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test_depth_camera_1.py
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test_depth_camera_1.py
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#!/usr/bin/env python
import phm
import rospy
import logging
import sys
import cv2
import numpy as np
from std_msgs.msg import String
from sensor_msgs.msg import Image, CameraInfo
import message_filters
import dynamic_reconfigure.client as dclient
def callback_visible(data):
try:
img = np.frombuffer(data.data, dtype=np.uint8).reshape(
data.height, data.width, -1)
except Exception as ex:
print(ex)
print('viz')
cv2.imshow("Visible Window", img)
cv2.waitKey(10)
def callback_depth(data):
try:
img = np.frombuffer(data.data, dtype=np.uint16).reshape(
data.height, data.width, -1)
except Exception as ex:
print(ex)
print('depth')
cv2.imshow("Depth Window", img)
cv2.waitKey(10)
def callback_thermal(data):
try:
img = np.frombuffer(data.data, dtype=np.uint8).reshape(
data.height, data.width, -1)
except Exception as ex:
print(ex)
cv2.imshow("Depth Window", img)
cv2.waitKey(10)
def shutdown():
rospy.loginfo('Node is shutting down ...')
cv2.destroyAllWindows()
def callback(config):
# rospy.loginfo("Config set to {int_param}, {double_param}, {str_param}, {bool_param}, {size}".format(**config))
print(config)
def main(args):
# print('Node Test is being started ...')
logging.info('Node Test is being started ...')
rospy.init_node('image_converter', anonymous=True)
rospy.on_shutdown(shutdown)
dclient.Client('/phm/phm_flir_spinnaker', timeout=30, config_callback=callback)
thermal_sub = rospy.Subscriber(
"/phm/thermal_camera/image", Image, callback_thermal, queue_size=10)
# depth_sub = rospy.Subscriber(
# "/phm/depth_camera/aligned_depth_to_color/image_raw", Image, callback_depth, queue_size=10)
# vis_sub = rospy.Subscriber(
# "/phm/depth_camera/color/image_raw", Image, callback_visible, queue_size=10)
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
cv2.destroyAllWindows()
if __name__ == '__main__':
main(sys.argv)