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 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include "jsk_perception/roi_to_mask_image.h" 00037 00038 namespace jsk_perception 00039 { 00040 void ROIToMaskImage::onInit() 00041 { 00042 DiagnosticNodelet::onInit(); 00043 pub_ = advertise<sensor_msgs::Image>( 00044 *pnh_, "output", 1); 00045 } 00046 00047 void ROIToMaskImage::subscribe() 00048 { 00049 sub_ = pnh_->subscribe("input", 1, &ROIToMaskImage::convert, this); 00050 } 00051 00052 void ROIToMaskImage::unsubscribe() 00053 { 00054 sub_.shutdown(); 00055 } 00056 00057 void ROIToMaskImage::convert( 00058 const sensor_msgs::CameraInfo::ConstPtr& info_msg) 00059 { 00060 cv::Mat mask_image = cv::Mat::zeros(info_msg->height, 00061 info_msg->width, 00062 CV_8UC1); 00063 cv::Rect rect(info_msg->roi.x_offset, 00064 info_msg->roi.y_offset, 00065 info_msg->roi.width, 00066 info_msg->roi.height); 00067 cv::rectangle(mask_image, rect, cv::Scalar(255), CV_FILLED); 00068 pub_.publish(cv_bridge::CvImage( 00069 info_msg->header, 00070 sensor_msgs::image_encodings::MONO8, 00071 mask_image).toImageMsg()); 00072 } 00073 } 00074 00075 #include <pluginlib/class_list_macros.h> 00076 PLUGINLIB_EXPORT_CLASS (jsk_perception::ROIToMaskImage, nodelet::Nodelet);