test_mask_indices.py

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import roslib
roslib.load_manifest('pcl_ros')
import rospy
import random

from pcl.msg import PointIndices

rospy.init_node('test_mask_indices')

pub_indices = rospy.Publisher("/camera/depth/indices", PointIndices, latch=True)

def getindices(startx, starty, width, height, xstep=1, ystep=1):
    """
    Deliciously inefficient...
    """
    out = []
    for v in range(starty, starty + height, ystep):
        for u in range(startx, startx + width, xstep):
            out.append(v * 640 + u)
    return out

startx = 0
starty = 0
xinc = 20
width = 200
width_min = 100
width_max = 300
height = 200
xstep = 1
ystep = 1
vx = 10
vy = 10
indices1 = getindices(0,0,640,480,10,10)
while not rospy.is_shutdown():
    ax = random.uniform(-0.5,0.5)
    ay = random.uniform(-0.5,0.5)
    vx = vx + ax
    vy = vy + ay
    startx = startx + vx
    starty = starty + vy
    if starty + height >= 479 or starty <= 0:
        vy = -vy
#    startx = (startx + xinc)
    if startx >= 640 - width or startx <= 0:
        vx = -vx
    startx = max(0,min(640-width,startx))
    starty = max(0,min(480-height,starty))
    indices = indices1 + getindices(startx, starty, width, height, xstep, ystep)
    #width = max(width_min, (width + 10) % (width_max))
    rospy.loginfo('Publishing indices.. First index = %d, Last = %d, N = %d, startx = %d, starty = %d' 
                  % (indices[0], indices[-1], len(indices), startx, starty))
    pub_indices.publish(PointIndices(indices=indices))
    rospy.sleep(0.1)

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openni_camera_unstable
Author(s): Suat Gedikli, Patrick Mihelich, Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:14:58 2013