jsk_perception: colorize_labels.cpp Source File

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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
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/colorize_labels.h"
00037 #include <jsk_recognition_utils/cv_utils.h>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <boost/assign.hpp>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <opencv2/opencv.hpp>
00042 #include <sensor_msgs/image_encodings.h>
00043 
00044 namespace jsk_perception
00045 {
00046   void ColorizeLabels::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_ = advertise<sensor_msgs::Image>(
00050       *pnh_, "output", 1);
00051     onInitPostProcess();
00052   }
00053 
00054   void ColorizeLabels::subscribe()
00055   {
00056     sub_ = pnh_->subscribe("input", 1, &ColorizeLabels::colorize, this);
00057     ros::V_string names = boost::assign::list_of("~input");
00058     jsk_topic_tools::warnNoRemap(names);
00059   }
00060 
00061   void ColorizeLabels::unsubscribe()
00062   {
00063     sub_.shutdown();
00064   }
00065 
00066   void ColorizeLabels::colorize(
00067     const sensor_msgs::Image::ConstPtr& label_image_msg)
00068   {
00069     cv::Mat label_image = cv_bridge::toCvShare(
00070       label_image_msg, label_image_msg->encoding)->image;
00071     ROS_DEBUG("%dx%d", label_image_msg->width, label_image_msg->height);
00072     cv::Mat output_image;
00073     jsk_recognition_utils::labelToRGB(label_image, output_image);
00074     cv::cvtColor(output_image, output_image, CV_RGB2BGR);
00075     pub_.publish(
00076       cv_bridge::CvImage(
00077         label_image_msg->header,
00078         sensor_msgs::image_encodings::BGR8,
00079         output_image).toImageMsg());
00080   }
00081 }
00082 
00083 #include <pluginlib/class_list_macros.h>
00084 PLUGINLIB_EXPORT_CLASS (jsk_perception::ColorizeLabels, nodelet::Nodelet);