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00036 #include "jsk_perception/colorize_labels.h"
00037 #include <jsk_recognition_utils/cv_utils.h>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <boost/assign.hpp>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <opencv2/opencv.hpp>
00042 #include <sensor_msgs/image_encodings.h>
00043
00044 namespace jsk_perception
00045 {
00046 void ColorizeLabels::onInit()
00047 {
00048 DiagnosticNodelet::onInit();
00049 pub_ = advertise<sensor_msgs::Image>(
00050 *pnh_, "output", 1);
00051 onInitPostProcess();
00052 }
00053
00054 void ColorizeLabels::subscribe()
00055 {
00056 sub_ = pnh_->subscribe("input", 1, &ColorizeLabels::colorize, this);
00057 ros::V_string names = boost::assign::list_of("~input");
00058 jsk_topic_tools::warnNoRemap(names);
00059 }
00060
00061 void ColorizeLabels::unsubscribe()
00062 {
00063 sub_.shutdown();
00064 }
00065
00066 void ColorizeLabels::colorize(
00067 const sensor_msgs::Image::ConstPtr& label_image_msg)
00068 {
00069 cv::Mat label_image = cv_bridge::toCvShare(
00070 label_image_msg, label_image_msg->encoding)->image;
00071 ROS_DEBUG("%dx%d", label_image_msg->width, label_image_msg->height);
00072 cv::Mat output_image;
00073 jsk_recognition_utils::labelToRGB(label_image, output_image);
00074 cv::cvtColor(output_image, output_image, CV_RGB2BGR);
00075 pub_.publish(
00076 cv_bridge::CvImage(
00077 label_image_msg->header,
00078 sensor_msgs::image_encodings::BGR8,
00079 output_image).toImageMsg());
00080 }
00081 }
00082
00083 #include <pluginlib/class_list_macros.h>
00084 PLUGINLIB_EXPORT_CLASS (jsk_perception::ColorizeLabels, nodelet::Nodelet);