mask_image_generator.cpp
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1 // -*- mode: c++ -*-
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35 
37 #include <boost/assign.hpp>
39 #include <cv_bridge/cv_bridge.h>
41 #include <opencv2/opencv.hpp>
42 #if ( CV_MAJOR_VERSION >= 4)
43 #include <opencv2/imgproc/imgproc_c.h>
44 #endif
45 
46 
47 namespace jsk_perception
48 {
50  {
51  DiagnosticNodelet::onInit();
52  srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
53  dynamic_reconfigure::Server<Config>::CallbackType f =
54  boost::bind (&MaskImageGenerator::configCallback, this, _1, _2);
55  srv_->setCallback (f);
56 
57  pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
59  }
60 
62  {
63  sub_ = pnh_->subscribe("input", 1, &MaskImageGenerator::generate, this);
64  ros::V_string names = boost::assign::list_of("~input");
66  }
67 
69  {
70  sub_.shutdown();
71  }
72 
73  void MaskImageGenerator::configCallback(Config &config, uint32_t level)
74  {
75  boost::mutex::scoped_lock lock(mutex_);
76  offset_x_ = config.offset_x;
77  offset_y_ = config.offset_y;
78  width_ = config.width;
79  height_ = config.height;
80  }
81 
82  void MaskImageGenerator::generate(const sensor_msgs::Image::ConstPtr& msg)
83  {
84  boost::mutex::scoped_lock lock(mutex_);
85  int min_x = std::min(offset_x_, (int)msg->width);
86  int min_y = std::min(offset_y_, (int)msg->height);
87  int max_x = std::min(min_x + width_, (int)msg->width);
88  int max_y = std::min(min_y + height_, (int)msg->height);
89  cv::Mat mask_image = cv::Mat::zeros(msg->height, msg->width, CV_8UC1);
90  cv::rectangle(mask_image,
91  cv::Point(min_x, min_y),
92  cv::Point(max_x, max_y),
93  cv::Scalar(255), CV_FILLED);
94  pub_.publish(cv_bridge::CvImage(msg->header,
96  mask_image).toImageMsg());
97  }
98 }
99 
f
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
void publish(const boost::shared_ptr< M > &message) const
virtual void configCallback(Config &config, uint32_t level)
std::vector< std::string > V_string
boost::shared_ptr< ros::NodeHandle > pnh_
bool warnNoRemap(const std::vector< std::string > names)
mutex_t * lock
virtual void generate(const sensor_msgs::Image::ConstPtr &msg)
PLUGINLIB_EXPORT_CLASS(jsk_perception::MaskImageGenerator, nodelet::Nodelet)
sensor_msgs::ImagePtr toImageMsg() const


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Mon May 3 2021 03:03:27