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ROS Image Subscriber / JPEG Saver
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#! /usr/bin/python | |
# Copyright (c) 2015, Rethink Robotics, Inc. | |
# Using this CvBridge Tutorial for converting | |
# ROS images to OpenCV2 images | |
# http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython | |
# Using this OpenCV2 tutorial for saving Images: | |
# http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_gui/py_image_display/py_image_display.html | |
# rospy for the subscriber | |
import rospy | |
# ROS Image message | |
from sensor_msgs.msg import Image | |
# ROS Image message -> OpenCV2 image converter | |
from cv_bridge import CvBridge, CvBridgeError | |
# OpenCV2 for saving an image | |
import cv2 | |
# Instantiate CvBridge | |
bridge = CvBridge() | |
def image_callback(msg): | |
print("Received an image!") | |
try: | |
# Convert your ROS Image message to OpenCV2 | |
cv2_img = bridge.imgmsg_to_cv2(msg, "bgr8") | |
except CvBridgeError, e: | |
print(e) | |
else: | |
# Save your OpenCV2 image as a jpeg | |
cv2.imwrite('camera_image.jpeg', cv2_img) | |
def main(): | |
rospy.init_node('image_listener') | |
# Define your image topic | |
image_topic = "/cameras/left_hand_camera/image" | |
# Set up your subscriber and define its callback | |
rospy.Subscriber(image_topic, Image, image_callback) | |
# Spin until ctrl + c | |
rospy.spin() | |
if __name__ == '__main__': | |
main() |
I need to play back the rosbag at a slower speed to capture all the frames, or some of them will be lost. Is there a more elegant solution?
I need to play back the rosbag at a slower speed to capture all the frames, or some of them will be lost. Is there a more elegant solution?
I think on the ros Wiki, there a Parameter where you can adjust the playback speed.
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Image location in your "Catkin_make" folder that you uing "Catkin_make" command