__init__.py
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00033 # Revision $Id: __init__.py 11372 2010-10-01 20:52:44Z kwc $
00034 
00035 """
00036 rosh_base is a meta-plugin that loads in plugins contained in the
00037 'base' variant of ROS.
00038 """
00039 
00040 import roslib; roslib.load_manifest('rosh_visualization')
00041 
00042 import os
00043 
00044 import roslib.names
00045 
00046 import rosh.impl.proc
00047 import rosh.plugin
00048 import rosh_common
00049 
00050 def rosh_plugin_load(plugin_context, globals_=None):
00051     """
00052     Initialize rosh_common plugin
00053     """
00054     # make sure common is loaded first
00055     rosh.plugin.load_plugin('rosh_common', plugin_context, globals_=globals_)
00056 
00057     plugin = rosh.plugin.PluginData()
00058     plugin.add_handler(rosh_common.PLUGIN_CAMERAS_SHOW, show_camera_rviz_image_view)
00059     return plugin
00060 
00061 def show_camera_rviz_image_view(ns_obj):
00062     """
00063     show camera handler that uses rviz's image_view.
00064 
00065     @return: image viewer node (if single camera), or tuple of image viewer nodes (if stereo)
00066     @rtype: Node or (Node, Node)
00067     """
00068     #NOTE: we avoid the non-rviz image_view at all costs because it is
00069     #ill-behaved and doesn't perform as well.
00070 
00071     if ns_obj._cam_info is None:
00072         # check to see if it's stereo
00073         l = ns_obj._getAttributeNames()
00074         if 'left' in l and 'right' in l:
00075             n1 = show_camera_rviz_image_view(ns_obj.left)
00076             n2 = show_camera_rviz_image_view(ns_obj.right)
00077             return n1, n2
00078         else:
00079             # NOTE: this will block
00080             try:
00081                 ns_obj._init_cam_info()
00082             except:
00083                 print >> sys.stderr, "%s does not appear to be a camera topic"%ns_obj._name
00084                 return None
00085             
00086     # retrieve ctx object
00087     ctx = ns_obj._config.ctx
00088     topic = roslib.names.ns_join(ns_obj._name, 'image_raw')
00089     node = ctx.launch('rviz', 'image_view', remap={'image': topic})
00090     print "running rviz image_viewer, this may be slow over a wireless network"
00091     return node


rosh_visualization
Author(s): Ken Conley
autogenerated on Thu Apr 24 2014 15:52:40