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!rosrun baxter_tools camera_control.py -o right_hand_camera -r 960x600


    

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import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

bridge = CvBridge()


    

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def callback(msg):
    global color_img
    global timestamp
    timestamp = msg.header.stamp
    color_img = bridge.imgmsg_to_cv2(msg, "rgb8")


    

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rospy.init_node('camera_subscriber', anonymous=True)
rospy.Subscriber("/cameras/right_hand_camera/image", Image, callback)


    

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import matplotlib.pyplot as plt
%matplotlib inline


    

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plt.imshow(color_img);


    

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from utils_sift import compute_sift

(kp, des) = compute_sift(color_img)


    

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from utils_sift import match_items
#items = ["crayons", "colgate_toothbrush_4pk",
#         "robots_everywhere", "glue_sticks",
#         "composition_book", "ticonderoga_pencils",
#         "hinged_ruled_index_cards"]
items = ["tennis_ball_container", "epsom_salts", "mouse_traps"]
item_d, recognised_items, mask_items = match_items(color_img, kp, des, items)


    

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recognised_items


    

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