blob_detector.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/blob_detector.h"
00037 #include <opencv2/opencv.hpp>
00038 #include <cv_bridge/cv_bridge.h>
00039 #include <sensor_msgs/image_encodings.h>
00040 #include <jsk_perception/Labeling.h>
00041 
00042 namespace jsk_perception
00043 {
00044   void BlobDetector::onInit()
00045   {
00046     DiagnosticNodelet::onInit();
00047     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00048     dynamic_reconfigure::Server<Config>::CallbackType f =
00049       boost::bind (
00050         &BlobDetector::configCallback, this, _1, _2);
00051     srv_->setCallback (f);
00052 
00053     pub_ = advertise<sensor_msgs::Image>(
00054       *pnh_, "output", 1);
00055   }
00056 
00057   void BlobDetector::subscribe()
00058   {
00059     sub_ = pnh_->subscribe("input", 1, &BlobDetector::detect, this);
00060   }
00061 
00062   void BlobDetector::unsubscribe()
00063   {
00064     sub_.shutdown();
00065   }
00066 
00067   void BlobDetector::detect(
00068     const sensor_msgs::Image::ConstPtr& image_msg)
00069   {
00070     vital_checker_->poke();
00071     boost::mutex::scoped_lock lock(mutex_);
00072     cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image;
00073     cv::Mat label(image.size(), CV_16SC1);
00074     LabelingBS labeling;
00075     labeling.Exec(image.data, (short*)label.data, image.cols, image.rows,
00076                   true, min_area_);
00077     
00078     cv::Mat label_int(image.size(), CV_32SC1);
00079     for (int j = 0; j < label.rows; j++) {
00080       for (int i = 0; i < label.cols; i++) {
00081         label_int.at<int>(j, i) = label.at<short>(j, i);
00082       }
00083     }
00084     pub_.publish(
00085       cv_bridge::CvImage(image_msg->header,
00086                          sensor_msgs::image_encodings::TYPE_32SC1,
00087                          label_int).toImageMsg());
00088   }
00089 
00090   void BlobDetector::configCallback(Config &config, uint32_t level)
00091   {
00092     boost::mutex::scoped_lock lock(mutex_);
00093     min_area_ = config.min_area;
00094   }
00095   
00096 }
00097 
00098 #include <pluginlib/class_list_macros.h>
00099 PLUGINLIB_EXPORT_CLASS (jsk_perception::BlobDetector, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15