submission of garima,220396

src/.vscode/c_cpp_properties.json

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+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/rolling/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

src/.vscode/settings.json

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+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/rolling/lib/python3.10/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/rolling/lib/python3.10/site-packages"
+    ]
+}

src/image_processes/.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/rolling/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

src/image_processes/.vscode/settings.json

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+{
+    "python.autoComplete.extraPaths": [
+        "/home/garima/first_ws/install/robot_controller/lib/python3.10/site-packages",
+        "/home/garima/first_ws/install/image_processes/lib/python3.10/site-packages",
+        "/opt/ros/rolling/lib/python3.10/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/garima/first_ws/install/robot_controller/lib/python3.10/site-packages",
+        "/home/garima/first_ws/install/image_processes/lib/python3.10/site-packages",
+        "/opt/ros/rolling/lib/python3.10/site-packages"
+    ]
+}

src/image_processes/image_processes/import cv2.py

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+import cv2
+import pygame
+import pygame.camera
+pygame.camera.init()
+camlist = pygame.camera.list_cameras()
+if camlist :
+    cam=pygame.camera.Camera(camlist[0],(640,480))
+    cam.start()
+    image = cam.get_image()
+    pygame.image.save(image,"filename.jpg")
+else:
+    print("no")
+
+cam = cv2.VideoCapture(0)
+
+cv2.namedWindow("test")
+
+img_counter = 0
+
+while True:
+    ret, frame = cam.read()
+    if not ret:
+        print("failed to grab frame")
+        break
+    cv2.imshow("test", frame)
+
+    k = cv2.waitKey(1)
+    if k%256 == 27:
+        # ESC pressed
+        print("Escape hit, closing...")
+        break
+    elif k%256 == 32:
+        # SPACE pressed
+        img_name = "opencv_frame_{}.png".format(img_counter)
+        cv2.imwrite(img_name, frame)
+        print("{} written!".format(img_name))
+        img_counter += 1
+cam.release()

src/image_processes/image_processes/webcam_display.py

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+#!/usr/bin/env python3
+'''import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+import cv2
+from cv_bridge import CvBridge
+
+class node3(Node):
+    def __init__(self):
+        super().__init__('webcam_display')
+        self.subscription_ = self.create_subscription(
+            Image,
+            'webcam_cropped',
+            self.display_image,
+            10
+        )
+        self.bridge = CvBridge()
+
+    def display_image(self, msg):
+        frame = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        cv2.imshow('Webcam Cropped', frame)
+        cv2.waitKey(1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    webcam_display = node3()
+    rclpy.spin(webcam_display)
+    webcam_display.destroy_node()
+    rclpy.shutdown()
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+    main()'''
+
+'''import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+def node3():
+    rospy,init_node('node3',anonymous = True)
+    rospy.Subscriber('Webcam_cropped',Image,show_image_callback)
+
+    rospy.spin()
+
+def show_image_callback(image_frame):
+    cv_bridge = CvBridge()
+    cv_image = cv_bridge.imgmsg_to_cv2(image_frame,desired_encoding='bgr8')
+    cv2.imshow('Webcam_cropped',cv_image)
+    cv2.waitkey(1)
+
+if __name__ = '__main__':
+    try:
+           node3()
+    except rospy.ROSInterruptException:
+         pass
+'''
+
+'''import rclpy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+def node3():
+    rclpy.init()
+    node = rclpy.create_node('node3')
+
+    cv_bridge = CvBridge()
+
+    def show_image_callback(image_frame):
+        cv_image = cv_bridge.imgmsg_to_cv2(image_frame, desired_encoding='bgr8')
+        cv2.imshow('Webcam_cropped', cv_image)
+        cv2.waitKey(1)
+
+    subscription = node.create_subscription(Image, 'Webcam_cropped', show_image_callback, 10)
+
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    try:
+        node3()
+    except KeyboardInterrupt:
+        pass
+        '''
+
+#!/usr/bin/env python3
+#!/usr/bin/env python3
+
+'''import os
+import sys
+import cv2
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class ImageViewer(Node):
+    def __init__(self):
+        super().__init__('image_viewer')
+        self.subscription = self.create_subscription(
+            Image,
+            'webcam_cropped',
+            self.image_callback,
+            10
+        )
+        self.subscription  # prevent unused variable warning
+        self.bridge = CvBridge()
+
+    def image_callback(self, msg):
+        try:
+            # Convert the ROS Image message to an OpenCV image
+            image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        except Exception as e:
+            self.get_logger().error('Failed to convert image: {}'.format(e))
+            return
+
+        # Display the image in a window
+        cv2.imshow('Webcam Cropped', image)
+        cv2.waitKey(1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    image_viewer = ImageViewer()
+    rclpy.spin(image_viewer)
+    cv2.destroyAllWindows()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+'''
+
+#!/usr/bin/env python
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+class ImageViewer(Node):
+    def __init__(self):
+        super().__init__('image_viewer')
+        self.subscription = self.create_subscription(
+            Image,
+            'cropped_img',
+            self.image_callback,
+            10
+        )
+        self.bridge = CvBridge()
+
+    def image_callback(self, msg):
+        # Convert the ROS Image message to a CV image
+        cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+
+        # Display the image
+        cv2.imshow('Cropped Image', cv_image)
+        cv2.waitKey(1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    image_viewer = ImageViewer()
+    try:
+        rclpy.spin(image_viewer)
+    except KeyboardInterrupt:
+        pass
+
+    # Destroy the OpenCV windows and clean up
+    cv2.destroyAllWindows()
+    image_viewer.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()