add_mask_image.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include <jsk_perception/add_mask_image.h>
00037 #include <opencv2/opencv.hpp>
00038 #include <cv_bridge/cv_bridge.h>
00039 #include <sensor_msgs/image_encodings.h>
00040 
00041 namespace jsk_perception
00042 {
00043   void AddMaskImage::onInit()
00044   {
00045     DiagnosticNodelet::onInit();
00046     pnh_->param("approximate_sync", approximate_sync_, false);
00047     pub_ = advertise<sensor_msgs::Image>(
00048       *pnh_, "output", 1);
00049   }
00050 
00051   void AddMaskImage::subscribe()
00052   {
00053     sub_src1_.subscribe(*pnh_, "input/src1", 1);
00054     sub_src2_.subscribe(*pnh_, "input/src2", 1);
00055     if (approximate_sync_) {
00056       async_ = boost::make_shared<message_filters::Synchronizer<ApproxSyncPolicy> >(100);
00057       async_->connectInput(sub_src1_, sub_src2_);
00058       async_->registerCallback(boost::bind(&AddMaskImage::add, this, _1, _2));
00059     }
00060     else {
00061       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00062       sync_->connectInput(sub_src1_, sub_src2_);
00063       sync_->registerCallback(boost::bind(&AddMaskImage::add, this, _1, _2));
00064     }
00065   }
00066 
00067   void AddMaskImage::unsubscribe()
00068   {
00069     sub_src1_.unsubscribe();
00070     sub_src2_.unsubscribe();
00071   }
00072 
00073   void AddMaskImage::add(
00074     const sensor_msgs::Image::ConstPtr& src1_msg,
00075     const sensor_msgs::Image::ConstPtr& src2_msg)
00076   {
00077     cv::Mat src1 = cv_bridge::toCvShare(
00078       src1_msg, src1_msg->encoding)->image;
00079     cv::Mat src2 = cv_bridge::toCvShare(
00080       src2_msg, src2_msg->encoding)->image;
00081     cv::Mat result;
00082     cv::add(src1, src2, result);
00083     pub_.publish(
00084       cv_bridge::CvImage(src1_msg->header,
00085                          sensor_msgs::image_encodings::MONO8,
00086                          result).toImageMsg());
00087   }
00088   
00089 }
00090 
00091 
00092 #include <pluginlib/class_list_macros.h>
00093 PLUGINLIB_EXPORT_CLASS (jsk_perception::AddMaskImage, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15