morphological_operator.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_MORPHOLOGICAL_OPERATOR_H_
00038 #define JSK_PERCEPTION_MORPHOLOGICAL_OPERATOR_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/Image.h>
00042 #include <dynamic_reconfigure/server.h>
00043 #include <jsk_perception/MorphologicalMaskImageOperatorConfig.h>
00044 #include <opencv2/opencv.hpp>
00045 
00046 namespace jsk_perception
00047 {
00048 
00049   class MorphologicalImageOperatorNodelet:
00050     public jsk_topic_tools::DiagnosticNodelet
00051   {
00052   public:
00053     typedef jsk_perception::MorphologicalMaskImageOperatorConfig Config;
00054     MorphologicalImageOperatorNodelet(const std::string& name):
00055       DiagnosticNodelet(name) {}
00056   protected:
00057     virtual void onInit();
00058     virtual void subscribe();
00059     virtual void unsubscribe();
00060     virtual void configCallback(Config &config, uint32_t level);
00061     virtual void imageCallback(const sensor_msgs::Image::ConstPtr& image_msg);
00062     virtual void apply(const cv::Mat& input, cv::Mat& output, const cv::Mat& element) = 0;
00063 
00064     boost::mutex mutex_;
00065     ros::Subscriber sub_;
00066     ros::Publisher pub_;
00067     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00068     int method_;
00069     int size_;
00070     int iterations_;
00071   private:
00072 
00073   };
00074 
00075   class MorphologicalImageOperator: public MorphologicalImageOperatorNodelet
00076   {
00077   public:
00078     MorphologicalImageOperator(const std::string& name, const int& operation):
00079       MorphologicalImageOperatorNodelet(name), operation_(operation) {}
00080   protected:
00081     virtual void apply(
00082       const cv::Mat& input, cv::Mat& output, const cv::Mat& element);
00083     int operation_;
00084   };
00085 
00086   class Erode: public MorphologicalImageOperator
00087   {
00088   public:
00089     Erode(): MorphologicalImageOperator("Erode", cv::MORPH_ERODE) {}
00090   };
00091 
00092   class Dilate: public MorphologicalImageOperator
00093   {
00094   public:
00095     Dilate(): MorphologicalImageOperator("Dilate", cv::MORPH_DILATE) {}
00096   };
00097 
00098   class Opening: public MorphologicalImageOperator
00099   {
00100   public:
00101     Opening(): MorphologicalImageOperator("Opening", cv::MORPH_OPEN) {}
00102   };
00103 
00104   class Closing: public MorphologicalImageOperator
00105   {
00106   public:
00107     Closing(): MorphologicalImageOperator("Closing", cv::MORPH_CLOSE) {}
00108   };
00109 
00110   class MorphologicalGradient: public MorphologicalImageOperator
00111   {
00112   public:
00113     MorphologicalGradient():
00114       MorphologicalImageOperator("MorphologicalGradient", cv::MORPH_GRADIENT) {}
00115   };
00116 
00117   class TopHat: public MorphologicalImageOperator
00118   {
00119   public:
00120     TopHat(): MorphologicalImageOperator("TopHat", cv::MORPH_TOPHAT) {}
00121   };
00122 
00123   class BlackHat: public MorphologicalImageOperator
00124   {
00125   public:
00126     BlackHat(): MorphologicalImageOperator("BlackHat", cv::MORPH_BLACKHAT) {}
00127   };
00128 }
00129 
00130 #endif


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