normalize_response_nodelet.cpp
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29 
30 #include <string>
31 
32 #include <opencv2/core/core.hpp>
33 #include <opencv2/highgui/highgui.hpp>
34 
35 #include <ros/ros.h>
36 #include <nodelet/nodelet.h>
39 #include <sensor_msgs/Image.h>
40 #include <cv_bridge/cv_bridge.h>
42 
44 
45 namespace swri_image_util
46 {
48  {
49  public:
51  filter_size_(9),
52  filter_cap_(31)
53  {
54  }
55 
57  {
58  }
59 
60  void onInit()
61  {
64 
65  priv.param("filter_size", filter_size_, filter_size_);
66  priv.param("filter_cap", filter_cap_, filter_cap_);
67 
68  buffer_.create(1, 10000000, CV_8U);
69 
71  image_pub_ = it.advertise("normalized_image", 1);
73  }
74 
75  void ImageCallback(const sensor_msgs::ImageConstPtr& image)
76  {
78 
79  if (image->encoding == sensor_msgs::image_encodings::MONO8)
80  {
82  cv_bridge::CvImage normalized_image;
83  normalized_image.header = image->header;
84  normalized_image.encoding = image->encoding;
85  normalized_image.image = normalized_;
86  image_pub_.publish(normalized_image.toImageMsg());
87  }
88  else
89  {
90  ROS_WARN("Unsupported image encoding: %s", image->encoding.c_str());
91  }
92  }
93 
94  private:
95  int32_t filter_size_;
96  int32_t filter_cap_;
97 
98  cv::Mat normalized_;
99  cv::Mat buffer_;
100 
103  };
104 }
105 
106 // Register nodelet plugin
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, const boost::function< void(const sensor_msgs::ImageConstPtr &)> &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
void ImageCallback(const sensor_msgs::ImageConstPtr &image)
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
#define ROS_WARN(...)
ros::NodeHandle & getPrivateNodeHandle() const
void NormalizeResponse(const cv::Mat &src, cv::Mat &dst, int winsize, int ftzero, uchar *buf)
void publish(const sensor_msgs::Image &message) const
SWRI_NODELET_EXPORT_CLASS(swri_image_util, DrawPolygonNodelet)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
ros::NodeHandle & getNodeHandle() const
std_msgs::Header header


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Apr 6 2021 02:50:39