normalize_response_nodelet.cpp

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#include <string>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <swri_image_util/image_normalization.h>

#include <swri_math_util/math_util.h>

namespace swri_image_util
{
  class NormalizeResponseNodelet : public nodelet::Nodelet
  {
  public:
    NormalizeResponseNodelet() :
      filter_size_(9),
      filter_cap_(31)
    {
    }

    ~NormalizeResponseNodelet()
    {
    }

    void onInit()
    {
      ros::NodeHandle &node = getNodeHandle();
      ros::NodeHandle &priv = getPrivateNodeHandle();

      priv.param("filter_size", filter_size_, filter_size_);
      priv.param("filter_cap", filter_cap_, filter_cap_);

      buffer_.create(1, 10000000, CV_8U);

      image_transport::ImageTransport it(node);
      image_pub_ = it.advertise("normalized_image", 1);
      image_sub_ = it.subscribe("image", 1, &NormalizeResponseNodelet::ImageCallback, this);
    }

    void ImageCallback(const sensor_msgs::ImageConstPtr& image)
    {
      cv_bridge::CvImageConstPtr cv_image = cv_bridge::toCvShare(image);

      if (image->encoding == sensor_msgs::image_encodings::MONO8)
      {
        swri_image_util::NormalizeResponse(cv_image->image, normalized_, filter_size_, filter_cap_, buffer_.ptr());
        cv_bridge::CvImage normalized_image;
        normalized_image.header = image->header;
        normalized_image.encoding = image->encoding;
        normalized_image.image = normalized_;
        image_pub_.publish(normalized_image.toImageMsg());
      }
      else
      {
        ROS_WARN("Unsupported image encoding: %s", image->encoding.c_str());
      }
    }

  private:
    int32_t filter_size_;
    int32_t filter_cap_;
    
    cv::Mat normalized_;
    cv::Mat buffer_;

    image_transport::Subscriber image_sub_;
    image_transport::Publisher image_pub_;
  };
}

// Register nodelet plugin
#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS(
    swri_image_util,
    normalize_response,
    swri_image_util::NormalizeResponseNodelet,
    nodelet::Nodelet)