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Documentation Index

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ZenohCamera

Inherits from: Camera No class docstring.

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Inherited methods

  • From Camera: getData, getCameraIntrinsics, setCameraIntrinsics, getCameraSettings, setCameraSettings

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init

ZenohCamera.__init__(topic, shape = None, dtype = np.uint8, queue_length = 2, zenoh_config = None, auto_parse_ros2 = True)
Initialize ZenohCamera with direct zenoh usage
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Arguments
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topic (str)
str
required
Zenoh topic to subscribe to
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shape (tuple, optional)
tuple, optional
Shape of the image (height, width, channels). If None and auto_parse_ros2=True, will be extracted from ROS2 message
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dtype (np.dtype)
np.dtype
Data type of the image data
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queue_length (int)
int
Maximum size of the image queue
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zenoh_config (dict, optional)
dict, optional
Zenoh configuration options
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auto_parse_ros2 (bool)
bool
Whether to automatically parse ROS2 sensor_msgs/Image messages

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from_ros2_topic

ZenohCamera.from_ros2_topic(topic, queue_length = 2, zenoh_config = None)
Create a ZenohCamera configured for ROS2 sensor_msgs/Image messages. This method creates a camera that will automatically parse the ROS2 message format and extract height, width, encoding, and image data.
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Arguments
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topic (str)
str
required
Zenoh topic to subscribe to (should carry ROS2 sensor_msgs/Image)
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queue_length (int)
int
Maximum size of the image queue
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zenoh_config (dict, optional)
dict, optional
Zenoh configuration options
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Returns
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ZenohCamera
Configured camera instance

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getImage

ZenohCamera.getImage()
Get the latest image from the queue
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Returns
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Image
The latest image, or None if no image is available

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close

ZenohCamera.close()
Close the zenoh session and cleanup resources