background_substraction_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, 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
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00017  *     with the distribution.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/background_substraction.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 
00040 namespace jsk_perception
00041 {
00042   void BackgroundSubstraction::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045 
00046     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00047     dynamic_reconfigure::Server<Config>::CallbackType f =
00048       boost::bind (
00049         &BackgroundSubstraction::configCallback, this, _1, _2);
00050     srv_->setCallback (f);
00051     
00052     image_pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00053     
00054     onInitPostProcess();
00055   }
00056 
00057   void BackgroundSubstraction::configCallback(Config& config, uint32_t level)
00058   {
00059     boost::mutex::scoped_lock lock(mutex_);
00060 #if CV_MAJOR_VERSION >= 3
00061     bg_ = cv::createBackgroundSubtractorMOG2();
00062 #else
00063     bg_ = cv::BackgroundSubtractorMOG2();
00064 #endif
00065     nmixtures_ = config.nmixtures;
00066     detect_shadows_ = config.detect_shadows;
00067 #if CV_MAJOR_VERSION >= 3
00068     bg_->setNMixtures(nmixtures_);
00069 #else
00070     bg_.set("nmixtures", nmixtures_);
00071 #endif
00072     if (detect_shadows_) {
00073 #if CV_MAJOR_VERSION >= 3
00074       bg_->setDetectShadows(1);
00075 #else
00076       bg_.set("detectShadows", 1);
00077 #endif
00078     }
00079     else {
00080 #if CV_MAJOR_VERSION >= 3
00081       bg_->setDetectShadows(1);
00082 #else
00083       bg_.set("detectShadows", 0);
00084 #endif
00085     }
00086   }
00087   
00088   void BackgroundSubstraction::subscribe()
00089   {
00090     it_.reset(new image_transport::ImageTransport(*pnh_));
00091     sub_ = it_->subscribe("image", 1, &BackgroundSubstraction::substract, this);
00092     ros::V_string names = boost::assign::list_of("image");
00093     jsk_topic_tools::warnNoRemap(names);
00094   }
00095 
00096   void BackgroundSubstraction::unsubscribe()
00097   {
00098     sub_.shutdown();
00099   }
00100 
00101   void BackgroundSubstraction::updateDiagnostic(
00102     diagnostic_updater::DiagnosticStatusWrapper &stat)
00103   {
00104     if (vital_checker_->isAlive()) {
00105       stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
00106                    "BackgroundSubstraction running");
00107     }
00108     else {
00109       jsk_topic_tools::addDiagnosticErrorSummary(
00110         "BackgroundSubstraction", vital_checker_, stat);
00111     }
00112 
00113   }
00114   
00115   void BackgroundSubstraction::substract(
00116     const sensor_msgs::Image::ConstPtr& image_msg)
00117   {
00118     vital_checker_->poke();
00119     boost::mutex::scoped_lock lock(mutex_);
00120     cv_bridge::CvImagePtr cv_ptr
00121       = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8);
00122     cv::Mat image = cv_ptr->image;
00123     cv::Mat fg;
00124     std::vector <std::vector<cv::Point > > contours;
00125 #if CV_MAJOR_VERSION >= 3
00126     bg_->apply(image, fg);
00127 #else
00128     bg_(image, fg);
00129 #endif
00130     sensor_msgs::Image::Ptr diff_image
00131       = cv_bridge::CvImage(image_msg->header,
00132                            sensor_msgs::image_encodings::MONO8,
00133                            fg).toImageMsg();
00134     image_pub_.publish(diff_image);
00135   }
00136 }
00137 
00138 #include <pluginlib/class_list_macros.h>
00139 PLUGINLIB_EXPORT_CLASS (jsk_perception::BackgroundSubstraction, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23