class camStream():
def __init__(self):
self.node_name = "camStream"
# rospy.init_node(self.node_name)
self.image_pub = rospy.Publisher("ImageTopic",GreyImg)
self.bridge = CvBridge()
rospy.on_shutdown(self.cleanup)
rospy.loginfo("Connecting to Camera Stream")
def cameraStream(self):
cap = cv2.VideoCapture(0)
while(True):
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
cv2.imshow('frame',gray)
rosimg = self.bridge.cv2_to_image(gray , "bgr8")
try:
self.image_pub.publish(rosimg)
except CvBridgeError as e:
print(e)
cv2.imshow(self.node_name, gray)
cv2.waitKey()
break
cap.release()
cv2.destroyAllWindows()
def cleanup(self):
print("Shutting down vision node.")
cv2.destroyAllWindows()
