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Camera Examples

Cameras

The cameras that we tested are:

Check the getting ros2 side ready guide to see some examples with cameras

Run a camera node

We first start a camera node that publishes images to ROS2 topics. Check the getting ros2 side ready guide to see other examples with cameras. If you use an usb camera / webcam, you can try pixi_usbcam_ros2 and start it with: 

pixi run -e jazzy usb_cam

Access images from crisp_py

Now in the broadcasted images can be accessed from crisp_py. Using the Camera class from crisp_py: 

"""Simple example for a camera. It shows the camera feed in a matplotlib window."""

import matplotlib.pyplot as plt
from crisp_py.camera import CameraConfig, Camera

camera_config = CameraConfig(
    camera_name="primary",
    camera_frame="primary_link",
    resolution=[256, 256],
    camera_color_image_topic="/image_raw",
    camera_color_info_topic="/image_raw/camera_info",
)

camera = Camera(config=camera_config, namespace="")
camera.wait_until_ready()

# Display camera feed
plt.ion()
fig, ax = plt.subplots()
ax.axis("off")

frame = camera.current_image
im = ax.imshow(frame)
while True:
    im.set_data(camera.current_image)
    plt.pause(1.0 / 30.0)

Or by defining a camera in a YAML configuration file: 

camera_name: "primary"
camera_frame: "primary_link"
resolution: [256, 256]
camera_color_image_topic: "/image_raw"
camera_color_info_topic: "/image_raw/camera_info"

Then load the configuration and use the make_camera factory method (assuming that you added the config path to the CRISP_CONFIG_PATH environment variable as described in the configuration guide):

"""Example showing how to load camera configuration from a YAML file."""
import cv2
from crisp_py.camera import make_camera

camera = make_camera("your_config_file_name")
camera.wait_until_ready()

# Display one frame
plt.imshow(camera.current_image)
plt.axis("off")
plt.show()