crosshairs_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>
42 
43 namespace swri_image_util
44 {
46  {
47  public:
49  {
50  }
51 
53  {
54  }
55 
56  void onInit()
57  {
60 
62  image_pub_ = it.advertise("crosshairs_image", 1);
63  image_sub_ = it.subscribe("image", 1, &CrosshairsNodelet::ImageCallback, this);
64  }
65 
66  void ImageCallback(const sensor_msgs::ImageConstPtr& image)
67  {
69  // Get image dimensions
70  const int h = cv_image->image.rows;
71  const int w = cv_image->image.cols;
72  // Define line properties
73  const cv::Scalar black(0, 0, 0);
74  const int thickness = 3;
75  const int line_type = 8; // 8-connected line
76  // Draw vertical line
77  cv::line(cv_image->image, cv::Point(0, w/2), cv::Point(h-1, w/2), black, thickness, line_type);
78  // Draw horizontal line
79  cv::line(cv_image->image, cv::Point(h/2, 0), cv::Point(h/2, w-1), black, thickness, line_type);
80  // Publish image
81  image_pub_.publish(cv_image->toImageMsg());
82  }
83 
84  private:
87  };
88 }
89 
90 // 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())
image_transport::Publisher image_pub_
ros::NodeHandle & getNodeHandle() const
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getPrivateNodeHandle() const
image_transport::Subscriber image_sub_
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


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