uav.CameraNode#
Attributes#
Classes#
Node class to respond to requests with camera image or camera information. |
Functions#
|
Module Contents#
- PreprocessHook#
- class Camera(node_name: str = 'camera', *, vehicle_namespace: str | None = None, service_name: str | None = None, image_topic: str | None = None, info_topic: str | None = None, queue_size: int = 1, display: bool = False, enable_failsafe: bool | None = None, failsafe_topic: str | None = None)#
Bases:
rclpy.node.NodeNode class to respond to requests with camera image or camera information.
- input_transport = 'raw'#
- rotate_degrees#
- preprocess_hook_name = ''#
- preprocess_hook = None#
- _preprocess_active#
- vehicle_namespace = None#
- image_topic = ''#
- compressed_topic = '/compressed'#
- camera_info_topic = ''#
- camera_service_name = ''#
- input_raw_topic = ''#
- input_compressed_topic = ''#
- input_camera_info_topic = ''#
- _raw_passthrough#
- _compressed_passthrough#
- _info_passthrough#
- display#
- bridge#
- raw_image: sensor_msgs.msg.Image | None = None#
- compressed_image: sensor_msgs.msg.CompressedImage | None = None#
- camera_info: sensor_msgs.msg.CameraInfo | None = None#
- raw_publisher#
- compressed_publisher = None#
- camera_info_publisher#
- raw_subscription = None#
- compressed_subscription = None#
- camera_info_subscription#
- save_vision_milliseconds#
- vision_debug#
- uuid = ''#
- last_saved_time#
- service#
- failsafe_publisher = None#
- _resolve_namespace(explicit_namespace: str | None) str | None#
- static _normalize_namespace(namespace: str | None) str | None#
- static _compressed_topic_for(raw_topic: str) str#
- static _resolve_transport_mode(mode: str) str#
- _resolve_transport_path(*, explicit: str | None, param_name: str, default_suffix: str) str#
- static _require_relative_transport_path(path: str, *, label: str) str#
- _float_parameter(param_name: str) float#
- _int_parameter(param_name: str) int#
- _load_preprocess_hook(hook_path: str) PreprocessHook | None#
- _rotate_frame(frame: numpy.ndarray) numpy.ndarray#
- _apply_preprocessing(frame: numpy.ndarray) numpy.ndarray#
- _to_bgr_from_raw(msg: sensor_msgs.msg.Image) numpy.ndarray#
- _to_bgr_from_compressed(msg: sensor_msgs.msg.CompressedImage) numpy.ndarray#
- _frame_to_raw_image(frame: numpy.ndarray, header) sensor_msgs.msg.Image#
- _frame_to_compressed_image(frame: numpy.ndarray, header) sensor_msgs.msg.CompressedImage#
- _raw_subscribers_present() bool#
- _compressed_subscribers_present() bool#
- _handle_frame_side_effects(frame: numpy.ndarray) None#
- raw_image_callback(msg: sensor_msgs.msg.Image)#
- compressed_image_callback(msg: sensor_msgs.msg.CompressedImage)#
- camera_info_callback(msg: sensor_msgs.msg.CameraInfo)#
- service_callback(request: uav_interfaces.srv.CameraData.Request, response: uav_interfaces.srv.CameraData.Response)#
- _select_service_image(requested_transport: str) sensor_msgs.msg.Image | sensor_msgs.msg.CompressedImage | None#
- static _assign_service_image(response: uav_interfaces.srv.CameraData.Response, image: sensor_msgs.msg.Image | sensor_msgs.msg.CompressedImage | None) None#
- publish_failsafe() None#
- main(args=None)#
- CameraNode#