lab_decomposer.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 
00037 #include "jsk_perception/lab_decomposer.h"
00038 #include <sensor_msgs/image_encodings.h>
00039 #include <cv_bridge/cv_bridge.h>
00040 #include <opencv2/opencv.hpp>
00041 
00042 namespace jsk_perception
00043 {
00044   void LabDecomposer::onInit()
00045   {
00046     DiagnosticNodelet::onInit();
00047     pub_l_ = advertise<sensor_msgs::Image>(*pnh_, "output/l", 1);
00048     pub_a_ = advertise<sensor_msgs::Image>(*pnh_, "output/a", 1);
00049     pub_b_ = advertise<sensor_msgs::Image>(*pnh_, "output/b", 1);
00050   }
00051 
00052   void LabDecomposer::subscribe()
00053   {
00054     sub_ = pnh_->subscribe("input", 1, &LabDecomposer::decompose, this);
00055   }
00056 
00057   void LabDecomposer::unsubscribe()
00058   {
00059     sub_.shutdown();
00060   }
00061 
00062   void LabDecomposer::decompose(
00063     const sensor_msgs::Image::ConstPtr& image_msg)
00064   {
00065     cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00066       image_msg, image_msg->encoding);
00067     cv::Mat image = cv_ptr->image;
00068     cv::Mat lab_image;
00069     std::vector<cv::Mat> lab_planes;
00070     if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
00071       cv::cvtColor(image, lab_image, CV_BGR2Lab);
00072     }
00073     else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00074       cv::cvtColor(image, lab_image, CV_RGB2Lab);
00075     }
00076     else {
00077       JSK_NODELET_ERROR("unsupported format to Lab: %s", image_msg->encoding.c_str());
00078       return;
00079     }
00080     cv::split(lab_image, lab_planes);
00081     cv::Mat l = lab_planes[0];
00082     cv::Mat a = lab_planes[1];
00083     cv::Mat b = lab_planes[2];
00084     pub_l_.publish(cv_bridge::CvImage(
00085                      image_msg->header,
00086                      sensor_msgs::image_encodings::MONO8,
00087                      l).toImageMsg());
00088     pub_a_.publish(cv_bridge::CvImage(
00089                      image_msg->header,
00090                      sensor_msgs::image_encodings::MONO8,
00091                      a).toImageMsg());
00092     pub_b_.publish(cv_bridge::CvImage(
00093                      image_msg->header,
00094                      sensor_msgs::image_encodings::MONO8,
00095                      b).toImageMsg());
00096   }
00097 }
00098 
00099 #include <pluginlib/class_list_macros.h>
00100 PLUGINLIB_EXPORT_CLASS (jsk_perception::LabDecomposer, nodelet::Nodelet);


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