source.py

Go to the documentation of this file.

#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, 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 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.

import sys
import time
import math
import rospy
import numpy
import cv2

import sensor_msgs.msg
from cv_bridge import CvBridge

class source:

  def __init__(self):
    self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)

  def spin(self):
    time.sleep(1.0)
    started = time.time()
    counter = 0
    cvim = numpy.zeros((480, 640, 1), numpy.uint8)
    ball_xv = 10
    ball_yv = 10
    ball_x = 100
    ball_y = 100

    cvb = CvBridge()

    while not rospy.core.is_shutdown():

      cvim.fill(0)
      cv2.circle(cvim, (ball_x, ball_y), 10, 255, -1)

      ball_x += ball_xv
      ball_y += ball_yv
      if ball_x in [10, 630]:
        ball_xv = -ball_xv
      if ball_y in [10, 470]:
        ball_yv = -ball_yv

      self.pub.publish(cvb.cv2_to_imgmsg(cvim))

      time.sleep(0.03)

def main(args):
  s = source()
  rospy.init_node('source')
  try:
    s.spin()
    rospy.spin()
    outcome = 'test completed'
  except KeyboardInterrupt:
    print "shutting down"
    outcome = 'keyboard interrupt'
  rospy.core.signal_shutdown(outcome)

if __name__ == '__main__':
  main(sys.argv)