bounding_object_mask_image.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/bounding_object_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_recognition_utils/cv_utils.h>
#include <opencv2/opencv.hpp>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
 
namespace jsk_perception
{
  void BoundingObjectMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  void BoundingObjectMaskImage::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &BoundingObjectMaskImage::convert, this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }
 
  void BoundingObjectMaskImage::unsubscribe()
  {
    sub_.shutdown();
  }
 
  void BoundingObjectMaskImage::convert(
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    vital_checker_->poke();
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      mask_msg, sensor_msgs::image_encodings::MONO8);
    cv::Mat mask = cv_ptr->image;
 
    // Find contour
    std::vector<std::vector<cv::Point> > contours;
    cv::findContours(mask, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
 
    cv::Mat object_mask = cv::Mat::zeros(mask_msg->height, mask_msg->width, CV_8UC1);
 
    if (contours.size() != 0) {
      // Find max area to create mask later
      boost::tuple<int, double> max_area;
      for (size_t i = 0; i < contours.size(); i++) {
        double area = cv::contourArea(contours[i]);
        if (area > max_area.get<1>()) {
          max_area = boost::make_tuple<int, double>(i, area);
        }
      }
      cv::drawContours(object_mask, contours, max_area.get<0>(), cv::Scalar(255), CV_FILLED);
    }
 
    pub_.publish(cv_bridge::CvImage(
                    mask_msg->header,
                    sensor_msgs::image_encodings::MONO8,
                    object_mask).toImageMsg());
  }
 
}  // namespace jsk_perception
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(jsk_perception::BoundingObjectMaskImage, nodelet::Nodelet);