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import sys
import rospy
from aruco_msgs.msg import *
import cv2
import pydl_local_planner
# Create the scene tracker
tracker = pydl_local_planner.SceneTracker()
# Initialize the ROS nodes
rospy.init_node(‘scene_tracker_node’, anonymous=True)
# Create ROS window and subscribe to it
rospy.subscribe(‘roswindow’, ‘image’, tracker.update_vis)
# Enable the camera stream
rospy.loginfo(‘In thread: %s’ % rospy.get_name())
rospy.loginfo(‘Starting camera’)
rospy.spin()
def Update():
# Read the last frame
frame = cv2.imread(‘frame_from_camera_node.png’)
label_gt = cv2.imread(‘label_groundtruth.png’)
# Add the frame to the input queue
tracker.process(frame.tobytes())
# Filter the real-time data and add the feature points to the output queue
features = tracker.real_time()
rospy.loginfo(‘Found features: %d’ % len(features))
# Add the features points as visual information
for i in range(len(features)):
if len(features[i]) >= 1:
label_gt[i] = 1
features[i].data.hit()
rospy.loginfo(‘Feature point %d: %d’ % (i, features[i].id()))
# Show the result
image = frame.copy()
border = label_gt[0]
colors = []
for i in range(0, len(features)):
if label_gt[i]!= 0:
colors.append((
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