Getting frame from RealsenseCamera while using Perception Module RX200

[kushTCNJ]

Hi,

I am very inexperienced with Python and I am wondering how I can grab an image from the Realsense camera while the perception module is active. When I try to get the frame using a method in a separate script I get this error.

File "board-location.py", line 28, in main rs = RealsenseCamera() File "/home/monomus/interbotix_ws/crois_scripts/rs_ttt.py", line 19, in __init__ self.pipeline.start(config) RuntimeError: xioctl(VIDIOC_S_FMT) failed Last Error: Device or resource busy

I assume this is because the perception module is already communicating with the camera, as if I enable the control module I am still able to communicate with the camera via my own method. This is how I would grab the frame from the camera in a separate script that imports from a module.

rs = RealsenseCamera()

# Get bgr_frame from camera for the image
# print("[INFO] loading image...")
ret, bgr_frame = rs.get_frame_stream()
image = (bgr_frame)
cv2.imshow("Tags", image)
cv2.waitKey(0)

What do I need to put in the image variable to show the current frame? What should I import to make this possible? My vocabulary with Python is not great so if any wording is confusing I will do my best to explain.

Thank you

[lukeschmitt-tr]

Our solution was to create the PictureSnapper node. This module subscribes to the camera's color image topic and, when triggered by a service, saves the most recent image to the specified file.

Once the image has been saved, you could then use the cv2.imread() method to load that to your image variable.

[kushTCNJ]

Thank you!,

I got the latest image with,

image = cv2.imread("/tmp/get_image.png")

This displayed the last image that was captured when the camera was getting the armtag pose? What code will I have to run to capture an image right before the above code is run?

[lukeschmitt-tr]

We call the picture snapper service from the apriltag module. You can find a usage example there:

1. Create a "/<namespace>/snap_picture" service client (ex).
2. Call the service with the filepath you want to save the frame under (ex).