scale_image_nodelet.cpp
Go to the documentation of this file.
1 // *****************************************************************************
2 //
3 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
4 // All rights reserved.
5 //
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright
9 // notice, this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 // * Neither the name of Southwest Research Institute® (SwRI®) nor the
14 // names of its contributors may be used to endorse or promote products
15 // derived from this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //
28 // *****************************************************************************
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  scale_(1.0)
50  {
51  }
52 
54  {
55  }
56 
57  void onInit()
58  {
61 
62  priv.param("scale", scale_, scale_);
63 
65  image_pub_ = it.advertise("scaled_image", 1);
66  image_sub_ = it.subscribe("image", 1, &ScaleImageNodelet::ImageCallback, this);
67  }
68 
69  void ImageCallback(const sensor_msgs::ImageConstPtr& image)
70  {
71  if (scale_ == 1.0)
72  {
73  image_pub_.publish(image);
74  return;
75  }
76 
78 
79  cv::Size size(
80  swri_math_util::Round(image->width * scale_),
81  swri_math_util::Round(image->height * scale_));
82  cv::Mat scaled;
83  cv::resize(cv_image->image, scaled, size);
84 
85  cv_bridge::CvImagePtr cv_scaled = boost::make_shared<cv_bridge::CvImage>();
86  cv_scaled->image = scaled;
87  cv_scaled->encoding = cv_image->encoding;
88  cv_scaled->header = cv_image->header;
89 
90  image_pub_.publish(cv_scaled->toImageMsg());
91  }
92 
93  private:
94  double scale_;
95 
98  };
99 }
100 
101 // 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())
ros::NodeHandle & getNodeHandle() const
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getPrivateNodeHandle() const
image_transport::Publisher image_pub_
bool param(const std::string &param_name, T &param_val, const T &default_val) const
double Round(double value)
SWRI_NODELET_EXPORT_CLASS(swri_image_util, DrawPolygonNodelet)
image_transport::Subscriber image_sub_
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