make images stored separatedly

BerkeleyAutomation · May 16, 2024 · 99e7ae9 · 99e7ae9
1 parent 15cd2e2
commit 99e7ae9
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/tutorial_workspace/fogros2_tutorial/sam_client.py b/tutorial_workspace/fogros2_tutorial/sam_client.py
@@ -59,15 +59,21 @@ def handle_response(self, future, camera_type):
                     # Save a copy of the image sent published
                     image_stream = BytesIO(msg.data)
                     image = Image.open(image_stream)
-                    os.makedirs('saved_images', exist_ok=True)
-                    image.save(f'saved_images/original_image_{self.counter}.png', format='PNG')
+                    os.makedirs('base_images', exist_ok=True)
+                    image.save(f'base_images/original_image.png', format='PNG')
+                    image.save(f'base_images/original_image_{self.counter}.png', format='PNG')
                     self.counter += 1
 
                 elif camera_type == 'top':
                     msg = CompressedImage()
                     msg.format = 'png'
                     msg.data = np.array(cv2.imencode('.png', cv_image)[1]).tobytes()
                     self.publisher_top.publish(msg)
+                    image_stream = BytesIO(msg.data)
+                    image = Image.open(image_stream)
+                    os.makedirs('top_images', exist_ok=True)
+                    image.save(f'top_images/original_image.png', format='PNG')
+                    image.save(f'top_images/original_image_{self.counter}.png', format='PNG')
                     self.get_logger().info('Top camera image published.')
             else:
                 self.get_logger().info(f'Failed to receive image from {camera_type} camera: ' + response.message)

diff --git a/tutorial_workspace/fogros2_tutorial/sam_server.py b/tutorial_workspace/fogros2_tutorial/sam_server.py
@@ -38,7 +38,7 @@ def __init__(self):
 
         self.subscription = self.create_subscription(
             CompressedImage,
-            '/image/base',
+            '/image/top',
             self.listener_callback,
             2)