hsv_decomposer.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.
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00008  *  Redistribution and use in source and binary forms, with or without
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00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 
00037 #include "jsk_perception/hsv_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 HSVDecomposer::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_h_ = advertise<sensor_msgs::Image>(*pnh_, "output/hue", 1);
00050     pub_s_ = advertise<sensor_msgs::Image>(*pnh_, "output/saturation", 1);
00051     pub_v_ = advertise<sensor_msgs::Image>(*pnh_, "output/value", 1);
00052     onInitPostProcess();
00053   }
00054 
00055   void HSVDecomposer::subscribe()
00056   {
00057     sub_ = pnh_->subscribe("input", 1, &HSVDecomposer::decompose, this);
00058     ros::V_string names = boost::assign::list_of("~input");
00059     jsk_topic_tools::warnNoRemap(names);
00060   }
00061 
00062   void HSVDecomposer::unsubscribe()
00063   {
00064     sub_.shutdown();
00065   }
00066 
00067   void HSVDecomposer::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 hsv_image;
00074     std::vector<cv::Mat> hsv_planes;
00075     if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
00076       cv::cvtColor(image, hsv_image, CV_BGR2HSV);
00077     }
00078     else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00079       cv::cvtColor(image, hsv_image, CV_RGB2HSV);
00080     }
00081     else if (image_msg->encoding == sensor_msgs::image_encodings::BGRA8 ||
00082              image_msg->encoding == sensor_msgs::image_encodings::BGRA16) {
00083       cv::Mat tmp_image;
00084       cv::cvtColor(image, tmp_image, CV_BGRA2BGR);
00085       cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
00086     }
00087     else if (image_msg->encoding == sensor_msgs::image_encodings::RGBA8 ||
00088              image_msg->encoding == sensor_msgs::image_encodings::RGBA16) {
00089       cv::Mat tmp_image;
00090       cv::cvtColor(image, tmp_image, CV_RGBA2BGR);
00091       cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
00092     }
00093     else {
00094       NODELET_ERROR("unsupported format to HSV: %s", image_msg->encoding.c_str());
00095       return;
00096     }
00097     cv::split(hsv_image, hsv_planes);
00098     cv::Mat hue = hsv_planes[0];
00099     cv::Mat saturation = hsv_planes[1];
00100     cv::Mat value = hsv_planes[2];
00101     pub_h_.publish(cv_bridge::CvImage(
00102                      image_msg->header,
00103                      sensor_msgs::image_encodings::MONO8,
00104                      hue).toImageMsg());
00105     pub_s_.publish(cv_bridge::CvImage(
00106                      image_msg->header,
00107                      sensor_msgs::image_encodings::MONO8,
00108                      saturation).toImageMsg());
00109     pub_v_.publish(cv_bridge::CvImage(
00110                      image_msg->header,
00111                      sensor_msgs::image_encodings::MONO8,
00112                      value).toImageMsg());
00113   }
00114 }
00115 
00116 #include <pluginlib/class_list_macros.h>
00117 PLUGINLIB_EXPORT_CLASS (jsk_perception::HSVDecomposer, nodelet::Nodelet);


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