cob_image_capture::image_capture::ImageCaptureNode Class Reference

List of all members.

Public Member Functions
def	__init__
def	run
Public Attributes
	bridge
	camera
	counter
	file_prefix
	image
	imageSub
	numCams
	output_folder
	save_header_stamp
Private Member Functions
def	_captureHandle
def	_convertAndSaveImage
def	_imageCallback

Detailed Description

@summary: Captures Images from one or more cameras (Image message topics) to files.

Number of cameras, output folder and file names are configurable via ROS parameters.
After startup call "~capture_images" ROS service to save images of all 
cameras to output folder.

Definition at line 66 of file image_capture.py.

Member Function Documentation

def cob_image_capture::image_capture::ImageCaptureNode::__init__ ( self )

Initializes storage, gets parameters from parameter server and logs to rosinfo

Definition at line 75 of file image_capture.py.

def cob_image_capture::image_capture::ImageCaptureNode::_captureHandle	(	self,
		req
	)		`[private]`

Service handle for "Capture" Service
Grabs images, converts them and saves them to files

@param req: service request
@type  req: CaptureRequest() message

@return: CaptureResponse() message

Definition at line 151 of file image_capture.py.

def cob_image_capture::image_capture::ImageCaptureNode::_convertAndSaveImage	(	self,
		rosImage,
		filenamePrefix,
		counter
	)		`[private]`

Convert image to cvImage and store to file as jpg image.

@param rosImage: Image
@type  rosImage: ROS Image() message
@param filenamePrefix: Prefix to be prepended to image filename
@type  filenamePrefix: string
@param counter: Number to be appended to image filename
@type  counter: integer

Definition at line 126 of file image_capture.py.

def cob_image_capture::image_capture::ImageCaptureNode::_imageCallback	(	self,
		data,
		id
	)		`[private]`

Copy image message to local storage

@param data: Currently received image message
@type  data: ROS Image() message
@param id: Id of camera from which the image was received
@type  id: integer

Definition at line 114 of file image_capture.py.

def cob_image_capture::image_capture::ImageCaptureNode::run ( self )

Definition at line 183 of file image_capture.py.