def __init__(self):
#Create an instance variable to store the last image received
self.lastImage = None
#Initialize the node
rospy.init_node('right_hand_camera_srv')
left_cam = CameraController("left_hand_camera")
left_cam.close()
right_cam = CameraController("right_hand_camera")
right_cam.resolution = (1280, 800)
right_cam.open()
# cameraController = baxter_interface.CameraController("right_hand_camera")
# # cameraController.close()
# cameraController.resolution= (1280,800)
# cameraController.open()
#Subscribe to the image topic
rospy.Subscriber("/cameras/right_hand_camera/image", Image,
self.imgReceived)
#Create the service
rospy.Service('last_image', ImageSrv, self.getLastImage)
print "created service"
def open_cam(camera, res):
# Check if valid resolution
if not any((res[0] == r[0] and res[1] == r[1]) for r in CameraController.MODES):
rospy.logerr("Invalid resolution provided.")
# Open camera
cam = CameraController(camera) # Create camera object
cam.resolution = res # Set resolution
cam.open() # open
def main():
camname = 'right_hand_camera'
####cam = CameraController('head_camera')
####cam.close()
reset_cameras()
cam = CameraController(camname)
print 'camera ', camname
print 'gain ', cam.gain
print 'res ', cam.resolution
def main():
####cam = CameraController('head_camera')
####cam.close()
reset_cameras()
cam = CameraController('right_hand_camera')
res = (1280, 800)
cam.resolution = res
cam.open()
#print 'gain was ',cam.gain
cam.gain = 0
def set_cameras(res):
ls = rospy.ServiceProxy('cameras/list', ListCameras)
rospy.wait_for_service('cameras/list', timeout=10)
cameraList = ls()
if cameraList.cameras.count('right_hand_camera') == 0:
c = CameraController(cameraList.cameras[0])
c.close
else:
cRight = CameraController('right_hand_camera')
cRight.open()
cRight.resolution = res
cRight.gain = 20
cRight.exposure = 30
print "Right Camera Open: RES = " + str(cRight.resolution)
return None
def main(camera_name):
camera = CameraController(camera_name)
print('Resolution:', camera.resolution)
print('Frames per second:', camera.fps)
print('Exposure:', camera.exposure)
print('Gain:', camera.gain)
print('White balance:')
print(' Red:', camera.white_balance_red)
print(' Green:', camera.white_balance_green)
print(' Blue:', camera.white_balance_blue)
print('Flip:', camera.flip)
print('Mirror:', camera.mirror)
print('Binning/half resolution:', camera.half_resolution)
def start_cameras(self,
camera1='left_hand_camera',
camera2='right_hand_camera',
resolution=(1280, 800)):
"""
Start Baxter cameras. Baxter accepts 2 and only 2 opened cameras due to USB bus restrictions.
https://github.com/RethinkRobotics/sdk-docs/wiki/Using-the-Cameras
:param camera1: camera name 1
:param camera2: camera name 2
:param resolution: tuple among 1280x800, 960x600, 640x400, 480x300, 384x240, 320x200
"""
for camera in [camera1, camera2]:
short_name = camera.split('_')[0]
if self.cameras_enabled[short_name]:
rospy.loginfo("Opening camera {} in {}x{} pixels...".format(
camera, resolution[0], resolution[1]))
controller = CameraController(camera)
controller.resolution = resolution
controller.open()
rospy.loginfo("Cameras opened!")
def close_camera(camera, *_args, **_kwds):
cam = CameraController(camera)
cam.close()
def open_camera(camera, res, *_args, **_kwds):
cam = CameraController(camera)
cam.resolution = res
cam.open()
def open_cam(camera, res):
if not any((res[0] == r[0] and res[1] == r[1]) for r in CameraController.MODES):
rospy.logerr("Invalid resolution provided.")
cam = CameraController(camera)
cam.resolution = res
cam.open()
def close_cam(camera):
cam = CameraController(camera) # Create camera object
cam.close() # close
