openCV_to_ros.cpp
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00001 #include <ros/ros.h>
00002 #include <ros/node_handle.h>
00003 #include "sensor_msgs/Image.h"
00004 #include "image_transport/image_transport.h"
00005 #include "cv_bridge/CvBridge.h"
00006 #include <opencv/cv.h>
00007 #include <opencv/highgui.h>
00008 #include <string.h>
00009 using namespace std;
00010 
00011 class ImageConverter {
00012 
00013 public:
00014   string image_file_;
00015   IplImage *cv_image_;
00016   double rate_;
00017   ImageConverter(ros::NodeHandle &n) :
00018     n_(n), it_(n_)
00019   {
00020     image_pub_ = it_.advertise("image_topic_2",50);
00021   }
00022   
00023 
00024   ~ImageConverter()
00025   {
00026   }
00027 
00029   // Spin (!)
00030   bool spin ()
00031   {
00032     //double interval = rate_ * 1e+6;
00033     ros::Rate loop_rate(rate_);
00034     while (n_.ok ())
00035       {     
00036         ROS_INFO ("Publishing data on topic %s.", n_.resolveName ("image_topic_2").c_str ());
00037         try
00038           {
00039             image_pub_.publish(bridge_.cvToImgMsg(cv_image_));
00040           }
00041         catch (sensor_msgs::CvBridgeException error)
00042           {
00043             ROS_ERROR("Error converting image");
00044           }
00045         
00046         if (rate_ == 0)  
00047           break;
00048         loop_rate.sleep();
00049         ros::spinOnce ();
00050       }
00051     return (true);
00052   }
00053 
00054 protected:
00055 
00056   ros::NodeHandle n_;
00057   image_transport::ImageTransport it_;
00058   sensor_msgs::CvBridge bridge_;
00059   image_transport::Publisher image_pub_;
00060 
00061 };
00062 
00063 int main(int argc, char** argv)
00064 {
00065   if (argc < 3)
00066     {
00067       ROS_ERROR ("Syntax is: %s <image file> [publishing_rate (in Hz)]", argv[0]);
00068       return (-1);
00069     }
00070   ros::init(argc, argv, "openCv_to_ros");
00071   ros::NodeHandle n;
00072   ImageConverter ic(n);
00073   ic.image_file_ = string(argv[1]);
00074   ic.rate_ = atof (argv[2]);
00075   ROS_INFO ("Loading file %s...", ic.image_file_.c_str ());
00076   ic.cv_image_ = cvLoadImage(ic.image_file_.c_str(), 1);  
00077   // if (ic.cv_image_->width > 60 && ic.cv_image_->height > 60)
00078   //   cvCircle(ic.cv_image_, cvPoint(50,50), 10, CV_RGB( 0, 255, 0 ), 5);
00079   ic.spin();
00080   return 0;
00081 }
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contracting_curve_density_algorithm
Author(s): Shulei Zhu, Dejan Pangercic
autogenerated on Thu May 23 2013 14:41:45