renamed image node and clean up

Onboard-SDK-ROS/scripts/imageNode.py

+#! /usr/bin/python3
+
+import rospy, sys, math, cv2, numpy as np, std_msgs.msg
+from sensor_msgs.msg import Image
+from std_msgs.msg import Header
+import os.path, getpass
+from cv_bridge import CvBridge, CvBridgeError
+
+class ImageViewer():
+    def __init__(self):
+        self.bridge = CvBridge()
+        self.subscriber = rospy.Subscriber("usb_camera/image_raw", Image, self.imageCallback)
+        self.params = None
+        self.image = None
+        self.seq = None
+
+    def imageCallback(self, frame):
+        # self.params = self.getParams()
+        try:
+            self.image = self.bridge.imgmsg_to_cv2(frame, "bgr8")
+            self.seq = frame.header.seq
+        except CvBridgeError as err:
+            rospy.loginfo("there was error!")
+            rospy.loginfo(err)
+
+def main():
+    iv = ImageViewer()
+    rospy.init_node("imageSaver")
+    windowFlag = rospy.get_param("~visualize")
+    saveFlag = rospy.get_param("~save")
+    folderName = rospy.get_param("~folderName")
+    # folderName = "/home/" + getpass.getuser() + "/imageDump"
+    if windowFlag:
+        cv2.namedWindow("image window")
+    cv2.waitKey(200)
+
+    while not rospy.is_shutdown():
+        if iv.image is not None:
+            # cv2.imshow("image window", iv.image)
+            if np.mod(iv.seq, 32) == 0:
+                if os.path.isdir(folderName):
+                    # print ("File exist")
+                    if windowFlag:
+                        cv2.imshow("image window", iv.image)
+                        rospy.loginfo("publishing image to window seq: " + iv.seq)
+                    if saveFlag:
+                        cv2.imwrite("/home/" + getpass.getuser() + "/" folderName + "/camera_image_{seq}.jpeg".format(seq = iv.seq), iv.image)
+                        rospy.loginfo("saving image to folder: home-> " + folderName + "-> camera_image_{seq}.jpeg".format(seq = iv.seq) + " seq: " + str(iv.seq))
+                    cv2.waitKey(10)
+                else:
+                    rospy.loginfo("camera dir missing!")
+
+    # cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()