roi_to_mask_image.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/roi_to_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#if ( CV_MAJOR_VERSION >= 4)
#include <opencv2/imgproc/imgproc_c.h>
#endif

namespace jsk_perception
{
  void ROIToMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::Image>(
      *pnh_, "output", 1);
    onInitPostProcess();
  }

  void ROIToMaskImage::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &ROIToMaskImage::convert, this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }

  void ROIToMaskImage::unsubscribe()
  {
    sub_.shutdown();
  }

  void ROIToMaskImage::convert(
    const sensor_msgs::CameraInfo::ConstPtr& info_msg)
  {
    cv::Mat mask_image = cv::Mat::zeros(info_msg->height,
                                        info_msg->width,
                                        CV_8UC1);
    cv::Rect rect(info_msg->roi.x_offset,
                  info_msg->roi.y_offset,
                  info_msg->roi.width,
                  info_msg->roi.height);
    cv::rectangle(mask_image, rect, cv::Scalar(255), CV_FILLED);
    pub_.publish(cv_bridge::CvImage(
                   info_msg->header,
                   sensor_msgs::image_encodings::MONO8,
                   mask_image).toImageMsg());
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_perception::ROIToMaskImage, nodelet::Nodelet);