chaonan99 · April 15, 2018 00:28 · Apr 15, 2018
diff --git a/baxter_screen_publisher.py b/baxter_screen_publisher.py
@@ -0,0 +1,66 @@
+"""Baxter screenshot publisher
+Author: chaonan99
+Date: 2018/04/14
+"""
+
+from Xlib import display, X
+from PIL import Image as PILI  ## Because of name confliction
+import numpy as np
+import cv2
+import argparse
+
+import rospy
+import cv_bridge
+from sensor_msgs.msg import Image
+
+class ScreenPublisher(object):
+  """ScreenPublisher publish screenshot to Baxter head display"""
+  def __init__(self):
+    super(ScreenPublisher, self).__init__()
+    self.W = 1920
+    self.H = 1200
+    dsp = display.Display()
+    self.root = dsp.screen().root
+    self.pub = rospy.Publisher('/robot/xdisplay', Image, latch=True, queue_size=1)
+    self.bridge = cv_bridge.CvBridge()
+
+  def send_image(self, freq):
+    """
+    Send the image located at the specified path to the head
+    display on Baxter.
+
+    Parameters
+    ----------
+    freq: float
+      publishing frequency
+    """
+    r = rospy.Rate(freq)
+    rospy.loginfo("Start publishing!")
+    while not rospy.is_shutdown():
+      raw = self.root.get_image(0, 0, self.W, self.H, X.ZPixmap, 0xffffffff)
+      img = PILI.frombytes("RGB", (self.W, self.H), raw.data, "raw", "BGRX")
+
+      img_np = np.array(img) #this is the array obtained from conversion
+      frame = cv2.cvtColor(img_np, cv2.COLOR_BGR2RGB)
+      frame = cv2.resize(frame, (1024, 600))
+      msg = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8")
+      self.pub.publish(msg)
+      ## Sleep to allow for image to be published.
+      r.sleep()
+
+def argument_parse():
+  parser = argparse.ArgumentParser(description=main.__doc__)
+  parser.add_argument('-f', '--freq', type=float, default=1, help='publishing frequency')
+  return parser.parse_args()
+
+def main():
+  """Baxter screenshot publisher. Capture the current screenshot at
+  some frequency and publish (post) to the Baxter head display.
+  """
+  args = argument_parse()
+  rospy.init_node("screen_to_x", anonymous=True)
+  sp = ScreenPublisher()
+  sp.send_image(args.freq)
+
+if __name__ == '__main__':
+  main()
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