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!baxter.sh
!roslaunch kinect2_bridge kinect2_bridge.launch


    

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from utils_io import read_json, load_items

params = read_json('parameters.json')
ITEM_FOLDER = params['item_folder']
items = load_items(ITEM_FOLDER)


    

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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("/kinect2/hd/image_color_rect", Image, callback)


    

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import matplotlib.pyplot as plt
%matplotlib inline


    

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bin_img = color_img[250:700,1000:,:]
plt.imshow(bin_img);


    

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from utils_sift import compute_sift

(kp, des) = compute_sift(bin_img)


    

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n = 1


    

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from utils_sift import compute_sift, match_items
bin_img = color_img[250:700,1000:,:]
(kp, des) = compute_sift(bin_img, debug=False)
item_d, recognised_items, mask_items = match_items(bin_img, kp, des, items[n:n+1])


    

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n += 1
items[n]


    

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