Go to the documentation of this file.00001 #include <image_transport_tutorial/resized_publisher.h>
00002 #include <opencv2/imgproc/imgproc.hpp>
00003 #include <cv_bridge/cv_bridge.h>
00004
00005 void ResizedPublisher::publish(const sensor_msgs::Image& message,
00006 const PublishFn& publish_fn) const
00007 {
00008 cv::Mat cv_image;
00009 boost::shared_ptr<void const> tracked_object;
00010 try
00011 {
00012 cv_image = cv_bridge::toCvShare(message, tracked_object, message.encoding)->image;
00013 }
00014 catch (cv::Exception &e)
00015 {
00016 ROS_ERROR("Could not convert from '%s' to '%s'.", message.encoding.c_str(), message.encoding.c_str());
00017 return;
00018 }
00019
00020
00021 double subsampling_factor;
00022 std::string param_name;
00023 nh().param<double>("resized_image_transport_subsampling_factor", subsampling_factor, 2.0);
00024
00025
00026 int new_width = cv_image.cols / subsampling_factor + 0.5;
00027 int new_height = cv_image.rows / subsampling_factor + 0.5;
00028 cv::Mat buffer;
00029 cv::resize(cv_image, buffer, cv::Size(new_width, new_height));
00030
00031
00032 image_transport_tutorial::ResizedImage resized_image;
00033 resized_image.original_height = cv_image.rows;
00034 resized_image.original_width = cv_image.cols;
00035 resized_image.image = *(cv_bridge::CvImage(message.header, "bgr8", cv_image).toImageMsg());
00036 publish_fn(resized_image);
00037 }