rotate_image_nodelet.cpp

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// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#include <string>
 
#include <opencv2/core/core.hpp>
 
#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
 
#include <swri_math_util/math_util.h>
 
namespace swri_image_util
{
  class RotateImageNodelet : public nodelet::Nodelet
  {
  public:
    RotateImageNodelet() :
      angle_(0),
      operations_(0),
      flip_axis_(false)
    {
    }
 
    ~RotateImageNodelet()
    {
    }
 
    void onInit()
    {
      ros::NodeHandle &node = getNodeHandle();
      ros::NodeHandle &priv = getPrivateNodeHandle();
 
      priv.param("angle", angle_, angle_);
 
      int32_t angle_90 = static_cast<int32_t>(swri_math_util::ToNearest(angle_, 90));
      flip_axis_ = angle_90 > 0 ? 1 : 0;
      operations_ = std::abs(angle_90 / 90);
 
      image_transport::ImageTransport it(node);
      image_pub_ = it.advertise("rotated_image", 1);
      image_sub_ = it.subscribe("image", 1, &RotateImageNodelet::ImageCallback, this);
    }
 
    void ImageCallback(const sensor_msgs::ImageConstPtr& image)
    {
      if (operations_ == 0)
      {
        image_pub_.publish(image);
        return;
      }
 
      cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image);
 
      for (int32_t i = 0; i < operations_; i++)
      {
        cv::transpose(cv_image->image, cv_image->image);
        cv::flip(cv_image->image, cv_image->image, flip_axis_);
      }
 
      image_pub_.publish(cv_image->toImageMsg());
    }
 
  private:
    double angle_;
    int32_t operations_;
    bool flip_axis_;
 
    image_transport::Subscriber image_sub_;
    image_transport::Publisher image_pub_;
 
  };
}
 
// Register nodelet plugin
#include <swri_nodelet/class_list_macros.h>
SWRI_NODELET_EXPORT_CLASS(swri_image_util, RotateImageNodelet)