#!/usr/bin/env python """ Copyright (c) 2017 Daniel Tobias, Ryan Dellana Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. """ import numpy as np import rospy from std_msgs.msg import String from sensor_msgs.msg import Image from cv_bridge import CvBridge, CvBridgeError import gi import sys sys.path.insert(1, '/usr/local/lib/python2.7/site-packages') import cv2 print cv2.__version__ gi.require_version('Gst', '1.0') from gi.repository import GObject, Gst """ Node that publishes images from the C920 Logitech webcam using Gstreamer Note: Better performance using gstreamer than cv.capture """ def gst_to_opencv(gst_buffer): return np.ndarray((480,640,3), buffer=gst_buffer.extract_dup(0, gst_buffer.get_size()), dtype=np.uint8) def gCamera(): print "gstWebCam" bridge = CvBridge() video ="video4" pub = rospy.Publisher('stream', Image, queue_size=10) rospy.init_node('GstWebCam',anonymous=True) Gst.init(None) pipe = Gst.parse_launch("""v4l2src device=/dev/"""+video+""" ! video/x-raw, width=640, height=480,format=(string)BGR ! appsink sync=false max-buffers=2 drop=true name=sink emit-signals=true""") sink = pipe.get_by_name('sink') pipe.set_state(Gst.State.PLAYING) while not rospy.is_shutdown(): sample = sink.emit('pull-sample') img = gst_to_opencv(sample.get_buffer()) try: pub.publish(bridge.cv2_to_imgmsg(img, "bgr8")) except CvBridgeError as e: print(e) if __name__ == '__main__': try: gCamera() except rospy.ROSInterruptException: pass