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00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2008, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Willow Garage, Inc. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 00036 00037 import roslib; roslib.load_manifest('dense_laser_assembler') 00038 import sys 00039 import rospy 00040 from time import sleep 00041 from laser_scan.msg import * 00042 from std_msgs.msg import * 00043 from dense_laser_assembler.msg import * 00044 from pr2_mechanism_controllers.msg import * 00045 from sensor_msgs.msg import Image 00046 00047 00048 # Takes the dense laser scan data and converts it into images to can be viewed in 00049 # image_view. Generally used as a debugging tool. 00050 00051 00052 def rescale(x, max_val) : 00053 lower_lim = max_val*0.0 00054 upper_lim = max_val*1.0 00055 #lower_lim = 2000 00056 #upper_lim = 3000 00057 a = x - lower_lim 00058 if a <= 0 : 00059 return chr(0) 00060 elif a > upper_lim -lower_lim : 00061 return chr(255) 00062 00063 return chr(int((2**8-1)*a/(upper_lim-lower_lim))) 00064 00065 def intensity_callback(msg) : 00066 image = sensor_msgs.msg.Image() 00067 image.header = msg.header 00068 image.label = 'intensity' 00069 image.encoding = 'mono' 00070 image.depth = 'uint8' 00071 max_val = max(msg.data.data) 00072 #image.uint8_data.data = "".join([chr(int((2**8-1)*x/max_val)) for x in msg.data.data]) 00073 image.uint8_data.data = "".join([rescale(x,max_val) for x in msg.data.data]) 00074 image.uint8_data.layout = msg.data.layout 00075 intensity_pub.publish(image) 00076 00077 def range_callback(msg) : 00078 image = sensor_msgs.msg.Image() 00079 image.header = msg.header 00080 image.label = 'range' 00081 image.encoding = 'mono' 00082 image.depth = 'uint8' 00083 max_val = max(msg.data.data) 00084 image.uint8_data.data = "".join([chr(int((2**8-1)*x/max_val)) for x in msg.data.data]) 00085 image.uint8_data.layout = msg.data.layout 00086 range_pub.publish(image) 00087 00088 if __name__ == '__main__': 00089 00090 rospy.init_node('laser_imager', anonymous=False) 00091 00092 intensity_pub = rospy.Publisher("dense_tilt_scan/intensity_image", Image) 00093 range_pub = rospy.Publisher("dense_tilt_scan/range_image", Image) 00094 00095 intensity_sub = rospy.Subscriber("dense_tilt_scan/intensity", Float32MultiArrayStamped, intensity_callback) 00096 range_sub = rospy.Subscriber("dense_tilt_scan/range", Float32MultiArrayStamped, range_callback) 00097 00098 rospy.spin()