forked from ros-drivers/usb_cam
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Show image script to display image- it looks to be working (why doesn…
…'t image_tools showimage?), but the frame rate is very slow ros-drivers#103
- Loading branch information
Showing
2 changed files
with
62 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| #!/usr/bin/env python3 | ||
|
|
||
| import cv2 | ||
| import numpy as np | ||
| import rclpy | ||
|
|
||
| from rclpy.node import Node | ||
| from sensor_msgs.msg import Image | ||
|
|
||
|
|
||
| class ExamineImage(Node): | ||
| def __init__(self): | ||
| super().__init__('examine_image') | ||
|
|
||
| self.mat = None | ||
| self.sub = self.create_subscription( | ||
| Image, | ||
| 'image_raw', | ||
| self.image_callback) | ||
| # print("subscribed to " + self.sub.getTopic()) | ||
|
|
||
| def image_callback(self, msg): | ||
| sz = (msg.height, msg.width) | ||
| print(msg.header.stamp) | ||
| if False: | ||
| print("{encoding} {width} {height} {step} {data_size}".format( | ||
| encoding=msg.encoding, width=msg.width, height=msg.height, | ||
| step=msg.step, data_size=len(msg.data))) | ||
| if msg.step * msg.height != len(msg.data): | ||
| print("bad step/height/data size") | ||
| return | ||
|
|
||
| if msg.encoding == "rgb8": | ||
| dirty = (self.mat is None or msg.width != self.mat.shape[1] or | ||
| msg.height != self.mat.shape[0] or len(self.mat.shape) < 2 or | ||
| self.mat.shape[2] != 3) | ||
| if dirty: | ||
| self.mat = np.zeros([msg.height, msg.width, 3], dtype=np.uint8) | ||
| self.mat[:, :, 2] = np.array(msg.data[0::3]).reshape(sz) | ||
| self.mat[:, :, 1] = np.array(msg.data[1::3]).reshape(sz) | ||
| self.mat[:, :, 0] = np.array(msg.data[2::3]).reshape(sz) | ||
| elif msg.encoding == "mono8": | ||
| self.mat = np.array(msg.data).reshape(sz) | ||
| else: | ||
| print("unsupported encoding {}".format(msg.encoding)) | ||
| return | ||
| if self.mat is not None: | ||
| cv2.imshow("image", self.mat) | ||
| cv2.waitKey(5) | ||
|
|
||
| def main(args=None): | ||
| rclpy.init(args=args) | ||
|
|
||
| examine_image = ExamineImage() | ||
| rclpy.spin(examine_image) | ||
|
|
||
| examine_image.destroy_node() | ||
| rclpy.shutdown() | ||
|
|
||
| if __name__ == '__main__': | ||
| main() |