class img_conv:
def __init__(self):
self.image_pub = rospy.Publisher('img_topic2', Image)
self.bridge = CvBridge()
self.subscriber = rospy.Subscriber('/left/image_raw',
Image,
self.callback(),
queue_size=1)
#if k:
# print "subscribed to /left/image_raw"
def callback(self, rawdata):
#rospy.loginfo(rospy.get_caller_id()+"I heard %s",data.data)
print("lll")
try:
cv_image = self.bridge.imgmsg_to_cv2(rawdata, "bgr8")
except CvBridgeError as e:
print(e)
(rows, cols, channels) = cv_image.shape
if cols > 60 and rows > 60:
cv2.circle(cv_image, (50, 50), 10, 255)
cv2.imshow("Image window", cv_image)
cv2.waitKey(3)
try:
self.image_pub.publish(
self.bridge.imgmsg_to_cv2_to_imgmsg(cv_image, "bgr8"))
except CvBridgeError as e:
print(e)
