rotate ros compressed image image and republish

rotate_compressed_image

#! /usr/bin/env python
# -*- coding: utf-8 -*-
"""
Created on 5/21/15

@author: sampfeiffer

test_rotate_img.py contains a snippet of code
that subscribes to a compressed image and republishes it
rotated 180 deg. Useful for surveillance cameras
that may be hanging rotated 
"""
__author__ = 'sampfeiffer'

import rospy
import cv2
import numpy as np
from sensor_msgs.msg import CompressedImage

COMPRESSED_IMAGE_TOPIC = '/axis214/image_raw/compressed'

if __name__ == "__main__":
    rospy.init_node('tesdfadfsf')
    rotated_publisher = rospy.Publisher(COMPRESSED_IMAGE_TOPIC+'/rotated/compressed', CompressedImage)
    # Get the image
    img_ = rospy.wait_for_message(COMPRESSED_IMAGE_TOPIC, CompressedImage)
    # Convert it to something opencv understands
    img_np_arr = np.fromstring(img_.data, np.uint8)
    encoded_img = cv2.imdecode(img_np_arr, cv2.CV_LOAD_IMAGE_COLOR)
    # Show it
    #cv2.imshow("image_axis", encoded_img)
    #cv2.waitKey(0) # Press 'q' to exit

    # grab the dimensions to calculate the center
    (h, w) = encoded_img.shape[:2]
    center = (w / 2, h / 2)
    # rotate the image by 180 degrees
    M = cv2.getRotationMatrix2D(center, 180, 1.0)
    rotated = cv2.warpAffine(encoded_img, M, (w, h))
    # show the rotated image
    cv2.imshow("rotated", rotated)
    cv2.waitKey(0)

    # publish the image
    msg = CompressedImage()
    msg.header.stamp = rospy.Time.now()
    msg.format = "jpeg"
    msg.data = np.array(cv2.imencode('.jpg', rotated)[1]).tostring()
    rotated_publisher.publish(msg)
    rospy.sleep(3)