def update(self):
'''
Updates Image.
'''
if self.hasproxy():
img = Image()
imageData = self.proxy.getImageData(self.imgFormat)
img.height = imageData.description.height
img.width = imageData.description.width
img.format = imageData.description.format
# Format jdpeg input
if img.format == "jpeg":
data = cv2.imdecode(imageData.pixelData)
img.data = cv.cvtColor(data, cv.COLOR_BGR2RGB)
img.format = "RGB8"
# When NOT Jpeg format input
else:
img.data = np.frombuffer(imageData.pixelData, dtype=np.uint8)
img.data.shape = img.height, img.width, 3
img.timeStamp = imageData.timeStamp.seconds + imageData.timeStamp.useconds * 1e-9
self.lock.acquire()
self.image = img
self.lock.release()
def __init__(self, jdrc, prefix):
'''
Camera Contructor.
Exits When it receives a Exception diferent to Ice.ConnectionRefusedException
@param jdrc: Comm Communicator
@param prefix: Name of client in config file
@type jdrc: Comm Communicator
@type prefix: String
'''
self.lock = threading.Lock()
self.image = Image()
try:
ic = jdrc.getIc()
proxyStr = jdrc.getConfig().getProperty(prefix + ".Proxy")
basecamera = ic.stringToProxy(proxyStr)
self.proxy = jderobot.CameraPrx.checkedCast(basecamera)
self.imgFormat = jdrc.getConfig().getPropertyWithDefault(
prefix + ".Format", "RGB8")
self.update()
if not self.proxy:
print('Interface ' + prefix + ' not configured')
except Ice.ConnectionRefusedException:
print(prefix + ': connection refused')
except:
traceback.print_exc()
exit(-1)
def __init__(self, ic, prefix):
'''
Camera Contructor.
Exits When it receives a Exception diferent to Ice.ConnectionRefusedException
@param ic: Ice Communicator
@param prefix: prefix name of client in config file
@type ic: Ice Communicator
@type prefix: String
'''
self.lock = threading.Lock()
self.image = Image()
try:
basecamera = ic.propertyToProxy(prefix + ".Proxy")
self.proxy = jderobot.CameraPrx.checkedCast(basecamera)
prop = ic.getProperties()
self.imgFormat = prop.getProperty(prefix + ".Format")
if not self.imgFormat:
self.imgFormat = "RGB8"
self.update()
if not self.proxy:
print('Interface ' + prefix + ' not configured')
except Ice.ConnectionRefusedException:
print(prefix + ': connection refused')
except:
traceback.print_exc()
exit(-1)
def imageMsg2Image(img, bridge):
'''
Translates from ROS Image to JderobotTypes Image.
@param img: ROS Image to translate
@param bridge: bridge to do translation
@type img: sensor_msgs.msg.Image
@type brige: CvBridge
@return a JderobotTypes.Image translated from img
'''
image = Image()
image.width = img.width
image.height = img.height
image.format = "RGB8"
image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs * 1e-9)
cv_image = 0
if (img.encoding[-2:] == "C1"):
gray_img_buff = bridge.imgmsg_to_cv2(img, img.encoding)
cv_image = depthToRGB8(gray_img_buff, img.encoding)
else:
cv_image = bridge.imgmsg_to_cv2(img, "rgb8")
image.data = cv_image
return image
def imageMsg2Image(img, bridge):
'''
Translates from ROS Image to JderobotTypes Image.
@param img: ROS Image to translate
@param bridge: bridge to do translation
@type img: sensor_msgs.msg.Image
@type brige: CvBridge
@return a JderobotTypes.Image translated from img
'''
image = Image()
image.width = img.width
image.height = img.height
image.format = "RGB8"
image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs *1e-9)
cv_image=0
if (img.encoding == "32FC1"):
gray_img_buff = bridge.imgmsg_to_cv2(img, "32FC1")
cv_image = depthToRGB8(gray_img_buff)
else:
cv_image = bridge.imgmsg_to_cv2(img, "rgb8")
image.data = cv_image
return image
def getImage(self):
'''
Returns last Image.
@return last JdeRobotTypes Image saved
'''
img = Image()
if self.hasproxy():
self.lock.acquire()
img = self.image
self.lock.release()
return img
def __init__(self, topic):
'''
ListenerCamera Constructor.
@param topic: ROS topic to subscribe
@type topic: String
'''
self.topic = topic
self.data = Image()
self.sub = None
self.lock = threading.Lock()
self.bridge = CvBridge()
self.start()
def __init__(self, topic, ros2node):
'''
ListenerCamera Constructor.
@param topic: ROS2 topic to subscribe
@type topic: String
'''
self.topic = topic
self.data = Image()
self.sub = None
self.lock = threading.Lock()
self.__noderos2 = ros2node
self.bridge = CvBridge()
self.start()
self.spin_thread = None # variable to handle thread
def update(self):
'''
Updates Image.
'''
if self.hasproxy():
img = Image()
imageData = self.proxy.getImageData(self.imgFormat)
img.height = imageData.description.height
img.width = imageData.description.width
img.format = imageData.description.format
img.data = np.frombuffer(imageData.pixelData, dtype=np.uint8)
img.data.shape = img.height, img.width, 3
img.timeStamp = imageData.timeStamp.seconds + imageData.timeStamp.useconds * 1e-9
self.lock.acquire()
self.image = img
self.lock.release()
def imageComp2Image(img, bridge):
'''
Translates from ROS CompressedImage to JderobotTypes Image.
@param img: ROS CompressedImage to translate
@param bridge: bridge to do translation
@type img: sensor_msgs.msg.CompressedImage
@type brige: CvBridge
@return a JderobotTypes.Image translated from img
'''
image = Image()
image.format = "RGB8"
image.data = bridge.compressed_imgmsg_to_cv2(img, "rgb8")
image.width = image.data.shape[0]
image.height = image.data.shape[1]
return image
def update(self):
'''
Updates Image.
'''
if self.hasproxy():
img = Image()
imageData = self.proxy.getImageData(self.imgFormat)
img.height = imageData.description.height
img.width = imageData.description.width
img.format = imageData.description.format
img.data = np.frombuffer(imageData.pixelData, dtype=np.uint8)
img.data.shape = img.height, img.width, 3
img.timeStamp = imageData.timeStamp.seconds + imageData.timeStamp.useconds * 1e-9
self.lock.acquire()
self.image = img
self.lock.release()