class Predict(Node):
def __init__(self):
super().__init__('depth_predict')
self.bridge = CvBridge()
self.pub = self.create_publisher(Image, '/endoscope/image/depth', 10)
self.sub = self.create_subscription(Image, '/endoscope_image',
self.image_callback, 10)
self.test = Test()
def image_callback(self, msg: Image):
print("received image stamp {}".format(msg._header.frame_id))
cv_image = self.bridge.imgmsg_to_cv2(msg, "rgb8")
self.test.input_image(cv_image)
outputs = self.test.depth_predict()
self.cv2image_publish(outputs[0], msg.header.stamp)
# self.test.display_images(outputs)
def cv2image_publish(self, image, stamp):
msg = self.bridge.cv2_to_imgmsg(image, "32FC1")
msg.header.stamp = stamp
self.pub.publish(msg)
