rect_to_mask_image.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
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/rect_to_mask_image.h"
00037 #include <cv_bridge/cv_bridge.h>
00038 #include <sensor_msgs/image_encodings.h>
00039 
00040 namespace jsk_perception
00041 {
00042   void RectToMaskImage::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045     pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00046   }
00047 
00048   void RectToMaskImage::subscribe()
00049   {
00050     sub_ = pnh_->subscribe("input", 1, &RectToMaskImage::convert, this);
00051     sub_info_ = pnh_->subscribe("input/camera_info", 1,
00052                                 &RectToMaskImage::infoCallback, this);
00053   }
00054 
00055   void RectToMaskImage::unsubscribe()
00056   {
00057     sub_.shutdown();
00058     sub_info_.shutdown();
00059   }
00060 
00061   void RectToMaskImage::convert(
00062     const geometry_msgs::PolygonStamped::ConstPtr& rect_msg)
00063   {
00064     boost::mutex::scoped_lock lock(mutex_);
00065     if (camera_info_) {
00066       cv::Mat mask_image = cv::Mat::zeros(camera_info_->height,
00067                                           camera_info_->width,
00068                                           CV_8UC1);
00069       geometry_msgs::Point32 P0 = rect_msg->polygon.points[0];
00070       geometry_msgs::Point32 P1 = rect_msg->polygon.points[1];
00071       double min_x = std::max(std::min(P0.x, P1.x), 0.0f);
00072       double max_x = std::max(P0.x, P1.x);
00073       double min_y = std::max(std::min(P0.y, P1.y), 0.0f);
00074       double max_y = std::max(P0.y, P1.y);
00075       double width = std::min(max_x - min_x, camera_info_->width - min_x);
00076       double height = std::min(max_y - min_y, camera_info_->height - min_y);
00077       cv::Rect region(min_x, min_y, width, height);
00078       cv::rectangle(mask_image, region, cv::Scalar(255), CV_FILLED);
00079       pub_.publish(cv_bridge::CvImage(
00080                      rect_msg->header,
00081                      sensor_msgs::image_encodings::MONO8,
00082                      mask_image).toImageMsg());
00083     }
00084   }
00085 
00086   
00087   void RectToMaskImage::infoCallback(
00088     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00089   {
00090     boost::mutex::scoped_lock lock(mutex_);
00091     camera_info_ = info_msg;
00092   }
00093 }
00094 
00095 #include <pluginlib/class_list_macros.h>
00096 PLUGINLIB_EXPORT_CLASS (jsk_perception::RectToMaskImage, nodelet::Nodelet);


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