label_to_mask_image.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/label_to_mask_image.h"
#include <jsk_topic_tools/log_utils.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <boost/assign.hpp>
 
namespace jsk_perception
{
 
  void LabelToMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    // dynamic_reconfigure
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind(&LabelToMaskImage::configCallback, this, _1, _2);
    srv_->setCallback(f);
 
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  void LabelToMaskImage::configCallback(
    Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    label_value_ = config.label_value;
  }
 
  void LabelToMaskImage::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1,
                           &LabelToMaskImage::convert,
                           this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }
 
  void LabelToMaskImage::unsubscribe()
  {
    sub_.shutdown();
  }
 
  void LabelToMaskImage::convert(
    const sensor_msgs::Image::ConstPtr& label_msg)
  {
    cv_bridge::CvImagePtr label_img_ptr = cv_bridge::toCvCopy(
      label_msg, sensor_msgs::image_encodings::TYPE_32SC1);
 
    cv::Mat mask_image = cv::Mat::zeros(label_msg->height,
                                        label_msg->width,
                                        CV_8UC1);
    for (size_t j = 0; j < label_img_ptr->image.rows; j++)
    {
      for (size_t i = 0; i < label_img_ptr->image.cols; i++)
      {
        int label = label_img_ptr->image.at<int>(j, i);
        if (label == label_value_) {
          mask_image.at<uchar>(j, i) = 255;
        }
      }
    }
    pub_.publish(cv_bridge::CvImage(
          label_msg->header,
          sensor_msgs::image_encodings::MONO8,
          mask_image).toImageMsg());
  }
 
}  // namespace jsk_perception
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(jsk_perception::LabelToMaskImage, nodelet::Nodelet);