commented out custom zed related items

JACart · Apr 15, 2021 · 86522e0 · 86522e0
1 parent 4e96c43
commit 86522e0
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Showing 2 changed files with 32 additions and 32 deletions.
diff --git a/cart_endpoints/launch/hardware_interface.launch b/cart_endpoints/launch/hardware_interface.launch
@@ -44,13 +44,13 @@
         <node name="obstacle_detector" pkg="cart_endpoints" type="obstacle_detector.py" output="screen"/>
         <node name="collision_detector" pkg="cart_planning" type="collision_detector.py" output="screen"/>
     </group>
-    <include file="$(find video_stream_opencv)/launch/camera.launch">
-            <!--This is referring to the zed camera facing the passenger-->
+    <!-- <include file="$(find video_stream_opencv)/launch/camera.launch">
+            This is referring to the zed camera facing the passenger
             <arg name = "camera_name" value="zed"/>
             <arg name="video_stream_provider" value="/dev/v4l/by-id/usb-Leopard_ZED-video-index0
 " />
             <arg name="visualize" value="$(arg visualize_pose)" />
-        </include>
+        </include> -->
     <include file="$(find video_stream_opencv)/launch/camera.launch">
             <arg name="camera_name" value="front_facing"/>
             <arg name="video_stream_provider" value="/dev/v4l/by-id/usb-Sonix_Technology_Co.__Ltd._H264_USB_Camera_SN0001-video-index0" />

diff --git a/cart_endpoints/scripts/network_node.py b/cart_endpoints/scripts/network_node.py
@@ -191,36 +191,36 @@ def status_update(data):
 last_front_pub = -1
 last_passenger_pub = -1
 
-def passenger_image_callback(img_msg):
-    global last_passenger_pub
-    cur_time = time.time()
-    if cur_time > last_passenger_pub + 1:
-        bridge = CvBridge() 
-        image_raw = np.frombuffer(img_msg.data, dtype=np.uint8)
-        image_raw.shape = (img_msg.height, img_msg.width, 3)
-        image_raw = bridge.imgmsg_to_cv2(img_msg, desired_encoding="mono8")
-        h,w = image_raw.shape[:2]
-        # Crop image and get the image width and height  
-        cropped = image_raw[0:h, 0:672]  
-        final_image = cv2.flip(cropped, -1)
-        dim = (400, 400)
-        f2 = cv2.resize(final_image, dim, interpolation=cv2.INTER_AREA)
-        retval, buffer = cv2.imencode('.jpg', f2)    
-        send('passenger-video',base64.b64encode(buffer) )
-        last_passenger_pub = cur_time
+# def passenger_image_callback(img_msg):
+#     global last_passenger_pub
+#     cur_time = time.time()
+#     if cur_time > last_passenger_pub + 1:
+#         bridge = CvBridge() 
+#         image_raw = np.frombuffer(img_msg.data, dtype=np.uint8)
+#         image_raw.shape = (img_msg.height, img_msg.width, 3)
+#         image_raw = bridge.imgmsg_to_cv2(img_msg, desired_encoding="mono8")
+#         h,w = image_raw.shape[:2]
+#         # Crop image and get the image width and height  
+#         cropped = image_raw[0:h, 0:672]  
+#         final_image = cv2.flip(cropped, -1)
+#         dim = (400, 400)
+#         f2 = cv2.resize(final_image, dim, interpolation=cv2.INTER_AREA)
+#         retval, buffer = cv2.imencode('.jpg', f2)    
+#         send('passenger-video',base64.b64encode(buffer) )
+#         last_passenger_pub = cur_time
 
 
 
-def front_image_callback(img_msg):
-    global last_front_pub
-    cur_time = time.time()
-    if cur_time > last_front_pub + 1:
-        cur_time = time.time()
-        bridge = CvBridge() 
-        image_raw = bridge.imgmsg_to_cv2(img_msg, desired_encoding="mono8")
-        retval, buffer = cv2.imencode('.jpg', image_raw)    
-        send('cart-video', base64.b64encode(buffer))
-        last_front_pub = cur_time
+# def front_image_callback(img_msg):
+#     global last_front_pub
+#     cur_time = time.time()
+#     if cur_time > last_front_pub + 1:
+#         cur_time = time.time()
+#         bridge = CvBridge() 
+#         image_raw = bridge.imgmsg_to_cv2(img_msg, desired_encoding="mono8")
+#         retval, buffer = cv2.imencode('.jpg', image_raw)    
+#         send('cart-video', base64.b64encode(buffer))
+#         last_front_pub = cur_time
 
 def eta_callback(msg):
     send('arrived-time', msg.data)
@@ -243,8 +243,8 @@ def eta_callback(msg):
     safety_exit_pub = rospy.Publisher('/safety_exit', Bool, queue_size=10)
 
 
-    rospy.Subscriber('/zed/image_raw', Image, passenger_image_callback)
-    rospy.Subscriber('/front_facing/image_raw', Image, front_image_callback)
+    # rospy.Subscriber('/zed/image_raw', Image, passenger_image_callback)
+    # rospy.Subscriber('/front_facing/image_raw', Image, front_image_callback)
     rospy.Subscriber('/current_position', Int8, send_position_index)
     rospy.Subscriber('/vehicle_state', VehicleState, status_update)
     rospy.Subscriber('/pullover', Bool, pullover_callback)