polygon_to_mask_image.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
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00035 
00036 #include "jsk_perception/polygon_to_mask_image.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 PolygonToMaskImage::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     pub_ = advertise<sensor_msgs::Image>(
00049       *pnh_, "output", 1);
00050     onInitPostProcess();
00051   }
00052 
00053   void PolygonToMaskImage::subscribe()
00054   {
00055     sub_info_ = pnh_->subscribe("input/camera_info", 1,
00056                                 &PolygonToMaskImage::infoCallback, this);
00057     sub_ = pnh_->subscribe("input", 1,
00058                            &PolygonToMaskImage::convert, this);
00059     ros::V_string names = boost::assign::list_of("~input")("~input/camera_info");
00060     jsk_topic_tools::warnNoRemap(names);
00061   }
00062 
00063   void PolygonToMaskImage::unsubscribe()
00064   {
00065     sub_info_.shutdown();
00066     sub_.shutdown();
00067   }
00068 
00069   void PolygonToMaskImage::infoCallback(
00070     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00071   {
00072     boost::mutex::scoped_lock lock(mutex_);
00073     camera_info_ = info_msg;
00074   }
00075 
00076   void PolygonToMaskImage::convert(
00077     const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg)
00078   {
00079     boost::mutex::scoped_lock lock(mutex_);
00080     vital_checker_->poke();
00081     if (camera_info_) {
00082       if (polygon_msg->header.frame_id != camera_info_->header.frame_id) {
00083         NODELET_ERROR("frame_id of polygon (%s) and camera (%s) are not same.",
00084                       polygon_msg->header.frame_id.c_str(), camera_info_->header.frame_id.c_str());
00085       }
00086 
00087       image_geometry::PinholeCameraModel model;
00088       model.fromCameraInfo(camera_info_);
00089       cv::Mat mask_image = cv::Mat::zeros(camera_info_->height,
00090                                           camera_info_->width,
00091                                           CV_8UC1);
00092       std::vector<cv::Point> points;
00093       // we expect same tf frame
00094       if (polygon_msg->polygon.points.size() >= 3) {
00095         for (size_t i = 0; i < polygon_msg->polygon.points.size(); i++) {
00096           geometry_msgs::Point32 p = polygon_msg->polygon.points[i];
00097           cv::Point uv = model.project3dToPixel(cv::Point3d(p.x, p.y, p.z));
00098           points.push_back(uv);
00099         }
00100         cv::fillConvexPoly(mask_image, &(points[0]), points.size(), cv::Scalar(255));
00101       }
00102       pub_.publish(cv_bridge::CvImage(polygon_msg->header,
00103                                       sensor_msgs::image_encodings::MONO8,
00104                                       mask_image).toImageMsg());
00105     }
00106     else {
00107       NODELET_WARN("no camera info is available");
00108     }
00109   }
00110 
00111 }
00112 
00113 #include <pluginlib/class_list_macros.h>
00114 PLUGINLIB_EXPORT_CLASS (jsk_perception::PolygonToMaskImage, nodelet::Nodelet);


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