def __init__(self, hostname, username, password, flip, speed_control, frame_id="axis_camera",
use_encrypted_password=False, state_publishing_frequency=50, camera_id=1):
"""Initialize the PTZ driver and start publishing positional data.
:param hostname: Hostname of the camera (without http://, can be an IP address).
:type hostname: basestring
:param username: If login is needed, provide a username here.
:type username: basestring|None
:param password: If login is needed, provide a password here.
:type password: basestring|None
:param flip: Whether to flip the controls (for ceiling-mounted cameras). Deprecated.
:type flip: bool
:param speed_control: Use speed control instead of positional. Deprecated.
:type speed_control: bool
:param frame_id: Id of the frame in which positinal data should be published.
:type frame_id: basestring
:param use_encrypted_password: Whether to use Plain HTTP Auth (False) or Digest HTTP Auth (True).
:type use_encrypted_password: bool
:param state_publishing_frequency: The frequency at which joint states should be published.
:type state_publishing_frequency: int
:param camera_id: ID (number) of the camera. Can be 1 to 4.
:type camera_id: int
"""
self._hostname = hostname
self._camera_id = camera_id
self._frame_id = frame_id
self._state_publishing_frequency = state_publishing_frequency
self._executing_reconfigure = False
self._reconfigure_mutex = threading.Lock()
self._api = None
# autodetect the VAPIX API and connect to it; try it forever
while self._api is None and not rospy.is_shutdown():
try:
self._api = VAPIX.get_api_for_camera(hostname, username, password, camera_id, use_encrypted_password)
except (IOError, ValueError):
rospy.loginfo(
"Retrying connection to VAPIX on host %s, camera %d in 2 seconds." % (hostname, camera_id))
rospy.sleep(2)
if rospy.is_shutdown():
return
if not self._api.has_ptz():
raise RuntimeError("Camera %d on host %s doesn't have a Pan-Tilt-Zoom unit." % (self._camera_id, self._hostname))
# Create a controller of the camera
self._camera_controller = AxisCameraController(self._api, self, flip_vertically=flip, flip_horizontally=flip)
# BACKWARDS COMPATIBILITY LAYER
self.username = username # deprecated
self.password = password # deprecated
self.flip = flip # deprecated
self.speedControl = speed_control # deprecated
self.mirror = False # deprecated
self.msg = None # deprecated
self.cmdString = "" # deprecated
self.pub = rospy.Publisher("state", Axis, queue_size=100) # deprecated
self.command_subscriber = rospy.Subscriber("cmd", Axis, self.cmd, queue_size=100) # deprecated
self.mirror_subscriber = rospy.Subscriber("mirror", Bool, self.mirrorCallback, queue_size=100) # deprecated
self.srv = Server(PTZConfig, self.callback) # deprecated
# Needs to be after the backwards compatibility setup
# start the publisher thread
self._publisher_thread = PositionStreamingThread(self, self._api)
self.st = self._publisher_thread # deprecated
self._publisher_thread.start()
def _publish_frames_until_error(self):
"""Continuous loop to publish images. Stops if an error occurs while reading the stream.
Should also account for pausing/resuming (stop/start reading the stream), and video parameters changes.
These should not make this function exit, it should instead reconnect automatically.
"""
while not rospy.is_shutdown(): # publish until an error occurs (then, a return is called to end this loop)
# if we are paused, wait for a resume before connecting to the stream
while not rospy.is_shutdown() and (self._is_paused or not self._is_video_ok()):
rospy.sleep(1)
try: # now try to open the video stream;
with closing(
self._axis._api.get_video_stream(self._axis._fps, self._axis._resolution.name, self._axis._compression,
self._axis._use_color, self._axis._use_square_pixels)
) as stream:
self.fp = stream # backwards compatibility
# this is the rate at which we wake up to read new data; there is no need for it to happen faster
# than at the requested FPS
rate = rospy.Rate(self._axis._fps)
# we've just crerated a video stream with the most recently requested parameters, so clear the dirty
# flag
self._axis.video_params_changed = False
# publish images from the stream until i) someone pauses us, or ii) video parameters changed
# when one of these events happens, we take a next iteration of the outermost loop, in which there
# is a wait in case of pausing, and a new video stream connection is created with most recent
# parameters
while not rospy.is_shutdown() and not self._axis.video_params_changed and not self._is_paused:
try:
(header, image) = VAPIX.read_next_image_from_video_stream(stream)
if image is not None:
timestamp = rospy.Time.now()
self._publish_image(header, image, timestamp)
self._publish_camera_info(header, image, timestamp)
else:
# probably a temporary error, don't return
rospy.logwarn("Retrieving image from Axis camera failed.")
except IOError, e:
# error occured, we should therefore return
rospy.loginfo('Error reading from the video stream. Cause: %r' % e)
return
# read images only on the requested FPS frequency
rate.sleep()
except IOError, e:
# could not open the stream, the camera is probably in standby mode?
if self._axis.auto_wakeup_camera:
wakeup_succeeded = self._wakeup_camera()
if not wakeup_succeeded:
# if we could not wake up the camera, it is an error and we should return
rospy.logerr("%r" % e)
return
else:
continue
else:
# if we cannot open the stream and auto-wakeup is off, we have no other possibility than to report
# error
rospy.logerr("%r" % e)
return
# the image-publishing loop has been interrupted, so reconnect to the stream in the next
# outer-while iteration
if self._axis.video_params_changed:
rospy.logdebug("Video parameters changed, reconnecting the video stream with the new ones.")
def getImageData(self):
"""Deprecated."""
if self.content_length > 0:
self.img = VAPIX._get_image_data_from_stream(self.fp, self.content_length)
def getHeader(self):
"""Deprecated."""
self.header = VAPIX._get_image_header_from_stream(self.fp)
self.content_length = int(self.header['Content-Length'])
def findBoundary(self):
"""Deprecated."""
VAPIX._find_boundary_in_stream(self.fp)
def __init__(self, hostname, username, password, width, height, frame_id, camera_info_url, use_encrypted_password,
camera_id=1, auto_wakeup_camera=True, compression=0, fps=24, use_color=True,
use_square_pixels=False):
"""Create the ROS-VAPIX interface.
:param hostname: Hostname of the camera (without http://, can be an IP address).
:type hostname: basestring
:param username: If login is needed, provide a username here.
:type username: :py:obj:`basestring` | None
:param password: If login is needed, provide a password here.
:type password: :py:obj:`basestring` | None
:param width: Width of the requested video stream in pixels (can be changed later). Must be one of the supported
resolutions. If `None`, the resolution will be chosen by height only. If also `height` is `None`,
then the default camera resolution will be used.
:type width: int|None
:param height: Height of the requested video stream in pixels (can be changed later). Must be one of the
supported resolutions. If `None`, the resolution will be chosen by width only. If also `width` is
`None`, then the default camera resolution will be used.
:type height: int|None
:param frame_id: The ROS TF frame assigned to the camera.
:type frame_id: basestring
:param camera_info_url: The URL pointing to the camera calaibration, if available.
:type camera_info_url: basestring
:param use_encrypted_password: Whether to use Plain HTTP Auth (False) or Digest HTTP Auth (True).
:type use_encrypted_password: bool
:param camera_id: ID (number) of the camera. Can be 1 to 4.
:type camera_id: int
:param auto_wakeup_camera: If True, there will be a wakeup trial after first unsuccessful network command.
:type auto_wakeup_camera: bool
:param compression: Compression of the image (0 - no compression, 100 - max compression).
:type compression: int
:param fps: The desired frames per second.
:type fps: int
:param use_color: If True, send a color stream, otherwise send only grayscale image.
:type use_color: bool
:param use_square_pixels: If True, the resolution will be stretched to match 1:1 pixels.
By default, the pixels have a ratio of 11:12.
:type use_square_pixels: bool
:raises: :py:exc:`ValueError` if the requested resolution (either the `resolution`, or `width`+`height`
is not supported.
"""
# True every time the video parameters have changed and the URL has to be altered (set from other threads).
self.video_params_changed = False
self.__initializing = True
self._hostname = hostname
self._camera_id = camera_id
self.diagnostic_updater = Updater()
self.diagnostic_updater.setHardwareID(hostname)
self._api = None
# autodetect the VAPIX API and connect to it; try it forever
while self._api is None and not rospy.is_shutdown():
try:
self._api = VAPIX.get_api_for_camera(hostname, username, password, camera_id, use_encrypted_password)
except (IOError, ValueError):
rospy.loginfo("Retrying connection to VAPIX on host %s, camera %d in 2 seconds." %
(hostname, camera_id))
rospy.sleep(2)
if rospy.is_shutdown():
return
self._allowed_resolutions = self._get_allowed_resolutions()
rospy.loginfo("The following resolutions are available for camera %d:\n%s" %
(camera_id, "\n".join([str(res) for res in self._allowed_resolutions])))
rospy.set_param("~allowed_resolutions", [res.get_vapix_representation() for res in self._allowed_resolutions])
# Sometimes the camera falls into power saving mode and stops streaming.
# This setting allows the script to try to wake up the camera.
self._auto_wakeup_camera = auto_wakeup_camera
# dynamic-reconfigurable properties - definitions
self._width = None # deprecated
self._height = None # deprecated
self._resolution = None
self._compression = None
self._fps = None
self._use_color = None
self._use_square_pixels = None
# treat empty strings as None in width and height params
width = width if width != "" else None
height = height if height != "" else None
# dynamic-reconfigurable properties - defaults
if width is None and height is None:
# TODO change to perform default resolution detection from VAPIX
self.set_resolution(self._allowed_resolutions[0])
else:
resolution = self.find_resolution_by_size(width, height)
self.set_resolution(resolution.get_vapix_representation())
self.set_compression(compression)
self.set_fps(fps)
self.set_use_color(use_color)
self.set_use_square_pixels(use_square_pixels)
# only advertise the supported resolutions on dynamic reconfigure
change_enum_items(
VideoStreamConfig,
"resolution",
[{
'name': res.name if isinstance(res, CIFVideoResolution) else str(res),
'value': res.get_vapix_representation(),
'description': str(res)
} for res in self._allowed_resolutions],
self._resolution.get_vapix_representation()
)
# dynamic reconfigure server
self._video_stream_param_change_server = dynamic_reconfigure.server.Server(VideoStreamConfig,
self.reconfigure_video)
# camera info setup
self._frame_id = frame_id
self._camera_info_url = camera_info_url
# generate a valid camera name based on the hostname
self._camera_name = camera_info_manager.genCameraName(self._hostname)
self._camera_info = camera_info_manager.CameraInfoManager(cname=self._camera_name, url=self._camera_info_url)
self._camera_info.loadCameraInfo() # required before getCameraInfo()
# the thread used for streaming images (is instantiated when the first image subscriber subscribes)
self._streaming_thread = None
# the publishers are started/stopped lazily in peer_subscribe/peer_unsubscribe
self._video_publisher_frequency_diagnostic = FrequencyStatusParam({'min': self._fps, 'max': self._fps})
self._video_publisher = PausableDiagnosedPublisher(
self,
rospy.Publisher("image_raw/compressed", CompressedImage, self, queue_size=100),
self.diagnostic_updater, self._video_publisher_frequency_diagnostic, TimeStampStatusParam()
)
self._camera_info_publisher = PausableDiagnosedPublisher(
self,
rospy.Publisher("camera_info", CameraInfo, self, queue_size=100),
self.diagnostic_updater, self._video_publisher_frequency_diagnostic, TimeStampStatusParam()
)
self._snapshot_server = rospy.Service("take_snapshot", TakeSnapshot, self.take_snapshot)
self.diagnostic_updater.add(FunctionDiagnosticTask("Camera parameters", self._camera_diagnostic_callback))
# BACKWARDS COMPATIBILITY LAYER
self.username = username # deprecated
self.password = password # deprecated
self.use_encrypted_password = use_encrypted_password # deprecated
self.st = None # deprecated
self.pub = self._video_publisher # deprecated
self.caminfo_pub = self._camera_info_publisher # deprecated
self.__initializing = False
