unapply_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
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00035 
00036 #include "jsk_perception/unapply_mask_image.h"
00037 #include <sensor_msgs/image_encodings.h>
00038 #include <opencv2/opencv.hpp>
00039 #include <cv_bridge/cv_bridge.h>
00040 #include "jsk_perception/image_utils.h"
00041 
00042 namespace jsk_perception
00043 {
00044   void UnapplyMaskImage::onInit()
00045   {
00046     DiagnosticNodelet::onInit();
00047     pnh_->param("approximate_sync", approximate_sync_, false);
00048     pub_image_ = advertise<sensor_msgs::Image>(
00049       *pnh_, "output", 1);
00050   }
00051 
00052   void UnapplyMaskImage::subscribe()
00053   {
00054     sub_image_.subscribe(*pnh_, "input", 1);
00055     sub_mask_.subscribe(*pnh_, "input/mask", 1);
00056     if (approximate_sync_) {
00057       async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
00058       async_->connectInput(sub_image_, sub_mask_);
00059       async_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
00060     }
00061     else {
00062       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00063       sync_->connectInput(sub_image_, sub_mask_);
00064       sync_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
00065     }
00066   }
00067 
00068   void UnapplyMaskImage::unsubscribe()
00069   {
00070     sub_image_.unsubscribe();
00071     sub_mask_.unsubscribe();
00072   }
00073 
00074   void UnapplyMaskImage::apply(
00075     const sensor_msgs::Image::ConstPtr& image_msg,
00076     const sensor_msgs::Image::ConstPtr& mask_msg)
00077   {
00078     vital_checker_->poke();
00079     cv::Mat image = cv_bridge::toCvShare(image_msg,
00080                                          image_msg->encoding)->image;
00081     cv::Mat mask = cv_bridge::toCvShare(mask_msg,
00082                                         mask_msg->encoding)->image;
00083     cv::Mat output;
00084     bool single_channel = false;
00085     if (image_msg->encoding == sensor_msgs::image_encodings::BGR8 ||
00086         image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00087       single_channel = false;
00088     }
00089     else {
00090       single_channel = true;
00091     }
00092     if (single_channel) {
00093       output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC1);
00094     }
00095     else {
00096       output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC3);
00097     }
00098     
00099     cv::Rect region = boundingRectOfMaskImage(mask);
00100     for (int j = 0; j < image.rows; j++) {
00101       for (int i = 0; i < image.cols; i++) {
00102         if (single_channel) {
00103           output.at<uchar>(j + region.y, i + region.x)
00104             = image.at<uchar>(j, i);
00105         }
00106         else {
00107           output.at<cv::Vec3b>(j + region.y, i + region.x)
00108             = image.at<cv::Vec3b>(j, i);
00109         }
00110       }
00111     }
00112     pub_image_.publish(cv_bridge::CvImage(
00113                          image_msg->header,
00114                          image_msg->encoding,
00115                          output).toImageMsg());
00116   }
00117 }
00118 
00119 #include <pluginlib/class_list_macros.h>
00120 PLUGINLIB_EXPORT_CLASS (jsk_perception::UnapplyMaskImage, nodelet::Nodelet);


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