Topbot Publisher

Publish vertically stacked stereo images (which we refer to as topbot images) from disk to Hammerhead.

Installation

pip install -e examples/python/topbot_publisher

Usage

python topbot_publisher <topbot_data_directory> <port_number> [pixel_format]

Parameters

  • topbot_data_directory: Path to directory containing sequentially numbered topbot images
  • port_number: Port number to publish the images to
  • pixel_format: Optional pixel format (default: BGR)

Examples

# Publish topbot images with default BGR format
python topbot_publisher /path/to/topbot/data 9800

# Publish topbot images with Bayer format
python topbot_publisher /path/to/topbot/data 9800 Bayer_RGGB

Supported Pixel Formats

  • BGR (default)
  • Bayer_RGGB
  • Bayer_GRBG
  • Bayer_BGGR
  • Bayer_GBRG

Features

  • Publish pre-recorded stereo image pairs to Hammerhead
  • Single-pass playback of numbered image sequences (no looping)
  • ZMQ-based communication for real-time streaming
  • Multiple pixel format support

Requirements

  • Images must be sequentially numbered
  • Images must be in TIFF format
  • Directory should contain only topbot image files
  • Sufficient network bandwidth for real-time streaming

Troubleshooting

  • Images not found: Ensure the directory contains sequentially numbered TIFF files
  • Connection issues: Verify port number and network connectivity
  • File format errors: Ensure all images are valid TIFF files

Press Ctrl+C to stop publishing.