hsv_decomposer.cpp
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1 // -*- mode: c++ -*-
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35 
36 
38 #include <boost/assign.hpp>
41 #include <cv_bridge/cv_bridge.h>
42 #include <opencv2/opencv.hpp>
43 
44 namespace jsk_perception
45 {
47  {
48  DiagnosticNodelet::onInit();
49  pub_h_ = advertise<sensor_msgs::Image>(*pnh_, "output/hue", 1);
50  pub_s_ = advertise<sensor_msgs::Image>(*pnh_, "output/saturation", 1);
51  pub_v_ = advertise<sensor_msgs::Image>(*pnh_, "output/value", 1);
53  }
54 
56  {
57  sub_ = pnh_->subscribe("input", 1, &HSVDecomposer::decompose, this);
58  ros::V_string names = boost::assign::list_of("~input");
60  }
61 
63  {
64  sub_.shutdown();
65  }
66 
68  const sensor_msgs::Image::ConstPtr& image_msg)
69  {
71  image_msg, image_msg->encoding);
72  cv::Mat image = cv_ptr->image;
73  cv::Mat hsv_image;
74  std::vector<cv::Mat> hsv_planes;
75  if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
76  cv::cvtColor(image, hsv_image, CV_BGR2HSV);
77  }
78  else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
79  cv::cvtColor(image, hsv_image, CV_RGB2HSV);
80  }
81  else if (image_msg->encoding == sensor_msgs::image_encodings::BGRA8 ||
82  image_msg->encoding == sensor_msgs::image_encodings::BGRA16) {
83  cv::Mat tmp_image;
84  cv::cvtColor(image, tmp_image, CV_BGRA2BGR);
85  cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
86  }
87  else if (image_msg->encoding == sensor_msgs::image_encodings::RGBA8 ||
88  image_msg->encoding == sensor_msgs::image_encodings::RGBA16) {
89  cv::Mat tmp_image;
90  cv::cvtColor(image, tmp_image, CV_RGBA2BGR);
91  cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
92  }
93  else {
94  NODELET_ERROR("unsupported format to HSV: %s", image_msg->encoding.c_str());
95  return;
96  }
97  cv::split(hsv_image, hsv_planes);
98  cv::Mat hue = hsv_planes[0];
99  cv::Mat saturation = hsv_planes[1];
100  cv::Mat value = hsv_planes[2];
102  image_msg->header,
104  hue).toImageMsg());
106  image_msg->header,
108  saturation).toImageMsg());
110  image_msg->header,
112  value).toImageMsg());
113  }
114 }
115 
#define NODELET_ERROR(...)
void publish(const boost::shared_ptr< M > &message) const
const std::string BGRA16
std::vector< std::string > V_string
const std::string RGBA16
boost::shared_ptr< ros::NodeHandle > pnh_
bool warnNoRemap(const std::vector< std::string > names)
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
PLUGINLIB_EXPORT_CLASS(jsk_perception::HSVDecomposer, nodelet::Nodelet)
virtual void decompose(const sensor_msgs::Image::ConstPtr &image_msg)
sensor_msgs::ImagePtr toImageMsg() const


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