ycc_decomposer.cpp
Go to the documentation of this file.
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
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #include "jsk_perception/ycc_decomposer.h"
00038 #include <boost/assign.hpp>
00039 #include <jsk_topic_tools/log_utils.h>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <cv_bridge/cv_bridge.h>
00042 #include <opencv2/opencv.hpp>
00043 
00044 namespace jsk_perception
00045 {
00046   void YCCDecomposer::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_y_ = advertise<sensor_msgs::Image>(*pnh_, "output/y", 1);
00050     pub_cr_ = advertise<sensor_msgs::Image>(*pnh_, "output/cr", 1);
00051     pub_cb_ = advertise<sensor_msgs::Image>(*pnh_, "output/cb", 1);
00052     onInitPostProcess();
00053   }
00054 
00055   void YCCDecomposer::subscribe()
00056   {
00057     sub_ = pnh_->subscribe("input", 1, &YCCDecomposer::decompose, this);
00058     ros::V_string names = boost::assign::list_of("~input");
00059     jsk_topic_tools::warnNoRemap(names);
00060   }
00061 
00062   void YCCDecomposer::unsubscribe()
00063   {
00064     sub_.shutdown();
00065   }
00066 
00067   void YCCDecomposer::decompose(
00068     const sensor_msgs::Image::ConstPtr& image_msg)
00069   {
00070     cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00071       image_msg, image_msg->encoding);
00072     cv::Mat image = cv_ptr->image;
00073     cv::Mat ycc_image;
00074     std::vector<cv::Mat> ycc_planes;
00075     if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
00076       cv::cvtColor(image, ycc_image, CV_BGR2YCrCb);
00077     }
00078     else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00079       cv::cvtColor(image, ycc_image, CV_RGB2YCrCb);
00080     }
00081     else {
00082       NODELET_ERROR("unsupported format to YCC: %s", image_msg->encoding.c_str());
00083       return;
00084     }
00085     cv::split(ycc_image, ycc_planes);
00086     cv::Mat y = ycc_planes[0];
00087     cv::Mat cr = ycc_planes[1];
00088     cv::Mat cb = ycc_planes[2];
00089     pub_y_.publish(cv_bridge::CvImage(
00090                      image_msg->header,
00091                      sensor_msgs::image_encodings::MONO8,
00092                      y).toImageMsg());
00093     pub_cr_.publish(cv_bridge::CvImage(
00094                       image_msg->header,
00095                       sensor_msgs::image_encodings::MONO8,
00096                       cr).toImageMsg());
00097     pub_cb_.publish(cv_bridge::CvImage(
00098                       image_msg->header,
00099                       sensor_msgs::image_encodings::MONO8,
00100                       cb).toImageMsg());
00101   }
00102 }
00103 
00104 #include <pluginlib/class_list_macros.h>
00105 PLUGINLIB_EXPORT_CLASS (jsk_perception::YCCDecomposer, nodelet::Nodelet);


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