def __init__(self, topic, should_mirror, verbose):
self.topic = topic
self.KEY_ECS = 27
self.should_mirror = should_mirror
self.verbose = verbose
self.bridge = CvBridge()
rospy.on_shutdown(self.cleanup)
self.shutdowm_msg = "Shutting down."
self.node_name = "image_subscriber"
self.time_start = clock()
self.fps = FPS()
def handle_pub(videoCapture):
topic = '/file/video'
dashes = '_' * 60
print dashes
print "publish video to topic:%s from file ..." % (topic)
print dashes
rospy.init_node('file_publisher')
pub = rospy.Publisher(topic, Image, queue_size=2)
bridge = CvBridge()
fps = FPS()
fps = fps.start()
success, img = videoCapture.read()
rate = rospy.Rate(PlayFPS)
count = 0
while success:
img_copy = img.copy()
try:
msg = bridge.cv2_to_imgmsg(img, "bgr8")
count += 1
msg = add_timestamp(msg, count)
if verbose:
show_data_info(msg, fps)
except CvBridgeError as e:
print(e)
pub.publish(msg)
if show_video:
try:
show_image(img_copy, fps)
except (ExitLoop, KeyboardInterrupt, SystemExit):
cleanup(videoCapture)
break
success, img = videoCapture.read()
rate.sleep()
def __init__(self, topic, should_mirror, verbose, limit=1000):
self.topic = topic
self.KEY_ECS = 27
self.should_mirror = should_mirror
self.verbose = verbose
self.bridge = CvBridge()
rospy.on_shutdown(self.cleanup)
self.shutdowm_msg = "Shutting down."
self.node_name = 'image_subscriber'
self.time_start = clock()
self.limit = limit
self.frame_count = 0
self.total_latency = 0
self.fps = FPS()
self.hosts = {}
class ImgSub:
def __init__(self, topic, should_mirror, verbose):
self.topic = topic
self.KEY_ECS = 27
self.should_mirror = should_mirror
self.verbose = verbose
self.bridge = CvBridge()
rospy.on_shutdown(self.cleanup)
self.shutdowm_msg = "Shutting down."
self.node_name = "image_subscriber"
self.time_start = clock()
self.fps = FPS()
def run(self):
print "%s node turn on" % (self.node_name)
self.fps = self.fps.start()
self.handle_sub()
def handle_sub(self):
rospy.init_node(self.node_name, anonymous=True)
cv2.namedWindow("show %s" % (self.topic), 1)
self.sub = rospy.Subscriber(self.topic, Image, self.callback)
try:
rospy.spin()
except KeyboardInterrupt:
print (self.shutdowm_msg)
cv2.destroyAllWindows()
def callback(self, msg):
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
if self.verbose:
self.show_data_info(msg)
except CvBridgeError as e:
print (e)
cv_image = self.mirror_image(cv_image)
self.show_video(cv_image)
# ...
def show_video(self, img):
self.fps.update()
draw_str(img, (5, 30), "fps: %s" % self.fps)
cv2.imshow("show %s" % (self.topic), img)
key = cv2.waitKey(1)
if 0xFF & key == self.KEY_ECS:
rospy.signal_shutdown("User hit q key to quit.")
elif 0xFF & key == ord("a"):
file_name = "image_%s.jpg" % (str(int(clock())))
cv2.imwrite(file_name, img)
print "%s has saved." % file_name
def mirror_image(self, img):
if self.should_mirror:
from imtools import mirror_image
img = mirror_image(img)
return img
def show_data_info(self, msg):
import utility
utility.show_msg_info(msg, showLatency=True)
print ("fps: %s" % self.fps)
def cleanup(self):
print self.shutdowm_msg
cv2.destroyAllWindows()
class ImgSub:
def __init__(self, topic, should_mirror, verbose, limit=1000):
self.topic = topic
self.KEY_ECS = 27
self.should_mirror = should_mirror
self.verbose = verbose
self.bridge = CvBridge()
rospy.on_shutdown(self.cleanup)
self.shutdowm_msg = "Shutting down."
self.node_name = 'image_subscriber'
self.time_start = clock()
self.limit = limit
self.frame_count = 0
self.total_latency = 0
self.fps = FPS()
self.hosts = {}
def run(self):
print '%s node turn on' % (self.node_name)
self.fps = self.fps.start()
self.handle_sub()
def handle_sub(self):
rospy.init_node(self.node_name, anonymous=True)
cv2.namedWindow("show %s" % (self.topic), 10)
self.sub = rospy.Subscriber(self.topic, FaceDetect, self.callback)
try:
rospy.spin()
except KeyboardInterrupt:
print(self.shutdowm_msg)
cv2.destroyAllWindows()
def callback(self, msg):
self.show_data_info(msg)
self.frame_count += 1
if self.frame_count >= self.limit:
rospy.signal_shutdown("reach the limit of frames.")
# ...
def show_video(self, img):
self.fps.update()
draw_str(img, (5, 30), 'fps: %s' % self.fps)
cv2.imshow("show %s" % (self.topic), img)
key = cv2.waitKey(1)
if 0xFF & key == self.KEY_ECS:
rospy.signal_shutdown("User hit q key to quit.")
elif 0xFF & key == ord('a'):
file_name = 'image_%s.jpg' % (str(int(clock())))
cv2.imwrite(file_name, img)
print '%s has saved.' % file_name
def count_frames(self, msg):
host = msg.header.frame_id.split('-')[0]
if host in self.host:
self.host[host] += 1
else:
self.host[host] = 1
def show_data_info(self, msg):
import utility
result = 'header: \n'
result += str(msg.header) + '\n'
result = utility.pinned_prefix(result)
secs = int(msg.header.stamp.secs)
nsecs = int(msg.header.stamp.nsecs)
latency = rospy.Time.now() - rospy.Time(secs, nsecs)
latency_ms = latency.to_nsec() / 1000000.0
self.count_frames(msg)
print result
print 'latency: %.3f ms\n' % (latency_ms)
def cleanup(self):
print self.shutdowm_msg
cv2.destroyAllWindows()