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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# Copyright (c) 2016, Tal Regev.
# 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
# Send black pic with a circle as regular and compressed ros msgs.
class Source:
def __init__(self):
self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)
self.pub_compressed = rospy.Publisher("/opencv_tests/images/compressed", sensor_msgs.msg.CompressedImage)
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))
self.pub_compressed.publish(cvb.cv2_to_compressed_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)
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