shit

gistfile1.txt

#!/usr/bin/env python
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from PyCapture2 import *

def image_publisher():
    rospy.init_node('epiphan_image_publisher', anonymous=True)
    pub = rospy.Publisher('image_topic', Image, queue_size=10)
    bridge = CvBridge()
    
    # Connect to Epiphan frame grabber
    bus = BusManager()
    cam = None
    numCams = bus.getNumOfCameras()
    if not numCams:
        rospy.logerr("No camera detected!")
        return
    
    for i in range(numCams):
        camInfo = bus.getCameraFromIndex(i)
        if camInfo.modelName.find("DVI2USB") != -1:
            cam = Camera()
            cam.connect(camInfo.serialNumber)
            break

    if not cam:
        rospy.logerr("Could not connect to the camera!")
        return
    
    # Start capturing video
    cam.startCapture()
    while not rospy.is_shutdown():
        try:
            # Get the next image from the camera
            image = cam.retrieveBuffer()
            # Convert the image to OpenCV format
            img_cv = image.convert(PyCapture2.PIXEL_FORMAT.BGR)
            # Convert OpenCV image to ROS image message
            ros_img = bridge.cv2_to_imgmsg(img_cv.getData(), "bgr8")
            ros_img.header.stamp = rospy.Time.now()
            # Publish the image
            pub.publish(ros_img)
        except Exception as e:
            rospy.logerr("Error capturing image: %s" % str(e))
            break
    
    # Stop capturing and disconnect from camera
    cam.stopCapture()
    cam.disconnect()

if __name__ == '__main__':
    try:
        image_publisher()
    except rospy.ROSInterruptException:
        pass
        
        
        
        
# Get the height and width of the image
height, width = img.shape[:2]

# Find the center of the image
center_x, center_y = int(width/2), int(height/2)

# Find the coordinates to crop the image
x = center_x - 300
y = center_y - 300
w = 600
h = 600

# Crop the image
crop_img = img[y:y+h, x:x+w]