110 lines
4.0 KiB
Python
110 lines
4.0 KiB
Python
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import Image
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from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
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from datetime import datetime
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import os
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class SimpleImageSubscriber(Node):
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def __init__(self):
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super().__init__('simple_image_subscriber')
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# Define QoS Profile
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qos_profile = QoSProfile(
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reliability=QoSReliabilityPolicy.BEST_EFFORT,
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=10
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)
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self.subscription = self.create_subscription(
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Image,
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'/rgb_camera/image_raw',
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self.image_callback,
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qos_profile=qos_profile
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)
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self.subscription # Prevent unused variable warning
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self.image_received = False # Flag to track if image is received
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self.image_count = 0 # Count received images
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def image_callback(self, msg):
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if self.image_received:
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return # Skip processing if already processed
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try:
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# Get image metadata
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height = msg.height
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width = msg.width
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encoding = msg.encoding
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step = msg.step
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data_size = len(msg.data)
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# Log image information
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self.get_logger().info(f"收到图像消息!")
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self.get_logger().info(f"图像尺寸: {width} x {height}")
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self.get_logger().info(f"编码格式: {encoding}")
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self.get_logger().info(f"步长: {step}")
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self.get_logger().info(f"数据大小: {data_size} 字节")
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# Save image data to a simple text file for verification
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self.save_image_info(height, width, encoding, step, data_size)
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self.image_received = True
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self.image_count += 1
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# Log success and continue listening for more images
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self.get_logger().info(f"成功处理图像 #{self.image_count}")
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# Optionally shutdown after receiving a few images
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if self.image_count >= 3:
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self.get_logger().info("已收到3张图像，测试完成!")
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self.destroy_node()
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rclpy.shutdown()
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exit(0)
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except Exception as e:
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self.get_logger().error(f'处理图像时出错: {str(e)}')
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def save_image_info(self, height, width, encoding, step, data_size):
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# Create output directory if it doesn't exist
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output_dir = "./captured_images/dual_path"
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os.makedirs(output_dir, exist_ok=True)
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# Generate a timestamped filename
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timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
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filename = f"{output_dir}/image_info_{timestamp}.txt"
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try:
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with open(filename, 'w', encoding='utf-8') as f:
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f.write(f"图像信息记录 - {timestamp}\n")
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f.write(f"图像尺寸: {width} x {height}\n")
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f.write(f"编码格式: {encoding}\n")
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f.write(f"步长: {step}\n")
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f.write(f"数据大小: {data_size} 字节\n")
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f.write(f"ROS节点: {self.get_name()}\n")
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f.write(f"话题: /rgb_camera/image_raw\n")
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f.write("图像数据已成功接收，ROS模块工作正常!\n")
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self.get_logger().info(f"图像信息已保存到: {filename}")
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except Exception as e:
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self.get_logger().error(f"保存图像信息时出错: {str(e)}")
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def main(args=None):
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rclpy.init(args=args)
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simple_subscriber = SimpleImageSubscriber()
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print("启动简化的ROS图像订阅测试...")
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print("正在监听话题: /rgb_camera/image_raw")
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print("按 Ctrl+C 停止测试")
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try:
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rclpy.spin(simple_subscriber)
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except KeyboardInterrupt:
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print("\n测试被用户中断")
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finally:
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print("测试完成，清理资源...")
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simple_subscriber.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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