skeletonization.h
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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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00012  *   * Redistributions of source code must retain the above copyright
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00035 
00036 #ifndef JSK_PERCEPTION_SKELETONIZATION_H
00037 #define JSK_PERCEPTION_SKELETONIZATION_H
00038 
00039 // ROS Header Directives
00040 #include <ros/ros.h>
00041 #include <ros/console.h>
00042 
00043 #include <jsk_topic_tools/diagnostic_nodelet.h>
00044 #include <sensor_msgs/Image.h>
00045 #include <cv_bridge/cv_bridge.h>
00046 #include <sensor_msgs/image_encodings.h>
00047 
00048 // OpenCV Header Directives
00049 #include <opencv2/imgproc/imgproc.hpp>
00050 #include <opencv2/highgui/highgui.hpp>
00051 
00052 #include <omp.h>
00053 
00054 namespace jsk_perception
00055 {
00056    class Skeletonization: public jsk_topic_tools::DiagnosticNodelet
00057    {
00058     public:
00059       Skeletonization(): DiagnosticNodelet("Skeletonization"),
00060                          num_threads_(1) {}
00061       virtual void imageCallback(const sensor_msgs::Image::ConstPtr&);
00062       virtual void skeletonization(cv::Mat &);
00063       
00064     protected:
00065       virtual void onInit();
00066       virtual void subscribe();
00067       virtual void unsubscribe();
00068       virtual void iterativeThinning(cv::Mat&, int);
00069          
00070       boost::mutex mutex_;
00071       ros::Subscriber sub_;
00072       ros::Publisher pub_image_;
00073       
00074     private:
00075       enum { EVEN, ODD };
00076       int num_threads_;
00077    };
00078 }
00079 
00080 #endif  // JSK_PERCEPTION_SKELETONIZATION_H
00081 


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