39 #include <boost/assign.hpp> 41 #include <opencv2/opencv.hpp> 48 DiagnosticNodelet::onInit();
49 pub_ = advertise<sensor_msgs::Image>(
67 const sensor_msgs::Image::ConstPtr& label_image_msg)
70 label_image_msg, label_image_msg->encoding)->image;
71 ROS_DEBUG(
"%dx%d", label_image_msg->width, label_image_msg->height);
74 cv::cvtColor(output_image, output_image, CV_RGB2BGR);
77 label_image_msg->header,
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
void publish(const boost::shared_ptr< M > &message) const
std::vector< std::string > V_string
void labelToRGB(const cv::Mat src, cv::Mat &dst)
virtual void colorize(const sensor_msgs::Image::ConstPtr &label_image)
PLUGINLIB_EXPORT_CLASS(jsk_perception::ColorizeLabels, nodelet::Nodelet)
virtual void unsubscribe()
sensor_msgs::ImagePtr toImageMsg() const