ros_to_cv.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 # Copyright (c) 2010, Willow Garage Inc. 
00004 # Copyright (c) 2012, Tang Tiong Yew
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 Willow Garage, Inc. 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('pi_head_tracking_tutorial')
00036 import sys
00037 import rospy
00038 import cv
00039 from std_msgs.msg import String
00040 from sensor_msgs.msg import Image
00041 from cv_bridge import CvBridge, CvBridgeError
00042 
00043 class vision_node:
00044 
00045     def __init__(self):
00046         rospy.init_node('vision_node')
00047 
00048         self.cv_window_name = "OpenCV Image"
00049 
00050         cv.NamedWindow(self.cv_window_name, 1)
00051         self.bridge = CvBridge()
00052         self.image_sub = rospy.Subscriber("/camera/rgb/image_color", Image, self.callback)
00053 
00054     def callback(self, data):
00055         try:
00056           cv_image = self.bridge.imgmsg_to_cv(data, "bgr8")
00057         except CvBridgeError, e:
00058           print e
00059    
00060         cv.ShowImage(self.cv_window_name, cv_image)
00061         cv.WaitKey(3)
00062 
00063 def main(args):
00064       vn = vision_node()
00065       try:
00066         rospy.spin()
00067       except KeyboardInterrupt:
00068         print "Shutting down vison node."
00069         cv.DestroyAllWindows()
00070 
00071 if __name__ == '__main__':
00072     main(sys.argv)


eddiebot_head_tracking
Author(s): Tang Tiong Yew
autogenerated on Tue Jan 7 2014 11:10:11