roi_to_mask_image.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2015, JSK Lab
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00035 
00036 #include "jsk_perception/roi_to_mask_image.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 
00040 namespace jsk_perception
00041 {
00042   void ROIToMaskImage::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045     pub_ = advertise<sensor_msgs::Image>(
00046       *pnh_, "output", 1);
00047     onInitPostProcess();
00048   }
00049 
00050   void ROIToMaskImage::subscribe()
00051   {
00052     sub_ = pnh_->subscribe("input", 1, &ROIToMaskImage::convert, this);
00053     ros::V_string names = boost::assign::list_of("~input");
00054     jsk_topic_tools::warnNoRemap(names);
00055   }
00056 
00057   void ROIToMaskImage::unsubscribe()
00058   {
00059     sub_.shutdown();
00060   }
00061 
00062   void ROIToMaskImage::convert(
00063     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00064   {
00065     cv::Mat mask_image = cv::Mat::zeros(info_msg->height,
00066                                         info_msg->width,
00067                                         CV_8UC1);
00068     cv::Rect rect(info_msg->roi.x_offset,
00069                   info_msg->roi.y_offset,
00070                   info_msg->roi.width,
00071                   info_msg->roi.height);
00072     cv::rectangle(mask_image, rect, cv::Scalar(255), CV_FILLED);
00073     pub_.publish(cv_bridge::CvImage(
00074                    info_msg->header,
00075                    sensor_msgs::image_encodings::MONO8,
00076                    mask_image).toImageMsg());
00077   }
00078 }
00079 
00080 #include <pluginlib/class_list_macros.h>
00081 PLUGINLIB_EXPORT_CLASS (jsk_perception::ROIToMaskImage, nodelet::Nodelet);


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