calib_all_cameras.py

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#!/usr/bin/python

import time

import roslib
roslib.load_manifest('cob_script_server')
import rospy


import cv
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from math import *


from simple_script_server import script

class CalibCam(script):

        def Initialize(self):
                self.bridge = CvBridge()
                self.image_sub = rospy.Subscriber("/stereo/right/camera/image_raw",Image,self.callback)
                self.cv_image = cv.CreateImage((1,1), 1 , 3)
                self.bridge1 = CvBridge()
                self.image_sub1 = rospy.Subscriber("/stereo/left/camera/image_raw",Image,self.callback1)
                self.cv_image1 = cv.CreateImage((1,1), 1 , 3)
                self.bridge2 = CvBridge()
                self.image_sub2 = rospy.Subscriber("/swissranger/intensity/image_raw",Image,self.callback2)
                self.cv_image2 = cv.CreateImage((1,1), 1 , 3)
                cv.NamedWindow("right", 1)
                cv.NamedWindow("left", 1)
                cv.NamedWindow("sr", 1)

        def Run(self):
                print "start"
                file_path = "./"
                nr_images = 14

                self.sss.wait_for_input()

                # start calbration routine
                if not self.sss.parse:
                        for i in range(1,nr_images):
                                cv.SaveImage(file_path+'right'+str(i)+'.png',self.cv_image)
                                cv.SaveImage(file_path+'left'+str(i)+'.png',self.cv_image1)
                                cv.SaveImage(file_path+'sr'+str(i)+'.png',self.cv_image2)
                                self.sss.wait_for_input()
                                print "next image"
                print "finished"
                
        def callback(self,data):
                try:
                        self.cv_image = self.bridge.imgmsg_to_cv(data, "bgr8")
                        cv.ShowImage("right",self.cv_image)
                        cv.WaitKey(3)
                except CvBridgeError, e:
                        print e
                
        def callback1(self,data):
                try:
                        self.cv_image1 = self.bridge1.imgmsg_to_cv(data, "bgr8")
                        cv.ShowImage("left",self.cv_image1)
                        #cv.WaitKey(3)
                except CvBridgeError, e:
                        print e
                
        def callback2(self,data):
                try:
                        self.cv_image2 = self.bridge2.imgmsg_to_cv(data, "mono8")
                        cv.ShowImage("sr",self.cv_image2)
                        #cv.WaitKey(3)
                except CvBridgeError, e:
                        print e
                
if __name__ == "__main__":
        SCRIPT = CalibCam()
        SCRIPT.Start()

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cob_script_server
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:35:33 2013