contrast_stretch_nodelet.cpp
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29 
30 #include <string>
31 
32 #include <opencv2/core/core.hpp>
33 #include <opencv2/highgui/highgui.hpp>
34 #include <opencv2/imgproc/imgproc.hpp>
35 
36 #include <ros/ros.h>
37 #include <nodelet/nodelet.h>
40 #include <sensor_msgs/Image.h>
41 #include <cv_bridge/cv_bridge.h>
43 
45 
46 namespace swri_image_util
47 {
49  {
50  public:
52  bins_(8),
53  max_min_(0.0),
54  min_max_(0.0),
57  {
58  }
59 
61  {
62  }
63 
64  void onInit()
65  {
68 
69  priv.param("bins", bins_, bins_);
70  priv.param("max_min", max_min_, max_min_);
71  priv.param("min_max", min_max_, min_max_);
72  priv.param("over_exposure_threshold", over_exposure_threshold_, over_exposure_threshold_);
73  priv.param("over_exposure_dilation", over_exposure_dilation_, over_exposure_dilation_);
74 
75  std::string mask;
76  priv.param("mask", mask, std::string(""));
77  if (!mask.empty())
78  {
79  mask_ = cv::imread(mask, 0);
80  }
81 
83  image_pub_ = it.advertise("normalized_image", 1);
85  }
86 
87  void ImageCallback(const sensor_msgs::ImageConstPtr& image)
88  {
90 
91  if (mask_.empty())
92  {
93  mask_ = cv::Mat::ones(cv_image->image.size(), CV_8U);
94  }
95  else if (mask_.rows != cv_image->image.rows || mask_.cols != cv_image->image.cols)
96  {
97  cv::resize(mask_, mask_, cv_image->image.size(), 1.0, 1.0, cv::INTER_NEAREST);
98  }
99 
100  cv::Mat mask;
101 
102  if (over_exposure_threshold_ < 255 && over_exposure_threshold_ > 0)
103  {
104  cv::Mat over_exposed = cv_image->image > over_exposure_threshold_;
105  cv::Mat element = cv::getStructuringElement(
106  cv::MORPH_ELLIPSE,
107  cv::Size(2 * over_exposure_dilation_ + 1, 2 * over_exposure_dilation_ + 1 ),
109  cv::dilate(over_exposed, over_exposed, element);
110 
111  mask = mask_.clone();
112  mask.setTo(0, over_exposed);
113  }
114  else
115  {
116  mask = mask_;
117  }
118 
119  swri_image_util::ContrastStretch(bins_, cv_image->image, cv_image->image, mask, max_min_, min_max_);
120 
121  image_pub_.publish(cv_image->toImageMsg());
122  }
123 
124  private:
125  int32_t bins_;
126  double max_min_;
127  double min_max_;
130 
131  cv::Mat mask_;
132 
135 
136  };
137 }
138 
139 // 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())
ros::NodeHandle & getNodeHandle() const
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getPrivateNodeHandle() const
bool param(const std::string &param_name, T &param_val, const T &default_val) const
SWRI_NODELET_EXPORT_CLASS(swri_image_util, DrawPolygonNodelet)
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
void ImageCallback(const sensor_msgs::ImageConstPtr &image)
void publish(const sensor_msgs::Image &message) const
void ContrastStretch(int32_t grid_size, const cv::Mat &source_image, cv::Mat &dest_image, const cv::Mat &mask=cv::Mat(), double max_min=0.0, double min_max=0.0)


swri_image_util
Author(s): Kris Kozak
autogenerated on Sat Jan 21 2023 03:13:20