def __init__(self, hostname, username, password, width, height, frame_id,
camera_info_url, use_encrypted_password, camera):
self.hostname = hostname
self.username = username
self.password = password
self.width = width
self.height = height
self.frame_id = frame_id
self.camera_info_url = camera_info_url
self.use_encrypted_password = use_encrypted_password
self.camera = camera
# generate a valid camera name based on the hostname
self.cname = camera_info_manager.genCameraName(self.hostname)
self.cinfo = camera_info_manager.CameraInfoManager(
cname=self.cname, url=self.camera_info_url)
self.cinfo.loadCameraInfo() # required before getCameraInfo()
self.st = None
self.pub = rospy.Publisher("image_raw/compressed",
CompressedImage,
self,
queue_size=1)
self.caminfo_pub = rospy.Publisher("camera_info",
CameraInfo,
self,
queue_size=1)
def __init__(self, hostname, username, password, frame_id, camera_info_url,
prefix):
self.hostname = hostname
self.username = username
self.password = password
self.frame_id = frame_id
self.camera_info_url = camera_info_url
self.msg = CompressedImage()
self.msg.header.frame_id = self.frame_id
self.msg.format = "jpeg"
self.valid = False
self.updated = False
# generate a valid camera name based on the hostname
self.cname = camera_info_manager.genCameraName(self.hostname)
self.cinfo = camera_info_manager.CameraInfoManager(
cname=self.cname, url=self.camera_info_url, namespace=prefix)
self.cinfo.loadCameraInfo() # required before getCameraInfo()
self.st = StreamThread(self)
self.st.start()
self.pub = rospy.Publisher(prefix + "/image_raw/compressed",
CompressedImage, self)
self.caminfo_pub = rospy.Publisher(prefix + "/camera_info", CameraInfo,
self)
self.detect_dim()
def __init__(self, _prefix, camera_name, info_prefix, cinfo_url):
self.name = camera_name
self.uri = cinfo_url
self.prefix = _prefix
self.cname = camera_info_manager.genCameraName(self.prefix)
rospy.loginfo("cname = " + self.cname)
self.cinfo = camera_info_manager.CameraInfoManager(
cname=_prefix, url=self.uri, namespace=info_prefix)
self.caminfo_pub = rospy.Publisher(info_prefix + "/camera_info",
CameraInfo, self)
self.cinfo.loadCameraInfo()
rospy.Subscriber(self.prefix + self.name, Image, self.image_callback)
def __init__(self, hostname, username, password,
width, height, frame_id, camera_info_url):
self.hostname = hostname
self.username = username
self.password = password
self.width = width
self.height = height
self.frame_id = frame_id
self.camera_info_url = camera_info_url
# generate a valid camera name based on the hostname
self.cname = camera_info_manager.genCameraName(self.hostname)
self.cinfo = camera_info_manager.CameraInfoManager(cname = self.cname,
url = self.camera_info_url)
self.cinfo.loadCameraInfo() # required before getCameraInfo()
self.st = None
self.pub = rospy.Publisher("image_raw/compressed", CompressedImage, self)
self.caminfo_pub = rospy.Publisher("camera_info", CameraInfo, self)
def __init__(self, hostname, username, password,
fps, width, height, frame_id, camera_info_url,delay,compression):
self.hostname = hostname
self.username = username
self.password = password
self.fps = fps
self.width = width
self.height = height
self.compression = compression
self.frame_id = frame_id
self.camera_info_url = camera_info_url
self.reconnect = False
# generate a valid camera name based on the hostname
self.cname = camera_info_manager.genCameraName(self.hostname)
self.cinfo = camera_info_manager.CameraInfoManager(cname = self.cname,
url = self.camera_info_url)
self.cinfo.loadCameraInfo() # required before getCameraInfo()
self.st = None
self.pub = rospy.Publisher("image_raw/compressed", CompressedImage, self)
self.caminfo_pub = rospy.Publisher("camera_info", CameraInfo, self)
self.fps_srv = rospy.Service('set_parameters', SetParameters, self.handle_param_req)
def __init__(self, filename, frame_id, camera_info_url, prefix):
self.filename = filename
self.frame_id = frame_id
self.camera_info_url = camera_info_url
self.msg = CompressedImage()
self.msg.header.frame_id = self.frame_id
self.msg.format = "jpeg"
im = cv2.imread(filename)
self.width=im.shape[1]
self.height=im.shape[0]
f=open(filename, 'r+')
self.msg.data = f.read()
self.valid = True;
self.updated = True;
# generate a valid camera name based on the hostname
self.cname = camera_info_manager.genCameraName(filename)
self.cinfo = camera_info_manager.CameraInfoManager(cname = self.cname,
url = self.camera_info_url, namespace = prefix)
self.cinfo.loadCameraInfo() # required before getCameraInfo()
self.st = None
self.pub = rospy.Publisher(prefix + "/image_raw/compressed", CompressedImage, self)
self.caminfo_pub = rospy.Publisher(prefix + "/camera_info", CameraInfo, self)
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
