Snippets

HBPNeurorobotics image_receiver_tf.py

Created by erdisayar
image_receiver_tf.py
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import numpy as np
from nrp_core import *
from nrp_core.data.nrp_json import *
from nrp_core.data.nrp_protobuf import *


@EngineDataPack(keyword='camera', id=DataPackIdentifier('husky_camera::camera', 'gazebo'))
@TransceiverFunction("tensorflow_python_json_engine")
def forward_image_to_engine(camera):
    image_datapack = JsonDataPack("input_image", "tensorflow_python_json_engine")
    
    if not camera.isEmpty():
        cv_image = np.frombuffer(camera.data.imageData, np.uint8)
        image_datapack.data['imageHeight'] = camera.data.imageHeight
        image_datapack.data['imageWidth'] = camera.data.imageWidth
        image_datapack.data['channel'] = 3  # RGB Image
        image_datapack.data['image'] = cv_image.flatten().tolist()

    return [image_datapack]

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