bob_sd35.itti_node
==================

.. py:module:: bob_sd35.itti_node


Classes
-------

.. autoapisummary::

   bob_sd35.itti_node.ITTINode


Functions
---------

.. autoapisummary::

   bob_sd35.itti_node.main


Module Contents
---------------

.. py:class:: ITTINode

   Bases: :py:obj:`rclpy.node.Node`


   Text & image to image generator node.


   .. py:attribute:: _pipe
      :value: None



   .. py:attribute:: _cv_bridge


   .. py:attribute:: _prompt_sub


   .. py:attribute:: _image_pub


   .. py:method:: _prompt_callback(msg: std_msgs.msg.String)

      Callback for incoming prompt messages.
      Parses JSON if message contains 'role' key, otherwise uses message as prompt.



   .. py:method:: _publish_image(pil_image: PIL.Image.Image)

      Publishes a PIL Image as a ROS Image message if there are subscribers.



   .. py:method:: load_model()

      Downloads the model if necessary and loads the SD3.5 Img2Img pipeline.
      Returns the loaded pipeline.



   .. py:method:: generate_image(prompt: str, input_image_path: str, output_path: str) -> PIL.Image.Image | None

      Generates an image based on text prompt and an input image.

      Args:
          prompt: The text prompt describing the desired output.
          input_image_path: Path to the input image file.
          output_path: Path where the output image will be saved.

      Returns:
          The generated PIL Image if successful, None otherwise.



   .. py:method:: unload_model()

      Unloads the model from memory to free VRAM.



   .. py:method:: _generate_auto_filename(output_path: str) -> str

      Generates a unique filename when output_path ends with 'auto'.

      If output_path is 'auto' or ends with '/auto', generates a filename
      with pattern: <base_path>itti_<4-digit-counter>_<8-char-random>.png

      Args:
          output_path: The output path parameter value.

      Returns:
          The generated unique filename, or original path if not 'auto'.



   .. py:method:: _run_generation()

      Runs the image generation using the configured parameters.
      If 'once' is True, shuts down the node after generation.



   .. py:method:: _schedule_shutdown(success: bool = True)

      Schedules a shutdown after keep_alive seconds using a ROS2 timer.
      This is non-blocking and allows the executor to continue processing.



   .. py:method:: _shutdown_callback()

      Timer callback that triggers the shutdown.



.. py:function:: main(args=None)