source.py
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1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
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5 # Copyright (c) 2016, Tal Regev.
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34 
35 import sys
36 import time
37 import math
38 import rospy
39 import numpy
40 import cv2
41 
42 import sensor_msgs.msg
43 from cv_bridge import CvBridge
44 
45 
46 # Send black pic with a circle as regular and compressed ros msgs.
47 class Source:
48 
49  def __init__(self):
50  self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)
51  self.pub_compressed = rospy.Publisher("/opencv_tests/images/compressed", sensor_msgs.msg.CompressedImage)
52 
53  def spin(self):
54  time.sleep(1.0)
55  started = time.time()
56  counter = 0
57  cvim = numpy.zeros((480, 640, 1), numpy.uint8)
58  ball_xv = 10
59  ball_yv = 10
60  ball_x = 100
61  ball_y = 100
62 
63  cvb = CvBridge()
64 
65  while not rospy.core.is_shutdown():
66 
67  cvim.fill(0)
68  cv2.circle(cvim, (ball_x, ball_y), 10, 255, -1)
69 
70  ball_x += ball_xv
71  ball_y += ball_yv
72  if ball_x in [10, 630]:
73  ball_xv = -ball_xv
74  if ball_y in [10, 470]:
75  ball_yv = -ball_yv
76 
77  self.pub.publish(cvb.cv2_to_imgmsg(cvim))
78  self.pub_compressed.publish(cvb.cv2_to_compressed_imgmsg(cvim))
79  time.sleep(0.03)
80 
81 
82 def main(args):
83  s = Source()
84  rospy.init_node('Source')
85  try:
86  s.spin()
87  rospy.spin()
88  outcome = 'test completed'
89  except KeyboardInterrupt:
90  print "shutting down"
91  outcome = 'keyboard interrupt'
92  rospy.core.signal_shutdown(outcome)
93 
94 if __name__ == '__main__':
95  main(sys.argv)
def spin(self)
Definition: source.py:53
def main(args)
Definition: source.py:82
def __init__(self)
Definition: source.py:49


opencv_tests
Author(s): James Bowman
autogenerated on Thu Jun 6 2019 19:58:07