draw_text_nodelet.cpp
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29 
30 #include <string>
31 
32 #include <opencv2/core/core.hpp>
33 #include <opencv2/imgproc/imgproc.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 
43 namespace swri_image_util
44 {
46  {
47  public:
49  text_("label"),
50  offset_x_(0),
51  offset_y_(0),
52  font_scale_(1.0),
54  {
55  }
56 
58  {
59  }
60 
61  void onInit()
62  {
65 
66  priv.param("text", text_, text_);
67  priv.param("offset_x", offset_x_, offset_x_);
68  priv.param("offset_y", offset_y_, offset_y_);
69  priv.param("font_scale", font_scale_, font_scale_);
70  priv.param("font_thickness", font_thickness_, font_thickness_);
71 
73  image_pub_ = it.advertise("stamped_image", 1);
74  image_sub_ = it.subscribe("image", 1, &DrawTextNodelet::ImageCallback, this);
75  }
76 
77  void ImageCallback(const sensor_msgs::ImageConstPtr& image)
78  {
80 
81  cv::putText(
82  cv_image->image,
83  text_,
84  cv::Point(offset_x_, offset_y_),
85  cv::FONT_HERSHEY_SIMPLEX,
87  cv::Scalar(255, 255, 255),
89 
90  image_pub_.publish(cv_image->toImageMsg());
91  }
92 
93  private:
94  std::string text_;
95  double offset_x_;
96  double offset_y_;
97  double font_scale_;
99 
102  };
103 }
104 
105 // Register nodelet plugin
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())
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getPrivateNodeHandle() const
image_transport::Subscriber image_sub_
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
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
void ImageCallback(const sensor_msgs::ImageConstPtr &image)
ros::NodeHandle & getNodeHandle() const
image_transport::Publisher image_pub_


swri_image_util
Author(s): Kris Kozak
autogenerated on Fri Jun 7 2019 22:05:56