Image Recorder

Record images from Hammerhead with ZMQ.

Installation

pip install -e examples/python/image_recorder

Usage

python image_recorder.py <src_ip> <image_topic_or_port> <output_dir>

Parameters

  • src_ip: IP address of the ZMQ source (the device running Hammerhead)
  • image_topic_or_port: Topic name or port number for the image stream
  • output_dir: Folder where the images will be saved

Examples

# Record raw right images using port number
python image_recorder.py 127.0.0.1 9801 raw_right_images

# Record raw right images using topic name
python image_recorder.py 127.0.0.1 nodar/right/image_raw output_dir

Available Camera Topics

Topic Port Description
nodar/left/image_raw 9800 Raw left camera
nodar/right/image_raw 9801 Raw right camera
nodar/left/image_rect 9802 Rectified left image
nodar/right/image_rect 9803 Rectified right image
nodar/disparity 9804 Disparity map
nodar/color_blended_depth/image_raw 9805 Color-coded depth visualization

Output

  • Format: Image files
  • Location: Specified output directory
  • Naming: Sequential numbering based on received images

Features

  • Subscribe to any image topic published by Hammerhead
  • Support for both topic names and port numbers
  • Real-time recording with minimal latency

Troubleshooting

  • No images received: Check IP address and ensure Hammerhead is running
  • Invalid topic: Verify topic name exists in topic_ports.py
  • Connection hanging: ZMQ will wait indefinitely for connection - check network connectivity

Press Ctrl+C to stop recording.