added camera2.py

Code/Server/camera.py

@@ -1,3 +1,3 @@
 from picamera2 import Picamera2
 picam2 = Picamera2()
-picam2.start_and_capture_file("image.jpg")
+picam2.start_and_capture_file("image.jpg")

Code/Server/camera2.py

@@ -0,0 +1,19 @@
+import cv2
+
+# Create a VideoCapture object
+cap = cv2.VideoCapture(0)  # Use 0 for the default camera, or specify a different index if you have multiple cameras
+
+while True:
+    # Read a frame from the camera
+    ret, frame = cap.read()
+
+    # Display the frame in a window
+    cv2.imshow('Camera', frame)
+
+    # Wait for the 'q' key to be pressed to exit the loop
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break
+
+# Release the VideoCapture object and close the window
+cap.release()
+cv2.destroyAllWindows()

Code/Server/cameraPerks.py

@@ -0,0 +1,39 @@
+import cv2
+import cv2.aruco as aruco
+
+# Load the pre-defined dictionary for ArUco codes
+aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_100)
+
+# Create the ArUco parameters
+parameters = aruco.DetectorParameters_create()
+
+# Create a VideoCapture object
+cap = cv2.VideoCapture(0)  # Use 0 for the default camera, or specify a different index if you have multiple cameras
+
+while True:
+    # Read a frame from the camera
+    ret, frame = cap.read()
+
+    # Convert the frame to grayscale
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # Detect ArUco markers in the grayscale frame
+    corners, ids, rejected = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
+
+    # Draw detected ArUco markers and their IDs
+    if ids is not None:
+        aruco.drawDetectedMarkers(frame, corners, ids)
+        for i in range(len(ids)):
+            cv2.putText(frame, str(ids[i][0]), (corners[i][0][0][0], corners[i][0][0][1] - 5),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2, cv2.LINE_AA)
+
+    # Display the frame in a window
+    cv2.imshow('Camera', frame)
+
+    # Wait for the 'q' key to be pressed to exit the loop
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break
+
+# Release the VideoCapture object and close the window
+cap.release()
+cv2.destroyAllWindows()

Code/Server/cameraROS.py

@@ -0,0 +1,57 @@
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+import cv2.aruco as aruco
+
+# ROS initialization
+rospy.init_node('camera_node')
+bridge = CvBridge()
+
+# Load the pre-trained face cascade classifier
+face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')
+
+# Load the pre-defined dictionary for ArUco codes
+aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_100)
+
+# Create the ArUco parameters
+parameters = aruco.DetectorParameters_create()
+
+# Callback function to process the camera image
+def process_image(msg):
+    # Convert ROS Image message to OpenCV image
+    frame = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+
+    # Convert the frame to grayscale for face detection
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # Detect faces in the grayscale frame
+    faces = face_cascade.detectMultiScale(gray, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30))
+
+    # Draw rectangles around the detected faces
+    for (x, y, w, h) in faces:
+        cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 3)
+
+    # Detect ArUco markers in the grayscale frame
+    corners, ids, rejected = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
+
+    # Draw detected ArUco markers and their IDs
+    if ids is not None:
+        aruco.drawDetectedMarkers(frame, corners, ids)
+        for i in range(len(ids)):
+            cv2.putText(frame, str(ids[i][0]), (corners[i][0][0][0], corners[i][0][0][1] - 5),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2, cv2.LINE_AA)
+
+    # Display the frame
+    cv2.imshow('Camera', frame)
+    cv2.waitKey(1)
+
+# Subscribe to the camera topic
+rospy.Subscriber('/camera_topic', Image, process_image)
+
+# Spin ROS
+rospy.spin()
+
+# Close OpenCV windows
+cv2.destroyAllWindows()
+