录制mp4 rospy

ros 预览摄像头

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2

# 初始化 bridge
bridge = CvBridge()

def image_callback(msg):
    # 将ROS图像消息转换为OpenCV图像
    cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
    
    # 显示图像
    cv2.imshow("Camera View", cv_image)
    cv2.waitKey(1)

if __name__ == '__main__':
    rospy.init_node('camera_viewer', anonymous=True)
    
    # 订阅图像话题
    //rospy.Subscriber('/camera_l/color/image_raw', Image, image_callback)
    rospy.Subscriber('/camera_f/color/image_raw', Image, image_callback)
    rospy.spin()
    cv2.destroyAllWindows()

view2.py

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2

import imageio
import os
import sys
current_dir = os.path.dirname(os.path.abspath(__file__))
current_dir_p=os.path.dirname(current_dir)
os.chdir(current_dir)
print('current_dir',current_dir)
paths = [current_dir,current_dir_p]
paths.append(os.path.join(current_dir, 'src'))

for path in paths:
    sys.path.insert(0, path)
    os.environ['PYTHONPATH'] = (os.environ.get('PYTHONPATH', '') + ':' + path).strip(':')

import time
class Time_Str:
    def __init__(self):
        self.last_time = ''
        self.counter = 0
    def get_time_sec(self):
        now_time = time.strftime("%m%d_%H%M_%S")  # 当前时间（精确到秒）
        self.counter += 1
        if now_time != self.last_time:
            self.last_time = now_time
            self.counter = 0
        return f"{now_time}_{self.counter}"
 
    def get_time_mm(self):
        now_time = time.strftime("%m%d_%H%M")  # 当前时间（精确到秒）
        self.counter += 1
        if now_time != self.last_time:
            self.last_time = now_time
            self.counter = 0
        return f"{now_time}_{self.counter}"

# 初始化 bridge
bridge = CvBridge()

time_str=Time_Str()
imgs = []
fps = 30
index = 0
count = 0
strat_record = False

os.makedirs('record',exist_ok=True)

def image_callback(msg):
    global strat_record,count,imgs,index
    # 将ROS图像消息转换为OpenCV图像
    cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
    img = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
    if strat_record:
        imgs.append(img)
    index += 1
    if index % 300 == 299 and strat_record:
        count += 1
        save_video_path = f'record/{time_str.get_time_mm()}.mp4'
        imageio.mimsave(save_video_path, imgs, fps=fps, macro_block_size=None)
        imgs = []

    # 显示图像
    cv2.imshow("Camera View", cv_image)
    key = cv2.waitKey(1) & 0xFF
    if key == ord('q'):
        return
    elif key == ord('s'):
        strat_record = True 
        print("start_record")
    elif key == ord('e'):
        strat_record = False
        save_video_path = f'record/{time_str.get_time_mm()}.mp4'
        imageio.mimsave(save_video_path, imgs, fps=fps, macro_block_size=None)
        imgs = []
        print("end_record")

if __name__ == '__main__':
    rospy.init_node('camera_viewer', anonymous=True)
    
    # 订阅图像话题
    # rospy.Subscriber('/camera_r/color/image_raw', Image, image_callback)
    rospy.Subscriber('/camera_f/color/image_raw', Image, image_callback)
    
    rospy.spin()
    cv2.destroyAllWindows()