initial code commit

Author: jveitchmichaelis

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+catkin_package()
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

Makefile

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+include $(shell rospack find mk)/cmake.mk

launch/boson.launch

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+<launch>
+  <node pkg="capture_boson" name="camera" type="grabber.py" output="screen" />
+  <node pkg="topic_tools" name="throttler" type="throttle" args="messages /image 15 /image_throttle" />
+  <node pkg="image_capture" name="writer" type="writer.py" output="screen">
+     <remap from="image" to="image_throttle" />
+  </node>
+</launch>

package.xml

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+<package format="2">
+  <name>boson</name>
+  <version>0.1.0</version>
+  <description brief="boson">
+  This package provides foo capability.
+  </description>
+  <maintainer email="[email protected]">Josh Veitch-Michaelis</maintainer>
+  <license>GPL</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>rospy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+
+  <exec_depend>rospy</exec_depend>
+
+</package>

scripts/capture.py

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+#!/usr/bin/python
+
+import roslib
+roslib.load_manifest("boson")
+import sys
+import rospy
+import cv2
+import time
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+import numpy as np
+
+def write_buffer(filename, buffer):
+    t = time.time()
+    np.save(filename, buffer)
+    #print("Saved in {}".format(time.time()-t), filename)
+
+def main(args):
+    rospy.init_node("camera", anonymous=True)
+    image_pub = rospy.Publisher("image",Image, queue_size=10)
+
+    bridge = CvBridge()
+
+    cap = cv2.VideoCapture(0 + cv2.CAP_V4L2)
+    cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc(*"Y16 "))
+    cap.set(cv2.CAP_PROP_CONVERT_RGB, False)
+
+    buffer_size = 100
+    buffer = np.zeros((buffer_size,512,640), dtype='uint16')
+
+    i = 0
+    j = 0
+
+    while not rospy.is_shutdown():
+       t = time.time()
+       res, image = cap.read()
+       if res:
+           image_pub.publish(bridge.cv2_to_imgmsg(image, encoding="passthrough"))
+       #cv2.imwrite("/boson_ws/captures/image_{}.tiff".format(i), image)
+
+           buffer[i] = image
+           i += 1
+
+       if i == buffer_size:
+           #print("Writing")
+           #filename = "/boson_ws/captures/buffer_{}".format(j)
+           #np.save(filename, buffer)
+           #buffer, buffer_double = buffer_double, buffer
+           i = 0
+           j += 1
+
+       #print "FPS", 1.0/(time.time()-t)
+
+
+    cap.release()
+
+if __name__ == "__main__":
+    main(sys.argv)