def __init__(self, name):
"""
Constructor.
@param name: camera identifier. You can get a list of valid
identifiers by calling the ROS service /cameras/list.
Expected names are right_hand_camera, left_hand_camera
and head_camera. However if the cameras are not
identified via the parameter server, they are simply
indexed starting at 0.
"""
self._id = name
list_svc = rospy.ServiceProxy('/cameras/list', ListCameras)
rospy.wait_for_service('/cameras/list', timeout=10)
if not self._id in list_svc().cameras:
raise AttributeError("Invalid camera name '%s'" % (self._id, ))
self._open_svc = rospy.ServiceProxy('/cameras/open', OpenCamera)
self._close_svc = rospy.ServiceProxy('/cameras/close', CloseCamera)
self._settings = CameraSettings()
self._settings.width = 320
self._settings.height = 200
self._settings.fps = 20
self._open = False
def __init__(self, name, robot_ns='/'):
"""
Constructor.
@param name: camera identifier. You can get a list of valid
identifiers by calling the ROS service /cameras/list.
Expected names are right_hand_camera, left_hand_camera
and head_camera. However if the cameras are not
identified via the parameter server, they are simply
indexed starting at 0.
"""
self._id = name
list_svc = rospy.ServiceProxy(robot_ns + 'cameras/list', ListCameras)
rospy.wait_for_service(robot_ns + 'cameras/list', timeout=10)
if not self._id in list_svc().cameras:
raise AttributeError(
("Cannot locate a service for camera name '{0}'. "
"Close a different camera first and try again.".format(
self._id)))
self._open_svc = rospy.ServiceProxy(robot_ns + 'cameras/open',
OpenCamera)
self._close_svc = rospy.ServiceProxy(robot_ns + 'cameras/close',
CloseCamera)
self._settings = CameraSettings()
self._settings.width = 320
self._settings.height = 200
self._settings.fps = 20
self._open = False
def open_camera(self, arm):
self.image_pub = rospy.Publisher('/robot/xdisplay',
Image,
queue_size=10)
self.image_sub = rospy.Subscriber("image_topic", Image, self.callback)
self.subscribe_to_camera(arm)
# reset cameras
"""
Constructor.
@param name: camera identifier. You can get a list of valid
identifiers by calling the ROS service /cameras/list.
Expected names are right_hand_camera, left_hand_camera
and head_camera. However if the cameras are not
identified via the parameter server, they are simply
indexed starting at 0.
"""
if (arm == "left"):
self._id = "left_hand_camera"
elif (arm == "right"):
self._id = "right_hand_camera"
else:
self._id = "head_camera"
# camera parameters (NB. other parameters in open_camera)
self.cam_calib = 0.0025 # meters per pixel at 1 meter
self.cam_x_offset = 0.045 # camera gripper offset
self.cam_y_offset = -0.01
list_svc = rospy.ServiceProxy('/cameras/list', ListCameras)
rospy.wait_for_service('/cameras/list', timeout=10)
if not self._id in list_svc().cameras:
raise AttributeError(
("Cannot locate a service for camera name '{0}'. "
"Close a different camera first and try again.".format(
self._id)))
self._settings = CameraSettings()
self.width = self._settings.width = 960
self.height = self._settings.height = 600
self._settings.fps = 20
self._open = False
self._open_svc = rospy.ServiceProxy('/cameras/open', OpenCamera)
self._close_svc = rospy.ServiceProxy('/cameras/close', CloseCamera)
self.image_num = 0
def createCameraSettings(**kwargs):
settings = CameraSettings()
settings.controls = []
if "width" in kwargs:
settings.width = kwargs["width"]
if "height" in kwargs:
settings.height = kwargs["height"]
if "fps" in kwargs:
settings.fps = kwargs["fps"]
if "exposure" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_EXPOSURE,
kwargs["exposure"])
if "gain" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_GAIN,
kwargs["gain"])
if "whiteBalanceR" in kwargs:
CameraController._setCameraController(
settings.controls,
CameraControl.CAMERA_CONTROL_WHITE_BALANCE_R,
kwargs["whiteBalanceR"])
if "whiteBalanceG" in kwargs:
CameraController._setCameraController(
settings.controls,
CameraControl.CAMERA_CONTROL_WHITE_BALANCE_G,
kwargs["whiteBalanceG"])
if "whiteBalanceB" in kwargs:
CameraController._setCameraController(
settings.controls,
CameraControl.CAMERA_CONTROL_WHITE_BALANCE_B,
kwargs["whiteBalanceB"])
if "windowX" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_WINDOW_X,
kwargs["windowX"])
if "windowY" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_WINDOW_Y,
kwargs["windowY"])
if "flip" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_FLIP,
kwargs["flip"])
if "mirror" in kwargs:
CameraController._setCameraController(
settings.controls, CameraControl.CAMERA_CONTROL_MIRROR,
kwargs["mirror"])
if "resolutionHalf" in kwargs:
CameraController._setCameraController(
settings.controls,
CameraControl.CAMERA_CONTROL_RESOLUTION_HALF,
kwargs["resolutionHalf"])
return settings
def _getDefaultSettings():
defaultSettings = CameraSettings()
# Default camera setting on startup: http://sdk.rethinkrobotics.com/wiki/Cameras
# defaultSettings.width = CameraControls._defaultWidth
# defaultSettings.height = CameraControls._defaultHeight
# defaultSettings.fps = CameraControls._defaultFps
# NOTE (amal): the below default values were removed because Baxter has
# built-in defaults it sets internally, so I decided to defer to those.
# # Auto Camera CameraControls
# controls = []
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_EXPOSURE, CameraControls._autoControl)
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_GAIN, CameraControls._autoControl)
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_WHITE_BALANCE_R, CameraControls._autoControl)
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_WHITE_BALANCE_G, CameraControls._autoControl)
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_WHITE_BALANCE_B, CameraControls._autoControl)
# CameraControls._setCameraControls(controls, CameraControl.CAMERA_CONTROL_RESOLUTION_HALF, 1)
# defaultSettings.controls = controls
return defaultSettings
def __init__(self, name):
"""
Constructor.
@param name: camera identifier. You can get a list of valid
identifiers by calling the ROS service /cameras/list.
Expected names are right_hand_camera, left_hand_camera
and head_camera. However if the cameras are not
identified via the parameter server, they are simply
indexed starting at 0.
"""
self._id = name
self._open_svc = rospy.ServiceProxy('/cameras/open', OpenCamera)
self._close_svc = rospy.ServiceProxy('/cameras/close', CloseCamera)
self._settings = CameraSettings()
self._settings.width = 320
self._settings.height = 200
self._settings.fps = 20
self._open = False