rect_array_to_density_image.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2016, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #include "jsk_perception/rect_array_to_density_image.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <sensor_msgs/image_encodings.h>
00040 #include <opencv2/opencv.hpp>
00041 #include <cv_bridge/cv_bridge.h>
00042 
00043 namespace jsk_perception
00044 {
00045   void RectArrayToDensityImage::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     pnh_->param("approximate_sync", approximate_sync_, false);
00049     pnh_->param("queue_size", queue_size_, 100);
00050     pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00051     onInitPostProcess();
00052   }
00053 
00054   void RectArrayToDensityImage::subscribe()
00055   {
00056     sub_image_.subscribe(*pnh_, "input/image", 1);
00057     sub_rects_.subscribe(*pnh_, "input/rect_array", 1);
00058     if (approximate_sync_) {
00059       async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(queue_size_);
00060       async_->connectInput(sub_image_, sub_rects_);
00061       async_->registerCallback(boost::bind(&RectArrayToDensityImage::convert, this, _1, _2));
00062     }
00063     else {
00064       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
00065       sync_->connectInput(sub_image_, sub_rects_);
00066       sync_->registerCallback(boost::bind(&RectArrayToDensityImage::convert, this, _1, _2));
00067     }
00068     ros::V_string names = boost::assign::list_of("~input/image")("~input/rect_array");
00069     jsk_topic_tools::warnNoRemap(names);
00070   }
00071 
00072   void RectArrayToDensityImage::unsubscribe()
00073   {
00074     sub_image_.unsubscribe();
00075     sub_rects_.unsubscribe();
00076   }
00077 
00078   void RectArrayToDensityImage::convert(
00079     const sensor_msgs::Image::ConstPtr& image_msg,
00080     const jsk_recognition_msgs::RectArray::ConstPtr& rects_msg)
00081   {
00082     vital_checker_->poke();
00083     cv::Mat density_image = cv::Mat::zeros(image_msg->height, image_msg->width, CV_32FC1);
00084 
00085     // Compute density
00086     for (size_t k=0; k<rects_msg->rects.size(); k++) {
00087       jsk_recognition_msgs::Rect rect = rects_msg->rects[k];
00088       for (int j=rect.y; j<(rect.y + rect.height); j++) {
00089         for (int i=rect.x; i<(rect.x + rect.width); i++) {
00090           density_image.at<float>(j, i)++;
00091         }
00092       }
00093     }
00094 
00095     // Scale the density image value to [0, 1]
00096     double min_image_value;
00097     double max_image_value;
00098     cv::minMaxLoc(density_image, &min_image_value, &max_image_value);
00099     cv::Mat(density_image - min_image_value).convertTo(
00100         density_image, CV_32FC1, 1. / (max_image_value - min_image_value));
00101 
00102     pub_.publish(cv_bridge::CvImage(
00103                     image_msg->header,
00104                     "32FC1",
00105                     density_image).toImageMsg());
00106   }
00107 }
00108 
00109 #include <pluginlib/class_list_macros.h>
00110 PLUGINLIB_EXPORT_CLASS (jsk_perception::RectArrayToDensityImage, nodelet::Nodelet);


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