
parent b41380b033
commit 3eb7696e31
4 changed files with 12 additions and 9 deletions
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15
extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py
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@ -1,5 +1,4 @@
import json
import os
import sys
import threading
import time
@ -13,10 +12,6 @@ from rclpy.qos import QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
from sensor_msgs.msg import Image
from std_msgs.msg import String
filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
sys.path.append(filepath + "../../../../scripts/")
import utils_pipeline
from skelda import utils_view
# ==================================================================================================
@ -36,13 +31,21 @@ lock = threading.Lock()
# ==================================================================================================
def bayer2rgb(bayer):
img = cv2.cvtColor(bayer, cv2.COLOR_BayerBG2RGB)
return img
# ==================================================================================================
def callback_images(image_data):
global last_input_image, lock
# Convert into cv images from image string
if image_data.encoding == "bayer_rggb8":
bayer_image = bridge.imgmsg_to_cv2(image_data, "bayer_rggb8")
color_image = utils_pipeline.bayer2rgb(bayer_image)
color_image = bayer2rgb(bayer_image)
elif image_data.encoding == "mono8":
gray_image = bridge.imgmsg_to_cv2(image_data, "mono8")
color_image = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)