mask_image_to_roi.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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00035 
00036 #include "jsk_perception/mask_image_to_roi.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <opencv2/opencv.hpp>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <cv_bridge/cv_bridge.h>
00042 
00043 namespace jsk_perception
00044 {
00045   void MaskImageToROI::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     pub_ = advertise<sensor_msgs::CameraInfo>(*pnh_, "output", 1);
00049     onInitPostProcess();
00050   }
00051 
00052   void MaskImageToROI::subscribe()
00053   {
00054     sub_mask_ = pnh_->subscribe("input", 1, &MaskImageToROI::convert, this);
00055     sub_info_ = pnh_->subscribe("input/camera_info", 1,
00056                                 &MaskImageToROI::infoCallback, this);
00057     ros::V_string names = boost::assign::list_of("~input")("~input/camera_info");
00058     jsk_topic_tools::warnNoRemap(names);
00059   }
00060 
00061   void MaskImageToROI::unsubscribe()
00062   {
00063     sub_mask_.shutdown();
00064     sub_info_.shutdown();
00065   }
00066 
00067   void MaskImageToROI::infoCallback(
00068     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00069   {
00070     vital_checker_->poke();
00071     boost::mutex::scoped_lock lock(mutex_);
00072     latest_camera_info_ = info_msg;
00073   }
00074 
00075   void MaskImageToROI::convert(
00076     const sensor_msgs::Image::ConstPtr& mask_msg)
00077   {
00078     vital_checker_->poke();
00079     boost::mutex::scoped_lock lock(mutex_);
00080     if (latest_camera_info_) {
00081       sensor_msgs::CameraInfo camera_info(*latest_camera_info_);
00082       std::vector<cv::Point> indices;
00083       cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00084         mask_msg, sensor_msgs::image_encodings::MONO8);
00085       cv::Mat mask = cv_ptr->image;
00086       for (size_t j = 0; j < mask.rows; j++) {
00087         for (size_t i = 0; i < mask.cols; i++) {
00088           if (mask.at<uchar>(j, i) == 255) {
00089             indices.push_back(cv::Point(i, j));
00090           }
00091         }
00092       }
00093       cv::Rect mask_rect = cv::boundingRect(indices);
00094       camera_info.roi.x_offset = mask_rect.x;
00095       camera_info.roi.y_offset = mask_rect.y;
00096       camera_info.roi.width = mask_rect.width;
00097       camera_info.roi.height = mask_rect.height;
00098       camera_info.header = mask_msg->header;
00099       pub_.publish(camera_info);
00100     }
00101     else {
00102       NODELET_ERROR("camera info is not yet available");
00103     }
00104   }
00105   
00106 }
00107 
00108 #include <pluginlib/class_list_macros.h>
00109 PLUGINLIB_EXPORT_CLASS (jsk_perception::MaskImageToROI, nodelet::Nodelet);


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