Depth Camera Basic Characteristic Comparison

depth_compare_metrics.py

#!/usr/bin/env python
from __future__ import print_function

import roslib
import sys
import rospy
import cv2
from std_msgs.msg import String
import numpy
from sensor_msgs.msg import Image
import cv2
from cv_bridge import CvBridge, CvBridgeError

class depth_metrics:
  def __init__(self):
    self.image_sub = rospy.Subscriber("/camera/depth/image",Image,self.callback)
    self.pts = []
    self.bridge = CvBridge()

  def callback(self,data):
    cv_image = self.bridge.imgmsg_to_cv2(data, "passthrough")
    middle_x = data.height / 2
    middle_y = data.width / 2
    pt = cv_image[middle_x][middle_y]
    self.pts.append(pt)

    if len(self.pts) > 1000:
      print("Got 1000 samples")
      print("Std: " + str(numpy.std(self.pts)))
      print("Mean: " + str(numpy.mean(self.pts)))
      print("Median: " + str(numpy.median(self.pts)))
      print("Average: " + str(numpy.average(self.pts)))
      rospy.signal_shutdown("complete.")


def main(args):
  rospy.init_node('depth_metrics', anonymous=True)
  ic = depth_metrics()
  try:
    rospy.spin()
  except KeyboardInterrupt:
    print("Shutting down")

if __name__ == '__main__':
    main(sys.argv)