mask_image_to_rect.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/mask_image_to_rect.h"
#include <opencv2/opencv.hpp>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

namespace jsk_perception
{
  void MaskImageToRect::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<geometry_msgs::PolygonStamped>(*pnh_, "output", 1);
  }

  void MaskImageToRect::subscribe()
  {
    sub_mask_ = pnh_->subscribe("input", 1, &MaskImageToRect::convert, this);
  }

  void MaskImageToRect::unsubscribe()
  {
    sub_mask_.shutdown();
  }

  void MaskImageToRect::convert(
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    vital_checker_->poke();
    std::vector<cv::Point> indices;
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      mask_msg, sensor_msgs::image_encodings::MONO8);
    cv::Mat mask = cv_ptr->image;
    for (size_t j = 0; j < mask.rows; j++) {
      for (size_t i = 0; i < mask.cols; i++) {
        if (mask.at<uchar>(j, i) == 255) {
          indices.push_back(cv::Point(i, j));
        }
      }
    }
    cv::Rect mask_rect = cv::boundingRect(indices);
    geometry_msgs::PolygonStamped rect;
    rect.header = mask_msg->header;
    geometry_msgs::Point32 min_pt, max_pt;
    min_pt.x = mask_rect.x;
    min_pt.y = mask_rect.y;
    max_pt.x = mask_rect.x + mask_rect.width;
    max_pt.y = mask_rect.y + mask_rect.height;
    rect.polygon.points.push_back(min_pt);
    rect.polygon.points.push_back(max_pt);
    pub_.publish(rect);
  }
  
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_perception::MaskImageToRect, nodelet::Nodelet);