mask_image_to_rect.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00010  *  are met:
00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #include "jsk_perception/mask_image_to_rect.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <opencv2/opencv.hpp>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <cv_bridge/cv_bridge.h>
00042 
00043 namespace jsk_perception
00044 {
00045   void MaskImageToRect::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     pub_ = advertise<jsk_recognition_msgs::RectArray>(*pnh_, "output", 1);
00049     onInitPostProcess();
00050   }
00051 
00052   void MaskImageToRect::subscribe()
00053   {
00054     sub_mask_ = pnh_->subscribe("input", 1, &MaskImageToRect::convert, this);
00055     ros::V_string names = boost::assign::list_of("~input");
00056     jsk_topic_tools::warnNoRemap(names);
00057   }
00058 
00059   void MaskImageToRect::unsubscribe()
00060   {
00061     sub_mask_.shutdown();
00062   }
00063 
00064   void MaskImageToRect::convert(
00065     const sensor_msgs::Image::ConstPtr& mask_msg)
00066   {
00067     vital_checker_->poke();
00068     std::vector<cv::Point> indices;
00069     cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00070       mask_msg, sensor_msgs::image_encodings::MONO8);
00071     cv::Mat mask = cv_ptr->image;
00072     for (size_t j = 0; j < mask.rows; j++) {
00073       for (size_t i = 0; i < mask.cols; i++) {
00074         if (mask.at<uchar>(j, i) == 255) {
00075           indices.push_back(cv::Point(i, j));
00076         }
00077       }
00078     }
00079     jsk_recognition_msgs::RectArray rects;
00080     rects.header = mask_msg->header;
00081     if (indices.size() > 0){
00082       cv::Rect mask_rect = cv::boundingRect(indices);
00083       jsk_recognition_msgs::Rect rect;
00084       rect.x = mask_rect.x;
00085       rect.y = mask_rect.y;
00086       rect.width = mask_rect.width;
00087       rect.height = mask_rect.height;
00088       rects.rects.push_back(rect);
00089     }
00090     pub_.publish(rects);
00091   }
00092 }
00093 
00094 #include <pluginlib/class_list_macros.h>
00095 PLUGINLIB_EXPORT_CLASS (jsk_perception::MaskImageToRect, nodelet::Nodelet);


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