imagecircle

#!/usr/bin/env python
from __future__ import print_function

import roslib
import sys
import rospy
import cv2
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

class image_converter:

  def __init__(self):
    self.image_pub = rospy.Publisher("/myresult", Image, queue_size=2)

    self.bridge = CvBridge()
    self.image_sub = rospy.Subscriber("/cf1/camera/image_raw", Image, self.callback)

  def callback(self,data):
    # Convert the image from OpenCV to ROS format
    try:
      cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
    except CvBridgeError as e:
      print(e)

    # Extract the dimension of the image
    (rows,cols,channels) = cv_image.shape

    # Assuming it is larger than 100x100 we draw a 100x100 circle at 50,50 with radius 50 into the image
    if cols > 100 and rows > 100 :
      cv2.circle(cv_image, (50,50), 50, 255)

    # Publish the image
    try:
      self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
    except CvBridgeError as e:
      print(e)

def main(args):
  rospy.init_node('imagecircle', anonymous=True)

  ic = image_converter()

  print("running...")
  try:
    rospy.spin()
  except KeyboardInterrupt:
    print("Shutting down")

  cv2.destroyAllWindows()

if __name__ == '__main__':
    main(sys.argv)