source.py
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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
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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
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033 
00034 import sys
00035 import time
00036 import math
00037 import rospy
00038 import numpy
00039 import cv2
00040 
00041 import sensor_msgs.msg
00042 from cv_bridge import CvBridge
00043 
00044 class source:
00045 
00046   def __init__(self):
00047     self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)
00048 
00049   def spin(self):
00050     time.sleep(1.0)
00051     started = time.time()
00052     counter = 0
00053     cvim = numpy.zeros((480, 640, 1), numpy.uint8)
00054     ball_xv = 10
00055     ball_yv = 10
00056     ball_x = 100
00057     ball_y = 100
00058 
00059     cvb = CvBridge()
00060 
00061     while not rospy.core.is_shutdown():
00062 
00063       cvim.fill(0)
00064       cv2.circle(cvim, (ball_x, ball_y), 10, 255, -1)
00065 
00066       ball_x += ball_xv
00067       ball_y += ball_yv
00068       if ball_x in [10, 630]:
00069         ball_xv = -ball_xv
00070       if ball_y in [10, 470]:
00071         ball_yv = -ball_yv
00072 
00073       self.pub.publish(cvb.cv2_to_imgmsg(cvim))
00074 
00075       time.sleep(0.03)
00076 
00077 def main(args):
00078   s = source()
00079   rospy.init_node('source')
00080   try:
00081     s.spin()
00082     rospy.spin()
00083     outcome = 'test completed'
00084   except KeyboardInterrupt:
00085     print "shutting down"
00086     outcome = 'keyboard interrupt'
00087   rospy.core.signal_shutdown(outcome)
00088 
00089 if __name__ == '__main__':
00090   main(sys.argv)


opencv_tests
Author(s): James Bowman
autogenerated on Mon Oct 6 2014 08:56:35