morphological_operator.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_MORPHOLOGICAL_OPERATOR_H_
#define JSK_PERCEPTION_MORPHOLOGICAL_OPERATOR_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/MorphologicalMaskImageOperatorConfig.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{

  class MorphologicalImageOperatorNodelet:
    public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_perception::MorphologicalMaskImageOperatorConfig Config;
    MorphologicalImageOperatorNodelet(const std::string& name):
      DiagnosticNodelet(name) {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void imageCallback(const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void apply(const cv::Mat& input, cv::Mat& output, const cv::Mat& element) = 0;

    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    int method_;
    int size_;
    int iterations_;
  private:

  };

  class MorphologicalImageOperator: public MorphologicalImageOperatorNodelet
  {
  public:
    MorphologicalImageOperator(const std::string& name, const int& operation):
      MorphologicalImageOperatorNodelet(name), operation_(operation) {}
  protected:
    virtual void apply(
      const cv::Mat& input, cv::Mat& output, const cv::Mat& element);
    int operation_;
  };

  class Erode: public MorphologicalImageOperator
  {
  public:
    Erode(): MorphologicalImageOperator("Erode", cv::MORPH_ERODE) {}
  };

  class Dilate: public MorphologicalImageOperator
  {
  public:
    Dilate(): MorphologicalImageOperator("Dilate", cv::MORPH_DILATE) {}
  };

  class Opening: public MorphologicalImageOperator
  {
  public:
    Opening(): MorphologicalImageOperator("Opening", cv::MORPH_OPEN) {}
  };

  class Closing: public MorphologicalImageOperator
  {
  public:
    Closing(): MorphologicalImageOperator("Closing", cv::MORPH_CLOSE) {}
  };

  class MorphologicalGradient: public MorphologicalImageOperator
  {
  public:
    MorphologicalGradient():
      MorphologicalImageOperator("MorphologicalGradient", cv::MORPH_GRADIENT) {}
  };

  class TopHat: public MorphologicalImageOperator
  {
  public:
    TopHat(): MorphologicalImageOperator("TopHat", cv::MORPH_TOPHAT) {}
  };

  class BlackHat: public MorphologicalImageOperator
  {
  public:
    BlackHat(): MorphologicalImageOperator("BlackHat", cv::MORPH_BLACKHAT) {}
  };
}

#endif