Source code for soccer_object_localization.detector

import cv2
import rospy
import tf

from soccer_common.camera import Camera
from soccer_msgs.msg import RobotState


class Detector:
    def __init__(self):
        self.robot_name = rospy.get_namespace()[1:-1]
        self.camera = Camera(self.robot_name)
        self.camera.reset_position()

        self.robot_state_subscriber = rospy.Subscriber("state", RobotState, self.robot_state_callback)
        self.robot_state = RobotState()
        self.robot_state.status = RobotState.STATUS_DISCONNECTED

        self.br = tf.TransformBroadcaster()
        pass

    def robot_state_callback(self, robot_state: RobotState):
        self.robot_state = robot_state

    def circular_mask(self, radius: int):
        return cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (radius, radius))