def __init__(self, capture, topic, show_window=False, show_info=False, rate=32):
self.show_window = show_window
self.show_info = show_info
self.videoCapture = capture
self.topic = topic
self.rate = rate
self.bridge = CvBridge()
self.KEY_ECS = 27
self.imgPlayer = ImagePlayer()
self.mutex = threading.Lock()
self.fps = FPS()
self.msg = None
self.digtal_recognizer = DigitalRegnition()
class VideoPub:
def __init__(self, capture, topic, show_window=False, show_info=False, rate=32):
self.show_window = show_window
self.show_info = show_info
self.videoCapture = capture
self.topic = topic
self.rate = rate
self.bridge = CvBridge()
self.KEY_ECS = 27
self.imgPlayer = ImagePlayer()
self.mutex = threading.Lock()
self.fps = FPS()
self.msg = None
self.digtal_recognizer = DigitalRegnition()
def run(self):
self.handle_pub()
def handle_pub(self):
rospy.init_node('video_publisher')
pub = rospy.Publisher(topic, Image, queue_size=2)
self.handle_threading()
count = 0
self.fps.start()
rate = rospy.Rate(self.rate)
while not rospy.is_shutdown():
success, img = self.videoCapture.read()
if not success:
break
img_recognized = self.digtal_recognizer.recognize(img)
try:
msg = self.bridge.cv2_to_imgmsg(img_recognized, "bgr8")
except CvBridgeError as e:
print(e)
rospy.signal_shutdown(e)
count += 1
self.fps.update()
self.msg = self.add_timestamp(msg, count)
pub.publish(self.msg)
self.show_image(img_recognized)
rate.sleep()
# end wile
# ....
def handle_threading(self):
threading.Thread(target=self.exit_key_event).start()
if self.show_info:
threading.Thread(target=self.show_data_info).start()
def exit_key_event(self):
while not rospy.is_shutdown():
with self.mutex:
ch = getch()
if len(ch) > 0 and (ch == 'q' or ord(ch) == imtools.KEY_CTRL_C):
print 'user press crtl + c or q to exit'
rospy.signal_shutdown('user press crtl + c or q to exit')
break
def add_timestamp(self, msg, count):
now = rospy.Time.now()
msg.header.frame_id = get_hostname() + '-' + str(count)
msg.header.stamp.secs = now.secs
msg.header.stamp.nsecs = now.nsecs
return msg
def show_image(self, img):
if self.show_window:
self.imgPlayer.show(img)
key = self.imgPlayer.get_key()
if 0xFF & key == self.KEY_ECS:
rospy.signal_shutdown('user press ESC to exit')
def show_data_info(self):
import utility
import time
while not rospy.is_shutdown():
time.sleep(.5)
with self.mutex:
utility.show_msg_info(self.msg)
print('fps: %s' % round(self.fps, 2))
print '%s' % (quit_msg)
def cleanup(self):
self.videoCapture.release()
cv2.destroyAllWindows()
