Capture images from spot cam in a convenient way

spot_cam/CMakeLists.txt

@@ -48,6 +48,8 @@ add_service_files(
 
 add_action_files(
   FILES
+  CaptureImage.action
+  CaptureImageHighQuality.action
   LookAtPoint.action
 )
 

spot_cam/action/CaptureImage.action

@@ -0,0 +1,26 @@
+# Capture an image from the camera
+
+# Select which screen should be captured. See /spot/cam/screens for valid options. If empty, captures the current screen
+string screen
+
+# Directory to which the image(s) should be saved
+string save_dir
+
+# Base filename for the image capture. This will be suffixed with the screen used for the capture, as well as the date
+# and time of the capture. It will look something like filename_mech_2023-06-15-16-52-03.png. If not provided, the
+# default filename is spot_cam_stream_capture. If you provide an extension with the base filename, output files will be saved
+# with that extension rather than the default of png. For example, providing my_capture.jpg will generate jpg output
+# See https://docs.opencv.org/3.4/d4/da8/group__imgcodecs.html#ga288b8b3da0892bd651fce07b3bbd3a56 for valid extensions
+string filename
+
+# Duration in seconds for which the images should be captured. Each image received on the stream will be saved to a
+# separate file. This takes precedence over capture_count
+int32 capture_duration
+
+# Specify the number of images which should be captured from the image stream. Not used if capture_duration is nonzero
+int32 capture_count
+-----
+bool success
+string message
+---
+string feedback

spot_cam/action/CaptureImageHighQuality.action

@@ -0,0 +1,26 @@
+# Capture a high quality image from the camera using MediaLog functionality.
+
+# Select which camera should be captured. Valid options are pano, ir, ptz, c0, c1, c2, c3, c4
+string camera
+
+# Directory to which the image(s) should be saved
+string save_dir
+
+# Base filename for the image capture. This will be suffixed with the screen used for the capture, as well as the date
+# and time of the capture. It will look something like filename_ptz_YYYY-mm-ddTHH-MM-SS.MS. If not provided, the
+# default filename is spot_cam_capture. The extension for the file depends on the selected screen and options below.
+string filename
+
+# Determines the frequency at which images should be saved
+float32 capture_frequency
+
+# Duration in seconds for which images should be captured.
+int32 capture_duration
+
+# Specify the number of images which should be captured.
+int32 capture_count
+-----
+bool success
+string message
+---
+string feedback

spot_cam/action/LookAtPoint.action

@@ -8,6 +8,8 @@ float32 image_width
 float32 zoom_level
 # If true, the camera will track this point as the robot moves
 bool track
+# If true, the action will not return until the camera is pointing approximately at the requested point
+bool blocking
 ------
 bool success
 string message