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.frames = []
self.frame_max = 90
self.imgPlayer = ImagePlayer("show %s" % (self.topic))
def run(self):
print '%s node turn on' % (self.node_name)
self.handle_sub()
self.show_video()
try:
rospy.spin()
except KeyboardInterrupt:
self.cleanup()
def handle_sub(self):
rospy.init_node(self.node_name, anonymous=True)
self.sub = rospy.Subscriber(self.topic, Image, self.callback)
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)
if len(self.frames) >= self.frame_max:
self.frames.pop(0)
self.frames.append(cv_image)
# ...
def show_video(self):
while not rospy.is_shutdown():
if len(self.frames) > 0:
img = self.frames.pop(0)
self.imgPlayer.show(img)
key = self.imgPlayer.get_key()
if key == self.KEY_ECS:
rospy.signal_shutdown("User hit q key to quit.")
elif 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.imgPlayer.get_fps())
def cleanup(self):
print self.shutdowm_msg
cv2.destroyAllWindows()
