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.
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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 <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <opencv2/opencv.hpp>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <sensor_msgs/image_encodings.h>
00042 #include <jsk_perception/Labeling.h>
00043 
00044 namespace jsk_perception
00045 {
00046   void BlobDetector::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00050     dynamic_reconfigure::Server<Config>::CallbackType f =
00051       boost::bind (
00052         &BlobDetector::configCallback, this, _1, _2);
00053     srv_->setCallback (f);
00054 
00055     pub_ = advertise<sensor_msgs::Image>(
00056       *pnh_, "output", 1);
00057     onInitPostProcess();
00058   }
00059 
00060   void BlobDetector::subscribe()
00061   {
00062     sub_ = pnh_->subscribe("input", 1, &BlobDetector::detect, this);
00063     ros::V_string names = boost::assign::list_of("~input");
00064     jsk_topic_tools::warnNoRemap(names);
00065   }
00066 
00067   void BlobDetector::unsubscribe()
00068   {
00069     sub_.shutdown();
00070   }
00071 
00072   void BlobDetector::detect(
00073     const sensor_msgs::Image::ConstPtr& image_msg)
00074   {
00075     vital_checker_->poke();
00076     boost::mutex::scoped_lock lock(mutex_);
00077     cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image;
00078     cv::Mat label(image.size(), CV_16SC1);
00079     LabelingBS labeling;
00080     labeling.Exec(image.data, (short*)label.data, image.cols, image.rows,
00081                   true, min_area_);
00082     
00083     cv::Mat label_int(image.size(), CV_32SC1);
00084     for (int j = 0; j < label.rows; j++) {
00085       for (int i = 0; i < label.cols; i++) {
00086         label_int.at<int>(j, i) = label.at<short>(j, i);
00087       }
00088     }
00089     pub_.publish(
00090       cv_bridge::CvImage(image_msg->header,
00091                          sensor_msgs::image_encodings::TYPE_32SC1,
00092                          label_int).toImageMsg());
00093   }
00094 
00095   void BlobDetector::configCallback(Config &config, uint32_t level)
00096   {
00097     boost::mutex::scoped_lock lock(mutex_);
00098     min_area_ = config.min_area;
00099   }
00100   
00101 }
00102 
00103 #include <pluginlib/class_list_macros.h>
00104 PLUGINLIB_EXPORT_CLASS (jsk_perception::BlobDetector, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Tue Jul 2 2019 19:41:07