broadcast.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # Copyright (c) 2016, Tal Regev.
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 the Willow Garage 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
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00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00033 # POSSIBILITY OF SUCH DAMAGE.
00034 
00035 import sys
00036 import time
00037 import math
00038 import rospy
00039 import cv2
00040 
00041 import sensor_msgs.msg
00042 from cv_bridge import CvBridge
00043 
00044 
00045 # Send each image by iterate it from given array of files names  to a given topic,
00046 # as a regular and compressed ROS Images msgs.
00047 class Source:
00048 
00049     def __init__(self, topic, filenames):
00050         self.pub            = rospy.Publisher(topic, sensor_msgs.msg.Image)
00051         self.pub_compressed = rospy.Publisher(topic + "/compressed", sensor_msgs.msg.CompressedImage)
00052         self.filenames      = filenames
00053 
00054     def spin(self):
00055         time.sleep(1.0)
00056         cvb = CvBridge()
00057         while not rospy.core.is_shutdown():
00058             cvim = cv2.imload(self.filenames[0])
00059             self.pub.publish(cvb.cv2_to_imgmsg(cvim))
00060             self.pub_compressed.publish(cvb.cv2_to_compressed_imgmsg(cvim))
00061             self.filenames = self.filenames[1:] + [self.filenames[0]]
00062             time.sleep(1)
00063 
00064 
00065 def main(args):
00066     s = Source(args[1], args[2:])
00067     rospy.init_node('Source')
00068     try:
00069         s.spin()
00070         rospy.spin()
00071         outcome = 'test completed'
00072     except KeyboardInterrupt:
00073         print "shutting down"
00074         outcome = 'keyboard interrupt'
00075     rospy.core.signal_shutdown(outcome)
00076 
00077 if __name__ == '__main__':
00078     main(sys.argv)


opencv_tests
Author(s): James Bowman
autogenerated on Wed Aug 9 2017 02:51:53