colorize_labels.cpp
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35 
39 #include <boost/assign.hpp>
40 #include <cv_bridge/cv_bridge.h>
41 #include <opencv2/opencv.hpp>
43 
44 namespace jsk_perception
45 {
47  {
48  DiagnosticNodelet::onInit();
49  pub_ = advertise<sensor_msgs::Image>(
50  *pnh_, "output", 1);
52  }
53 
55  {
56  sub_ = pnh_->subscribe("input", 1, &ColorizeLabels::colorize, this);
57  ros::V_string names = boost::assign::list_of("~input");
59  }
60 
62  {
63  sub_.shutdown();
64  }
65 
67  const sensor_msgs::Image::ConstPtr& label_image_msg)
68  {
69  cv::Mat label_image = cv_bridge::toCvShare(
70  label_image_msg, label_image_msg->encoding)->image;
71  ROS_DEBUG("%dx%d", label_image_msg->width, label_image_msg->height);
72  cv::Mat output_image;
73  jsk_recognition_utils::labelToRGB(label_image, output_image);
74  cv::cvtColor(output_image, output_image, CV_RGB2BGR);
75  pub_.publish(
77  label_image_msg->header,
79  output_image).toImageMsg());
80  }
81 }
82 
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)
boost::shared_ptr< ros::NodeHandle > pnh_
bool warnNoRemap(const std::vector< std::string > names)
PLUGINLIB_EXPORT_CLASS(jsk_perception::ColorizeLabels, nodelet::Nodelet)
sensor_msgs::ImagePtr toImageMsg() const
#define ROS_DEBUG(...)


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Mon May 3 2021 03:03:27