unapply_mask_image.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
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.
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00035 
00036 #include "jsk_perception/unapply_mask_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 #include <jsk_recognition_utils/cv_utils.h>
00043 
00044 namespace jsk_perception
00045 {
00046   void UnapplyMaskImage::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pnh_->param("approximate_sync", approximate_sync_, false);
00050     pub_image_ = advertise<sensor_msgs::Image>(
00051       *pnh_, "output", 1);
00052     onInitPostProcess();
00053   }
00054 
00055   void UnapplyMaskImage::subscribe()
00056   {
00057     sub_image_.subscribe(*pnh_, "input", 1);
00058     sub_mask_.subscribe(*pnh_, "input/mask", 1);
00059     if (approximate_sync_) {
00060       async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
00061       async_->connectInput(sub_image_, sub_mask_);
00062       async_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
00063     }
00064     else {
00065       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00066       sync_->connectInput(sub_image_, sub_mask_);
00067       sync_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
00068     }
00069     ros::V_string names = boost::assign::list_of("~input")("~input/mask");
00070     jsk_topic_tools::warnNoRemap(names);
00071   }
00072 
00073   void UnapplyMaskImage::unsubscribe()
00074   {
00075     sub_image_.unsubscribe();
00076     sub_mask_.unsubscribe();
00077   }
00078 
00079   void UnapplyMaskImage::apply(
00080     const sensor_msgs::Image::ConstPtr& image_msg,
00081     const sensor_msgs::Image::ConstPtr& mask_msg)
00082   {
00083     vital_checker_->poke();
00084     cv::Mat image = cv_bridge::toCvShare(image_msg,
00085                                          image_msg->encoding)->image;
00086     cv::Mat mask = cv_bridge::toCvShare(mask_msg,
00087                                         mask_msg->encoding)->image;
00088     cv::Mat output;
00089     bool single_channel = false;
00090     if (image_msg->encoding == sensor_msgs::image_encodings::BGR8 ||
00091         image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00092       single_channel = false;
00093     }
00094     else {
00095       single_channel = true;
00096     }
00097     if (single_channel) {
00098       output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC1);
00099     }
00100     else {
00101       output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC3);
00102     }
00103     
00104     cv::Rect region = jsk_recognition_utils::boundingRectOfMaskImage(mask);
00105     for (int j = 0; j < image.rows; j++) {
00106       for (int i = 0; i < image.cols; i++) {
00107         if (single_channel) {
00108           output.at<uchar>(j + region.y, i + region.x)
00109             = image.at<uchar>(j, i);
00110         }
00111         else {
00112           output.at<cv::Vec3b>(j + region.y, i + region.x)
00113             = image.at<cv::Vec3b>(j, i);
00114         }
00115       }
00116     }
00117     pub_image_.publish(cv_bridge::CvImage(
00118                          image_msg->header,
00119                          image_msg->encoding,
00120                          output).toImageMsg());
00121   }
00122 }
00123 
00124 #include <pluginlib/class_list_macros.h>
00125 PLUGINLIB_EXPORT_CLASS (jsk_perception::UnapplyMaskImage, nodelet::Nodelet);


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