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ImageClient

Inherits from: ROSClient A ROS client for handling image messages. This class inherits from ROSClient and provides functionality for publishing and receiving image messages over ROS topics, with support for various image encodings and formats.

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ImageClient

ImageClient(client_dict, agent_dict)
Initialize the image client.
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Arguments
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client_dict (dict)
required
Configuration dictionary for the client
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agent_dict (dict), optional
defaults to None. Dictionary of agent parameters. Defaults to None.

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decode_image

ImageClient.decode_image(data, height, width, encoding)
Decode image data from ROS message format.
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Arguments
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data (str)
required
Base64 encoded image data
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height (int)
required
Image height in pixels
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width (int)
required
Image width in pixels
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encoding (str)
required
Image encoding format. Supported formats:
  • ‘rgb8’: 8-bit RGB color
  • ‘bgr8’: 8-bit BGR color (converted to RGB)
  • ‘rgba8’: 8-bit RGBA color (converted to RGB)
  • ‘bgra8’: 8-bit BGRA color (converted to RGB)
  • ‘32FC1’: 32-bit floating point grayscale
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Returns
Decoded image array in RGB format (for color images) or grayscale format (for ‘32FC1’). For RGB format, has shape (height, width, 3). For grayscale, has shape (height, width, 1).

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publish_agent_image

ImageClient.publish_agent_image()

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publish_image

ImageClient.publish_image(data)
Publish an image to the configured topic.
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Arguments
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data (numpy.ndarray)
required
Image data to publish

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get_image

ImageClient.get_image()
Get the most recent processed image.
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Returns
The most recent image data, or None if no image is available