contour_finder.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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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/contour_finder.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <cv_bridge/cv_bridge.h>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <opencv2/opencv.hpp>
00042 
00043 
00044 namespace jsk_perception
00045 {
00046   void ContourFinder::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_debug_image_ = advertise<sensor_msgs::Image>(*pnh_, "debug", 1);
00050     pub_convex_image_ = advertise<sensor_msgs::Image>(*pnh_, "output/convex", 1);
00051     onInitPostProcess();
00052   }
00053 
00054   void ContourFinder::subscribe()
00055   {
00056     sub_ = pnh_->subscribe("input", 1, &ContourFinder::segment, this);
00057     ros::V_string names = boost::assign::list_of("~input");
00058     jsk_topic_tools::warnNoRemap(names);
00059   }
00060 
00061   void ContourFinder::unsubscribe()
00062   {
00063     sub_.shutdown();
00064   }
00065 
00066   void ContourFinder::segment(
00067     const sensor_msgs::Image::ConstPtr& image_msg)
00068   {
00069     std::vector<std::vector<cv::Point> > contours;
00070     std::vector<std::vector<cv::Point> > convex_contours(1);
00071     std::vector<cv::Vec4i> hierarchy;
00072     cv::RNG rng(12345);
00073     cv::Mat input = cv_bridge::toCvCopy(
00074       image_msg, sensor_msgs::image_encodings::MONO8)->image;
00075     cv::findContours(input, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
00076     cv::Mat drawing = cv::Mat::zeros(input.size(), CV_8UC3);
00077     for( int i = 0; i< contours.size(); i++ )
00078     {
00079       cv::Scalar color = cv::Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
00080       cv::drawContours(drawing, contours, i, color, CV_FILLED, 8, hierarchy, 0, cv::Point());
00081     }
00082     pub_debug_image_.publish(cv_bridge::CvImage(
00083                                image_msg->header,
00084                                sensor_msgs::image_encodings::BGR8,
00085                                drawing).toImageMsg());
00086     // combine all the contours into one contours
00087     std::vector<cv::Point> all_contours;
00088     for (size_t i = 0; i < contours.size(); i++) {
00089       for (size_t j = 0; j < contours[i].size(); j++) {
00090         all_contours.push_back(contours[i][j]);
00091       }
00092     }
00093     // build convex
00094     cv::convexHull(cv::Mat(all_contours), convex_contours[0]);
00095     cv::Mat convex_image = cv::Mat::zeros(input.size(), CV_8UC1);
00096     cv::drawContours(convex_image, convex_contours, 0, cv::Scalar(255), CV_FILLED);
00097     pub_convex_image_.publish(
00098       cv_bridge::CvImage(
00099         image_msg->header,
00100         sensor_msgs::image_encodings::MONO8,
00101         convex_image).toImageMsg());
00102   }
00103 }
00104 
00105 #include <pluginlib/class_list_macros.h>
00106 PLUGINLIB_EXPORT_CLASS (jsk_perception::ContourFinder, nodelet::Nodelet);
00107 


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