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 #ifndef JSK_PERCEPTION_SKELETONIZATION_H 00037 #define JSK_PERCEPTION_SKELETONIZATION_H 00038 00039 // ROS Header Directives 00040 #include <ros/ros.h> 00041 #include <ros/console.h> 00042 00043 #include <jsk_topic_tools/diagnostic_nodelet.h> 00044 #include <sensor_msgs/Image.h> 00045 #include <cv_bridge/cv_bridge.h> 00046 #include <sensor_msgs/image_encodings.h> 00047 00048 // OpenCV Header Directives 00049 #include <opencv2/imgproc/imgproc.hpp> 00050 #include <opencv2/highgui/highgui.hpp> 00051 00052 #include <omp.h> 00053 00054 namespace jsk_perception 00055 { 00056 class Skeletonization: public jsk_topic_tools::DiagnosticNodelet 00057 { 00058 public: 00059 Skeletonization(): DiagnosticNodelet("Skeletonization"), 00060 num_threads_(1) {} 00061 virtual void imageCallback(const sensor_msgs::Image::ConstPtr&); 00062 virtual void skeletonization(cv::Mat &); 00063 00064 protected: 00065 virtual void onInit(); 00066 virtual void subscribe(); 00067 virtual void unsubscribe(); 00068 virtual void iterativeThinning(cv::Mat&, int); 00069 00070 boost::mutex mutex_; 00071 ros::Subscriber sub_; 00072 ros::Publisher pub_image_; 00073 00074 private: 00075 enum { EVEN, ODD }; 00076 int num_threads_; 00077 }; 00078 } 00079 00080 #endif // JSK_PERCEPTION_SKELETONIZATION_H 00081