subscribe_image

Signature:

BoosterRobot.subscribe_image(
    callback: Callable[[AnyImage], None],
    *,
    camera_id: str = "",
    img_type: ImageType = "rgb",
    queue_size: int = 0,
    overflow: OverflowPolicy = "drop_oldest",
) -> SensorSubscription

Description:

Subscribe to RGB or depth image updates. When data arrives, the callback receives an AnyImage object.

Parameters:

Parameter	Type	Default	Description
callback	Callable[[AnyImage], None]	Required	Image callback function; receives an AnyImage argument.
camera_id	str	""	Camera ID; leave empty to use the default camera. For the available IDs, refer to the camera sensors returned by "list_sensors".
img_type	ImageType	"rgb"	Image type; see "Sensor and State Data / ImageType".
queue_size	int	0	Pending callback queue size; 0 means unlimited.
overflow	OverflowPolicy	"drop_oldest"	Policy when the queue is full; see "Tasks and Subscriptions / OverflowPolicy".

Returns:

SensorSubscription, see "Tasks and Subscriptions / SensorSubscription"

Raises:

ValueError: img_type is not a supported image type.

Example:

import time
from boosteros.robots.booster import BoosterRobot
from boosteros.types import AnyImage

robot = BoosterRobot()

def on_image(image: AnyImage) -> None:
    print(image.width, image.height)
    # Example output: 320 240

sub = robot.subscribe_image(on_image)
try:
    time.sleep(2.0)
finally:
    sub.unsubscribe()