whack_a_mole.camera module

class whack_a_mole.camera.Camera

Bases: Node

Camera node that detects the color of the object and broadcasts the frame.

Parameters:

clipping_distance (int): The clipping distance for the depth image box_start_x (int): The starting x coordinate for the bounding box box_end_x (int): The ending x coordinate for the bounding box box_start_y (int): The starting y coordinate for the bounding box box_end_y (int): The ending y coordinate for the bounding box

Publisher:

filtered_image (Image): The filtered image

Subscriber:

/camera/camera/aligned_depth_to_color/image_raw (Image): The depth image /camera/camera/color/image_raw (Image): The color image /camera/camera/color/camera_info (CameraInfo): The camera info

Service:

toggle_tf_publish (Empty): Toggles the update_colors variable

broadcast_color(lower_HSV, higher_HSV, color: str)

Broadcasts the color frame based on HSV range.

Parameters:

  • lower_HSV (numpy.array) – The lower HSV range.

  • higher_HSV (numpy.array) – The higher HSV range.

  • color (str) – The name of the color of the object.

broadcast_color_frame(base_frame, child_frame, x_c, y_c)

Broadcasts the transform for a detected color frame.

Parameters:

  • base_frame (str) – The base frame’s name.

  • child_frame (str) – The child frame’s name.

  • x_c (int) – The x-coordinate of the detected color’s centroid in the image.

  • y_c (int) – The y-coordinate of the detected color’s centroid in the image.

camera_info_callback(msg)

Publish new camera hardware info.

Parameters:

msg (CameraInfo) – The CameraInfo message containing intrinsic parameters.

find_color_centroid(lower_HSV: array, higher_HSV: array)

Find the pixel indices of the centroid of a color defined in the given HSV range.

Parameters:

  • lower_HSV (numpy.array) – The lower HSV range for the color.

  • higher_HSV (numpy.array) – The higher HSV range for the color.

Returns:

The (x, y) centroid of the color.

Return type:

tuple(int, int)

get_color_info(msg: Image)

Publish new camera color info.

Parameters:

msg (Image) – The color image message.

get_depth_info(msg: Image)

Publish new camera depth info.

Parameters:

msg (Image) – The depth image message.

log(*message)

Log custom messages.

Parameters:

message (str) – The message(s) to log.

timer_callback()

Timer callback that detects the color of the object and broadcasts the frame.

Parameters:

None (NoneType) – No arguments required for this function.

toggle_tf_publish(request, response)

Toggles the update_colors variable to start/stop publishing the color frames.

Parameters:

  • request (Empty.Request) – Empty request.

  • response (Empty.Response) – Empty response.

Returns:

Returns the response.

Return type:

Empty.Response

whack_a_mole.camera.entry(args=None)

Entry point for starting the ROS2 Camera node.

Parameters:

args (list or NoneType) – The arguments passed for initialization.