static void Main(string[] args)
{
try
{
// Specify VIPER IP here
using (CvmDevice module = new CvmDevice("http://192.168.1.157:11311", null))
{
module.RosNode = "ReadTopicsSample";
module.Connect();
if (!module.IsConnected)
{
throw new InvalidOperationException("Cannot connect to VIPER!");
}
// Each image stream is associated with specific named topic. To receive images on needs to subscribe to the topic
// and attach a sink where images must be cached when received. Since there are several image types in .NET, use
// a corresponding sink type, e.g. BitmapSink for System.Drawing.Bitmap.
// One image subscriber can have multiple sinks, if multiple types of the same topic image are needed.
foreach (var topic in module.ImageTopics)
{
log.InfoFormat("Getting image from topic '{0}'", topic);
using (ImageSubscriber <ImageHandler> subscriber = new ImageSubscriber <ImageHandler>())
{
BitmapSink sink = new BitmapSink();
subscriber.AddSink(sink);
AutoResetEvent waitHandle = new AutoResetEvent(false);
// Once subsribed, this event shall notify when there are new images available in the topic. If event is not raised, it means image
// has not been published for some reason.
sink.Updated += (s, e) =>
{
log.InfoFormat("Received image of size {0}", sink.Bitmap.Size);
waitHandle.Set();
};
subscriber.Subscribe(topic);
if (!waitHandle.WaitOne(3000))
{
log.WarnFormat("Topic has no images published");
}
}
}
module.Disconnect();
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
private void ViperDevice_Connected(object sender, EventArgs e)
{
if (InvokeRequired)
{
Invoke(new Action(() =>
{
nh = new NodeHandle();
bmpSink = new BitmapSink();
bmpSink.Updated += BmpSink_Updated;
imageSubscriber = new Ros.Net.utilities.ImageSubscriber <ImageHandler>("${TopicPrefix}/left/image_rect", bmpSink);
})
);
}
}
