00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 import roslib 00035 roslib.load_manifest('opencv_tests') 00036 00037 import sys 00038 import time 00039 import math 00040 import rospy 00041 import cv 00042 00043 import sensor_msgs.msg 00044 from opencv_latest.cv_bridge import CvBridge 00045 00046 class source: 00047 00048 def __init__(self): 00049 self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image) 00050 00051 def spin(self): 00052 time.sleep(1.0) 00053 started = time.time() 00054 counter = 0 00055 cvim = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1) 00056 ball_xv = 10 00057 ball_yv = 10 00058 ball_x = 100 00059 ball_y = 100 00060 00061 cvb = CvBridge() 00062 00063 while not rospy.core.is_shutdown(): 00064 00065 cv.Set(cvim, 0) 00066 cv.Circle(cvim, (ball_x, ball_y), 10, 255, -1) 00067 00068 ball_x += ball_xv 00069 ball_y += ball_yv 00070 if ball_x in [10, 630]: 00071 ball_xv = -ball_xv 00072 if ball_y in [10, 470]: 00073 ball_yv = -ball_yv 00074 00075 self.pub.publish(cvb.cv_to_imgmsg(cvim)) 00076 00077 time.sleep(0.03) 00078 00079 def main(args): 00080 s = source() 00081 rospy.init_node('source') 00082 try: 00083 s.spin() 00084 rospy.spin() 00085 outcome = 'test completed' 00086 except KeyboardInterrupt: 00087 print "shutting down" 00088 outcome = 'keyboard interrupt' 00089 rospy.core.signal_shutdown(outcome) 00090 00091 if __name__ == '__main__': 00092 main(sys.argv)