From f143ef6629bd932146e680375c3ff4964398a60d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 3 Nov 2018 13:24:53 +0900
Subject: [PATCH] [jsk_tools/camera_check.py] Add is_image_valid function to
 check camera is valid

---
 jsk_tools/src/camera_check.py | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/camera_check.py b/jsk_tools/src/camera_check.py
index ebc63d5a3..83e8f6819 100755
--- a/jsk_tools/src/camera_check.py
+++ b/jsk_tools/src/camera_check.py
@@ -10,13 +10,17 @@
 import diagnostic_updater
 import diagnostic_msgs
 from sensor_msgs.msg import Image
+import cv2
+from cv_bridge import CvBridge
+from cv_bridge import CvBridgeError
 
 from jsk_tools.sanity_lib import checkUSBExist
 
 
 class CameraCheck(object):
 
-    def __init__(self):
+    def __init__(self, device_path=None):
+        self.bridge = CvBridge()
         self.topic_names = rospy.get_param('~topic_names', [])
         self.device_type = rospy.get_param("~device_type", 'usb')
         self.device_path = rospy.get_param('~device_path', None)
@@ -97,6 +101,23 @@ def check_topic(self, stat):
                     stat.add('topic {} {} Hz'.format(topic_name, topic_hz))
         return stat
 
+    def is_image_valid(self, msg):
+       try:
+            cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+            sum_of_pixels = max(cv2.sumElems(cv_image))
+       except CvBridgeError as e:
+           rospy.logerr(
+               "[%s] failed to convert image to cv",
+               self.__class__.__name__)
+           return False
+       rospy.loginfo(
+           "[%s] sum of pixels is %d at %s",
+           self.__class__.__name__,
+           sum_of_pixels, msg.header.stamp.secs)
+       if sum_of_pixels == 0:
+           return False
+       return True
+
     def run(self):
         while not rospy.is_shutdown():
             self.subscribe()