create_color_frame_listener()
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create_color_frame_listener()
- 1 Minute to read
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Create a listener triggered each time that the camera generates a new frame. You can only create one listener per camera.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| camera_name | str | - | Camera name, see the list of cameras |
| callback | callable | None | Callback |
| callback_async | callable | None | An asynchronous callback to be executed when a color frame is received (if callback_async is defined, callback is ignored). Allows a callback that can use ‘await’, which is useful for non-blocking operations and concurrent tasks. |
| compressed | bool | False | When True, the listener sends a jpeg compressed image to the callback |
Important note!
- Camera must be previously enabled with the enable_color_camera() method.
- If callback_async is defined, callback is ignored.
- One of the callbacks must be defined.
Return
None
Exceptions
RayaCameraInvalidNameRayaCameraNotEnabledRayaNeedCallback
See the complete list of cameras exceptions.
Callback Arguments
Callback must receive the following arguments.
| Arguments | Type | |
|---|---|---|
| frame | Numpy array | Captured frame with shape (height, width, 3) when compressed == False, and unidimensional (jpeg) when compressed == True |
Usage Example
1. Continuously show the 'chest' camera image
...
async def setup(self):
....
self.cameras = self.enable_controller('cameras')
self.cameras.enable_camera('chest')
self.cameras.create_color_frame_listener(camera_name=self.camera_name, callback=self.camera_frame_callback)
async def loop(self):
# Do other stuff
def camera_frame_callback(self, img):
cv2.imshow('Gary\'s chest camera', img)
cv2.waitKey(1)
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