Test Case for image_view

image_pub.cpp

#include <ros/ros.h>

#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>

namespace {
  cv::Mat image_;
  image_transport::Publisher image_pub_;
}

void
pubImage(void)
{
  // Generate an image that is all black.
  image_ = cv::Mat::zeros(200,200,CV_8UC3);

  // First strip is blue
  image_.colRange(0,49) = cv::Scalar(255, 0, 0);
  // Second strip is green
  image_.colRange(50,99) = cv::Scalar(0, 255, 0);
  // Third strip is red
  image_.colRange(100,149) = cv::Scalar(0, 0, 255);

  cv_bridge::CvImage image_msg;
  image_msg.encoding = sensor_msgs::image_encodings::TYPE_8UC3;
  image_msg.image = cv::Mat::zeros(200, 200, CV_8UC3);
  image_.convertTo(image_msg.image, CV_8UC3);
  image_pub_.publish(image_msg.toImageMsg());

  cv::imshow("Image", image_);
}

int
main(int argc, char *argv[]) {
  ros::init(argc, argv, "image_pub");
  ros::NodeHandle node;

  cv::namedWindow("Image", CV_WINDOW_NORMAL | CV_WINDOW_FREERATIO | CV_GUI_NORMAL);
  cvResizeWindow("Image", 200, 200);
  cvStartWindowThread();

  image_transport::ImageTransport it = image_transport::ImageTransport(node);
  image_pub_ = it.advertise("image/image_raw", 5);

  ros::Rate loop_rate(10);

  while(ros::ok())
  {
    pubImage();
    ros::spinOnce();
    loop_rate.sleep();
  }
  cvDestroyAllWindows();
  return 0;
}