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successfully published segmentation image

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0nhc 2024-10-13 00:24:20 -05:00
parent f36934292b
commit 0bfb696c1b
1 changed files with 8 additions and 2 deletions
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10
scripts/bt_sim_node.py
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@ -325,6 +325,8 @@ class CameraPlugin(Plugin):
self.depth_pub = rospy.Publisher(topic, Image, queue_size=10) self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
topic = self.name + "/color/image_rect_raw" topic = self.name + "/color/image_rect_raw"
self.rgb_pub = rospy.Publisher(topic, Image, queue_size=10) self.rgb_pub = rospy.Publisher(topic, Image, queue_size=10)
topic = self.name + "/segmentation/image_rect_raw"
self.seg_pub = rospy.Publisher(topic, Image, queue_size=10)
def update(self): def update(self):
stamp = rospy.Time.now() stamp = rospy.Time.now()
@ -334,7 +336,7 @@ class CameraPlugin(Plugin):
msg.header.stamp = stamp msg.header.stamp = stamp
self.info_pub.publish(msg) self.info_pub.publish(msg)
color, depth, mask = self.camera.get_image() color, depth, seg = self.camera.get_image()
if self.cam_noise: if self.cam_noise:
depth = apply_noise(depth) depth = apply_noise(depth)
@ -343,10 +345,14 @@ class CameraPlugin(Plugin):
msg.header.stamp = stamp msg.header.stamp = stamp
self.depth_pub.publish(msg) self.depth_pub.publish(msg)
msg = self.cv_bridge.cv2_to_imgmsg((color).astype(np.uint8), encoding='rgb8') msg = self.cv_bridge.cv2_to_imgmsg(color.astype(np.uint8), encoding='rgb8')
msg.header.stamp = stamp msg.header.stamp = stamp
self.rgb_pub.publish(msg) self.rgb_pub.publish(msg)
msg = self.cv_bridge.cv2_to_imgmsg(seg.astype(np.uint8), encoding='mono8')
msg.header.stamp = stamp
self.seg_pub.publish(msg)
class MockActionsPlugin(Plugin): class MockActionsPlugin(Plugin):
def __init__(self): def __init__(self):