subtract_mask_image.cpp
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 /*
00036  * subtract_mask_image.cpp
00037  * Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
00038  */
00039 
00040 #include <jsk_perception/subtract_mask_image.h>
00041 #include <boost/assign.hpp>
00042 #include <opencv2/opencv.hpp>
00043 #include <cv_bridge/cv_bridge.h>
00044 #include <sensor_msgs/image_encodings.h>
00045 
00046 namespace enc = sensor_msgs::image_encodings;
00047 
00048 namespace jsk_perception
00049 {
00050   void SubtractMaskImage::onInit()
00051   {
00052     DiagnosticNodelet::onInit();
00053     pnh_->param("approximate_sync", approximate_sync_, false);
00054     pnh_->param("queue_size", queue_size_, 100);
00055     pub_ = advertise<sensor_msgs::Image>(
00056       *pnh_, "output", 1);
00057     onInitPostProcess();
00058   }
00059 
00060   void SubtractMaskImage::subscribe()
00061   {
00062     sub_src1_.subscribe(*pnh_, "input/src1", 1);
00063     sub_src2_.subscribe(*pnh_, "input/src2", 1);
00064     if (approximate_sync_) {
00065       async_ = boost::make_shared<message_filters::Synchronizer<ApproxSyncPolicy> >(queue_size_);
00066       async_->connectInput(sub_src1_, sub_src2_);
00067       async_->registerCallback(boost::bind(&SubtractMaskImage::subtract, this, _1, _2));
00068     }
00069     else {
00070       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
00071       sync_->connectInput(sub_src1_, sub_src2_);
00072       sync_->registerCallback(boost::bind(&SubtractMaskImage::subtract, this, _1, _2));
00073     }
00074   }
00075 
00076   void SubtractMaskImage::unsubscribe()
00077   {
00078     sub_src1_.unsubscribe();
00079     sub_src2_.unsubscribe();
00080   }
00081 
00082   void SubtractMaskImage::subtract(
00083     const sensor_msgs::Image::ConstPtr& src1_msg,
00084     const sensor_msgs::Image::ConstPtr& src2_msg)
00085   {
00086     vital_checker_->poke();
00087 
00088     if (src1_msg->width != src2_msg->width || src1_msg->height != src2_msg->height)
00089     {
00090       NODELET_ERROR("Size of masks are different!");
00091       NODELET_ERROR("input/src1 = %dx%d", src1_msg->width, src1_msg->height);
00092       NODELET_ERROR("input/src2 = %dx%d", src2_msg->width, src2_msg->height);
00093       return;
00094     }
00095 
00096     cv::Mat mask1 = cv_bridge::toCvShare(src1_msg, enc::MONO8)->image;
00097     cv::Mat mask2 = cv_bridge::toCvShare(src2_msg, enc::MONO8)->image;
00098 
00099     cv::Mat mask2_not;
00100     cv::bitwise_not(mask2, mask2_not);
00101 
00102     cv::Mat result = cv::Mat::zeros(mask1.size(), mask1.type());
00103     mask1.copyTo(result, mask2_not);
00104     pub_.publish(
00105       cv_bridge::CvImage(src1_msg->header, enc::MONO8, result).toImageMsg());
00106   }
00107 }
00108 
00109 #include <pluginlib/class_list_macros.h>
00110 PLUGINLIB_EXPORT_CLASS (jsk_perception::SubtractMaskImage, nodelet::Nodelet);


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