send_images.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <string>
#include <random>
#include "stdlib.h"
#include "ros/ros.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/image_encodings.h"
#include "math.h"
#include "image_transport/image_transport.h"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "send_images");

  if (argc != 2)
  {
    printf("USAGE: %s <image_format>\n"
           "  Where <image_format> is rgb8, 32FC1, or 16UC1.",
           argv[0]);
    exit(1);
  }
  const std::string image_format(argv[1]);

  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("images", 100);
  ros::Rate loop_rate(100);

  if (image_format == "rgb8")
  {
    sensor_msgs::Image msg;
    int width = 300;
    int height = 200;
    msg.data.resize(width * height * 3);
    msg.header.frame_id = "camera_frame";
    msg.height = height;
    msg.width = width;
    msg.encoding = image_format;
    msg.step = width * 3;

    int count = 0;
    std::default_random_engine random_generator;
    while (ros::ok())
    {
      for (int x = 0; x < width; x++)
      {
        for (int y = 0; y < height; y++)
        {
          uint8_t r = 0, g = 0, b = 0;
          if (x < 5)
            r = 255;
          if (y < 5)
            r = g = 255;
          if (x >= 5 && x < width - 5 && y >= 5 && y < height - 5)
          {
            std::uniform_int_distribution<int> uniform(0, RAND_MAX);
            auto rand = uniform(random_generator);
            r = rand & 0xff;
            g = (rand >> 8) & 0xff;
            b = (rand >> 16) & 0xff;
          }
          int index = (x + y * width) * 3;
          msg.data[index] = r;
          index++;
          msg.data[index] = g;
          index++;
          msg.data[index] = b;
        }
      }
      msg.header.seq = count;
      msg.header.stamp = ros::Time::now();

      pub.publish(msg);

      ros::spinOnce();
      loop_rate.sleep();
      ++count;
    }
  }
  else if (image_format == "32FC1")
  {
    sensor_msgs::Image msg;
    int width = 400;
    int height = 400;
    msg.data.resize(width * height * sizeof(float));
    msg.header.frame_id = "camera_frame";
    msg.height = height;
    msg.width = width;
    msg.encoding = image_format;
    msg.step = width;

    int count = 0;
    while (ros::ok())
    {
      for (int x = 0; x < width; x++)
      {
        for (int y = 0; y < height; y++)
        {
          int index = x + y * width;
          float* ptr = ((float*)&msg.data[0]) + index;
          *ptr = sinf((x + count) / 10.0f) * sinf(y / 10.0f) * 20.0f - 10.0f;
        }
      }
      msg.header.seq = count;
      msg.header.stamp = ros::Time::now();

      pub.publish(msg);

      ros::spinOnce();
      loop_rate.sleep();
      ++count;
    }
  }
  else if (image_format == "16UC1")
  {
    sensor_msgs::Image msg;
    int width = 400;
    int height = 400;
    msg.data.resize(width * height * sizeof(short));
    msg.header.frame_id = "camera_frame";
    msg.height = height;
    msg.width = width;
    msg.encoding = image_format;
    msg.step = width;

    int count = 0;
    while (ros::ok())
    {
      for (int x = 0; x < width; x++)
      {
        for (int y = 0; y < height; y++)
        {
          int index = x + y * width;
          short* ptr = ((short*)&msg.data[0]) + index;
          *ptr = (count + abs(x % 100 - 50) + abs(y % 100 - 50)) % 50 * 65535 / 50;
        }
      }
      msg.header.seq = count;
      msg.header.stamp = ros::Time::now();

      pub.publish(msg);

      ros::spinOnce();
      loop_rate.sleep();
      ++count;
    }
  }
}