From 99e7ae9708c500f0078d4d71cc088668b88a2fd4 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Thu, 16 May 2024 07:59:35 +0000
Subject: [PATCH] make images stored separatedly

---
 tutorial_workspace/fogros2_tutorial/sam_client.py | 10 ++++++++--
 tutorial_workspace/fogros2_tutorial/sam_server.py |  2 +-
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/tutorial_workspace/fogros2_tutorial/sam_client.py b/tutorial_workspace/fogros2_tutorial/sam_client.py
index 67160ca..0e44ffe 100644
--- a/tutorial_workspace/fogros2_tutorial/sam_client.py
+++ b/tutorial_workspace/fogros2_tutorial/sam_client.py
@@ -59,8 +59,9 @@ 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':
@@ -68,6 +69,11 @@ def handle_response(self, future, camera_type):
                     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
index d1eeddc..392fc25 100644
--- 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)