mask_image_to_rect.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
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00035 
00036 #include "jsk_perception/mask_image_to_rect.h"
00037 #include <opencv2/opencv.hpp>
00038 #include <sensor_msgs/image_encodings.h>
00039 #include <cv_bridge/cv_bridge.h>
00040 
00041 namespace jsk_perception
00042 {
00043   void MaskImageToRect::onInit()
00044   {
00045     DiagnosticNodelet::onInit();
00046     pub_ = advertise<geometry_msgs::PolygonStamped>(*pnh_, "output", 1);
00047   }
00048 
00049   void MaskImageToRect::subscribe()
00050   {
00051     sub_mask_ = pnh_->subscribe("input", 1, &MaskImageToRect::convert, this);
00052   }
00053 
00054   void MaskImageToRect::unsubscribe()
00055   {
00056     sub_mask_.shutdown();
00057   }
00058 
00059   void MaskImageToRect::convert(
00060     const sensor_msgs::Image::ConstPtr& mask_msg)
00061   {
00062     vital_checker_->poke();
00063     std::vector<cv::Point> indices;
00064     cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00065       mask_msg, sensor_msgs::image_encodings::MONO8);
00066     cv::Mat mask = cv_ptr->image;
00067     for (size_t j = 0; j < mask.rows; j++) {
00068       for (size_t i = 0; i < mask.cols; i++) {
00069         if (mask.at<uchar>(j, i) == 255) {
00070           indices.push_back(cv::Point(i, j));
00071         }
00072       }
00073     }
00074     cv::Rect mask_rect = cv::boundingRect(indices);
00075     geometry_msgs::PolygonStamped rect;
00076     rect.header = mask_msg->header;
00077     geometry_msgs::Point32 min_pt, max_pt;
00078     min_pt.x = mask_rect.x;
00079     min_pt.y = mask_rect.y;
00080     max_pt.x = mask_rect.x + mask_rect.width;
00081     max_pt.y = mask_rect.y + mask_rect.height;
00082     rect.polygon.points.push_back(min_pt);
00083     rect.polygon.points.push_back(max_pt);
00084     pub_.publish(rect);
00085   }
00086   
00087 }
00088 
00089 #include <pluginlib/class_list_macros.h>
00090 PLUGINLIB_EXPORT_CLASS (jsk_perception::MaskImageToRect, nodelet::Nodelet);


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