grid_label.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
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
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00035 
00036 #include "jsk_perception/grid_label.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <opencv2/opencv.hpp>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <sensor_msgs/image_encodings.h>
00042 
00043 namespace jsk_perception
00044 {
00045   void GridLabel::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     
00049     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00050     dynamic_reconfigure::Server<Config>::CallbackType f =
00051       boost::bind (&GridLabel::configCallback, this, _1, _2);
00052     srv_->setCallback (f);
00053     
00054     pnh_->param("use_camera_info", use_camera_info_, false);
00055     pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00056     onInitPostProcess();
00057   }
00058 
00059   void GridLabel::subscribe()
00060   {
00061     if (use_camera_info_) {
00062       sub_ = pnh_->subscribe(
00063         "input", 1, &GridLabel::infoCallback, this);
00064     }
00065     else {
00066       sub_ = pnh_->subscribe(
00067         "input", 1, &GridLabel::imageCallback, this);
00068     }
00069     ros::V_string names = boost::assign::list_of("~input");
00070     jsk_topic_tools::warnNoRemap(names);
00071   }
00072 
00073   void GridLabel::unsubscribe()
00074   {
00075     sub_.shutdown();
00076   }
00077 
00078   void GridLabel::configCallback(Config &config, uint32_t level)
00079   {
00080     boost::mutex::scoped_lock lock(mutex_);
00081     label_size_ = config.label_size;
00082   }
00083   
00084   void GridLabel::infoCallback(
00085     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00086   {
00087     boost::mutex::scoped_lock lock(mutex_);
00088     cv::Mat label = cv::Mat::zeros(info_msg->height,
00089                                    info_msg->width,
00090                                    CV_32SC1); // int
00091     makeLabel(label, info_msg->header);
00092   }
00093 
00094   void GridLabel::imageCallback(
00095     const sensor_msgs::Image::ConstPtr& image_msg)
00096   {
00097     boost::mutex::scoped_lock lock(mutex_);
00098     cv::Mat label = cv::Mat::zeros(image_msg->height,
00099                                    image_msg->width,
00100                                    CV_32SC1); // int
00101     makeLabel(label, image_msg->header);
00102   }
00103 
00104   void GridLabel::makeLabel(cv::Mat& label, const std_msgs::Header& header) {
00105     int num_u = ceil(label.cols / (float)label_size_);
00106     int num_v = ceil(label.rows / (float)label_size_);
00107     int counter = 1;
00108     for (int v = 0; v < num_v; v++) {
00109       for (int u = 0; u < num_u; u++) {
00110         cv::Rect region(u * label_size_, v * label_size_,
00111                         label_size_, label_size_);
00112         cv::rectangle(label, region, cv::Scalar(counter), CV_FILLED);
00113         ++counter;
00114       }
00115     }
00116     pub_.publish(cv_bridge::CvImage(header,
00117                                     sensor_msgs::image_encodings::TYPE_32SC1,
00118                                     label).toImageMsg());
00119   }
00120     
00121 }
00122 
00123 #include <pluginlib/class_list_macros.h>
00124 PLUGINLIB_EXPORT_CLASS (jsk_perception::GridLabel, nodelet::Nodelet);


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