def test_init_start_stop(self):
"""Test camera's thread init/start/stop methods."""
camera = Camera()
camera.start()
time.sleep(1)
image = bgr8_to_jpeg(camera.value)
camera.stop()
# Check if image changed after stopping
assert image == bgr8_to_jpeg(camera.value)
class Observer:
def __init__(self, camera_width, camera_height):
self.camera = Camera(width=camera_width, height=camera_height)
self.image = None
def start(self):
self.camera.observe(self._callback, names='value')
self.camera.start()
def stop(self):
self.camera.stop()
def _callback(self, change):
img = change['new']
# Change BGR TO RGB HWC
self.image = img[:, :, ::-1]
def observation(self):
while self.image is None:
pass
return self.image
class JetbotCamera:
bridge = CvBridge()
def __init__(self, calib_file=''):
self.publisher = rospy.Publisher(IMAGE_TOPIC, Image, queue_size=1)
rospy.init_node(NODE_NAME)
width = rospy.get_param('~width', 640)
height = rospy.get_param('~height', 480)
rospy.logwarn(width)
self.calib_file = calib_file
self.camera = Camera(width=width,height=height)
def start(self):
self.camera.observe(self.image_proc, names='value')
self.camera.start()
rospy.spin()
def image_proc(self, change):
image_value = change['new']
cv2_image = self.bridge.cv2_to_imgmsg(image_value, 'bgr8')
self.publisher.publish(cv2_image)
def _load_camera_info(self):
with open(self.calib_file, "r") as file_handle:
calib_data = yaml.load(file_handle)
# Parse
camera_info_msg = CameraInfo()
camera_info_msg.width = calib_data["image_width"]
camera_info_msg.height = calib_data["image_height"]
camera_info_msg.K = calib_data["camera_matrix"]["data"]
camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
camera_info_msg.R = calib_data["rectification_matrix"]["data"]
camera_info_msg.P = calib_data["projection_matrix"]["data"]
camera_info_msg.distortion_model = calib_data["distortion_model"]
return camera_info_msg
from jetbot import Robot
from jetbot import Camera
import cv2
import time
import math
import os, struct, array
from fcntl import ioctl
robot = Robot()
camera = Camera()
camera.start()
# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
print(' /dev/input/%s' % (fn))
#这句显示手柄在硬件中的端口位置： /dev/input/js0
# We'll store the states here.
axis_states = {}
button_states = {}
# These constants were borrowed from linux/input.h
axis_names = {
0x00: 'x',
0x01: 'y',
0x02: 'rx',
0x05: 'ry',