Go to the documentation of this file.00001
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010 * Redistributions of source code must retain the above copyright
00011 notice, this list of conditions and the following disclaimer.
00012 * Redistributions in binary form must reproduce the above copyright
00013 notice, this list of conditions and the following disclaimer in the
00014 documentation and/or other materials provided with the distribution.
00015 * Neither the name of Systems, Robotics and Vision Group, University of
00016 the Balearican Islands nor the names of its contributors may be used to
00017 endorse or promote products derived from this software without specific
00018 prior written permission.
00019
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031
00032
00033 PKG = 'bag_tools'
00034
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 import sensor_msgs.msg
00038 import cv_bridge
00039 import camera_info_parser
00040 import glob
00041 import cv
00042
00043 def collect_image_files(image_dir,file_pattern):
00044 images = glob.glob(image_dir + '/' + file_pattern)
00045 images.sort()
00046 return images
00047
00048 def playback_images(image_dir,file_pattern,camera_info_file,publish_rate):
00049 if camera_info_file != "":
00050 cam_info = camera_info_parser.parse_yaml(camera_info_file)
00051 publish_cam_info = True
00052 else:
00053 publish_cam_info = False
00054 image_files = collect_image_files(image_dir,file_pattern)
00055 rospy.loginfo('Found %i images.',len(image_files))
00056 bridge = cv_bridge.CvBridge()
00057 rate = rospy.Rate(publish_rate)
00058 image_publisher = rospy.Publisher('camera/image', sensor_msgs.msg.Image)
00059 if publish_cam_info:
00060 cam_info_publisher = rospy.Publisher('camera/camera_info', sensor_msgs.msg.CameraInfo)
00061 rospy.loginfo('Starting playback.')
00062 for image_file in image_files:
00063 if rospy.is_shutdown():
00064 break
00065 now = rospy.Time.now()
00066 image = cv.LoadImage(image_file)
00067 image_msg = bridge.cv_to_imgmsg(image, encoding='rgb8')
00068 image_msg.header.stamp = now
00069 image_msg.header.frame_id = "/camera"
00070 image_publisher.publish(image_msg)
00071 if publish_cam_info:
00072 cam_info.header.stamp = now
00073 cam_info.header.frame_id = "/camera"
00074 cam_info_publisher.publish(cam_info)
00075 rate.sleep()
00076 rospy.loginfo('No more images left. Stopping.')
00077
00078 if __name__ == "__main__":
00079 rospy.init_node('image_sequence_publisher')
00080 try:
00081 image_dir = rospy.get_param("~image_dir")
00082 file_pattern = rospy.get_param("~file_pattern")
00083 camera_info_file = rospy.get_param("~camera_info_file", "")
00084 frequency = rospy.get_param("~frequency", 10)
00085 playback_images(image_dir, file_pattern, camera_info_file, frequency)
00086 except KeyError as e:
00087 print 'Required parameter missing:', e
00088 except Exception, e:
00089 import traceback
00090 traceback.print_exc()