draw_polygon_nodelet.cpp
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29 
30 #include <string>
31 
32 #include <cv_bridge/cv_bridge.h>
34 #include <nodelet/nodelet.h>
35 #include <opencv2/core/core.hpp>
36 #include <ros/ros.h>
38 #include <sensor_msgs/Image.h>
39 #include <XmlRpcException.h>
40 
41 namespace swri_image_util
42 {
44  {
45  public:
47  thickness_(-1),
48  r_(0),
49  g_(0),
50  b_(0)
51  {
52  }
53 
54  void onInit()
55  {
58 
59  priv.param("thickness", thickness_, thickness_);
60  priv.param("r", r_, r_);
61  priv.param("g", g_, g_);
62  priv.param("b", b_, b_);
63 
64  try
65  {
66  XmlRpc::XmlRpcValue polygon;
67  priv.getParam("polygon", polygon);
68  for (size_t i = 0; i < polygon.size(); i++)
69  {
70  const XmlRpc::XmlRpcValue& point = polygon[i];
71  XmlRpc::XmlRpcValue x_param = point[0];
72  XmlRpc::XmlRpcValue y_param = point[1];
73  polygon_.push_back(cv::Point(
74  static_cast<int>(x_param),
75  static_cast<int>(y_param)));
76  }
77  }
78  catch (XmlRpc::XmlRpcException& e)
79  {
80  ROS_ERROR("Failed to parse polygon: %s", e.getMessage().c_str());
82  return;
83  }
84 
85 
87  image_pub_ = it.advertise("image_out", 1);
88  image_sub_ = it.subscribe("image_in", 1, &DrawPolygonNodelet::imageCallback, this);
89  }
90 
91  void imageCallback(const sensor_msgs::ImageConstPtr& image)
92  {
94 
95  const cv::Point* points[1] = { &polygon_[0] };
96  int count = polygon_.size();
97 
98  if (thickness_ < 1)
99  {
100  cv::fillPoly(cv_image->image, points, &count, 1, cv::Scalar(b_, g_, r_));
101  }
102  else
103  {
104  cv::polylines(cv_image->image, points, &count, 1, true, cv::Scalar(b_, g_, r_), thickness_);
105  }
106 
107  image_pub_.publish(cv_image->toImageMsg());
108  }
109 
110  private:
112  int r_;
113  int g_;
114  int b_;
115 
116  std::vector<cv::Point> polygon_;
117 
120  };
121 }
122 
123 // 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)
const std::string & getMessage() const
ros::NodeHandle & getPrivateNodeHandle() const
bool param(const std::string &param_name, T &param_val, const T &default_val) const
void imageCallback(const sensor_msgs::ImageConstPtr &image)
bool getParam(const std::string &key, std::string &s) const
SWRI_NODELET_EXPORT_CLASS(swri_image_util, DrawPolygonNodelet)
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
image_transport::Subscriber image_sub_
void publish(const sensor_msgs::Image &message) const
ROSCPP_DECL void requestShutdown()
#define ROS_ERROR(...)


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