pyramids_nodelet.cpp

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// https://github.com/opencv/opencv/blob/master/samples/cpp/tutorial_code/ImgProc/Pyramids/Pyramids.cpp
// https://github.com/opencv/opencv/blob/2.4.13.4/samples/cpp/tutorial_code/ImgProc/Pyramids.cpp
#include "opencv_apps/nodelet.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
 
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/imgproc/imgproc.hpp"
 
#include "opencv_apps/PyramidsConfig.h"
#include <dynamic_reconfigure/server.h>
 
namespace opencv_apps
{
class PyramidsNodelet : public opencv_apps::Nodelet
{
  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;
  ros::Publisher msg_pub_;
 
  boost::shared_ptr<image_transport::ImageTransport> it_;
 
  typedef opencv_apps::PyramidsConfig Config;
  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
  Config config_;
  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
  int queue_size_;
  bool debug_view_;
 
  int num_of_pyramids_;
 
  std::string window_name_;
 
  void reconfigureCallback(Config& new_config, uint32_t level)
  {
    config_ = new_config;
 
    num_of_pyramids_ = config_.num_of_pyramids;
  }
 
  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
  {
    if (frame.empty())
      return image_frame;
    return frame;
  }
 
  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
  {
    doWork(msg, cam_info->header.frame_id);
  }
 
  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    doWork(msg, msg->header.frame_id);
  }
 
  void doWork(const sensor_msgs::ImageConstPtr& image_msg, const std::string& input_frame_from_msg)
  {
    // Work on the image.
    try
    {
      // Convert the image into something opencv can handle.
      cv::Mat src_image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image;
 
      // Do the work
      int num = num_of_pyramids_;
      switch (config_.pyramids_type)
      {
        case opencv_apps::Pyramids_Up:
        {
          while (num)
          {
            num--;
            cv::pyrUp(src_image, src_image, cv::Size(src_image.cols * 2, src_image.rows * 2));
          }
          break;
        }
        case opencv_apps::Pyramids_Down:
        {
          while (num)
          {
            num--;
            cv::pyrDown(src_image, src_image, cv::Size(src_image.cols / 2, src_image.rows / 2));
          }
          break;
        }
      }
 
      //-- Show what you got
      if (debug_view_)
      {
        cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
        cv::imshow(window_name_, src_image);
        int c = cv::waitKey(1);
      }
 
      // Publish the image.
      img_pub_.publish(cv_bridge::CvImage(image_msg->header, image_msg->encoding, src_image).toImageMsg());
    }
    catch (cv::Exception& e)
    {
      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
    }
  }
 
  void subscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Subscribing to image topic.");
    if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", queue_size_, &PyramidsNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", queue_size_, &PyramidsNodelet::imageCallback, this);
  }
 
  void unsubscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Unsubscribing from image topic.");
    img_sub_.shutdown();
    cam_sub_.shutdown();
  }
 
public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    Nodelet::onInit();
    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
    pnh_->param("queue_size", queue_size_, 3);
    pnh_->param("debug_view", debug_view_, false);
 
    if (debug_view_)
    {
      always_subscribe_ = true;
    }
 
    window_name_ = "Image Pyramids Demo";
 
    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
        boost::bind(&PyramidsNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
    reconfigure_server_->setCallback(f);
 
    img_pub_ = advertiseImage(*pnh_, "image", 1);
 
    onInitPostProcess();
  }
};
}  // namespace opencv_apps
 
namespace pyramids
{
class PyramidsNodelet : public opencv_apps::PyramidsNodelet
{
public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    ROS_WARN("DeprecationWarning: Nodelet pyramids/pyramids is deprecated, "
             "and renamed to opencv_apps/pyramids.");
    opencv_apps::PyramidsNodelet::onInit();
  }
};
}  // namespace pyramids
 
#ifdef USE_PLUGINLIB_CLASS_LIST_MACROS_H
#include <pluginlib/class_list_macros.h>
#else
#include <pluginlib/class_list_macros.hpp>
#endif
PLUGINLIB_EXPORT_CLASS(opencv_apps::PyramidsNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(pyramids::PyramidsNodelet, nodelet::Nodelet);