mask_image_generator.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
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.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_perception/mask_image_generator.h"
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <cv_bridge/cv_bridge.h>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <opencv2/opencv.hpp>
00042 
00043 
00044 namespace jsk_perception
00045 {
00046   void MaskImageGenerator::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00050     dynamic_reconfigure::Server<Config>::CallbackType f =
00051       boost::bind (&MaskImageGenerator::configCallback, this, _1, _2);
00052     srv_->setCallback (f);
00053 
00054     pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00055     onInitPostProcess();
00056   }
00057 
00058   void MaskImageGenerator::subscribe()
00059   {
00060     sub_ = pnh_->subscribe("input", 1, &MaskImageGenerator::generate, this);
00061     ros::V_string names = boost::assign::list_of("~input");
00062     jsk_topic_tools::warnNoRemap(names);
00063   }
00064 
00065   void MaskImageGenerator::unsubscribe()
00066   {
00067     sub_.shutdown();
00068   }
00069 
00070   void MaskImageGenerator::configCallback(Config &config, uint32_t level)
00071   {
00072     boost::mutex::scoped_lock lock(mutex_);
00073     offset_x_ = config.offset_x;
00074     offset_y_ = config.offset_y;
00075     width_ = config.width;
00076     height_ = config.height;
00077   }
00078 
00079   void MaskImageGenerator::generate(const sensor_msgs::Image::ConstPtr& msg)
00080   {
00081     boost::mutex::scoped_lock lock(mutex_);
00082     int min_x = std::min(offset_x_, (int)msg->width);
00083     int min_y = std::min(offset_y_, (int)msg->height);
00084     int max_x = std::min(min_x + width_, (int)msg->width);
00085     int max_y = std::min(min_y + height_, (int)msg->height);
00086     cv::Mat mask_image = cv::Mat::zeros(msg->height, msg->width, CV_8UC1);
00087     cv::rectangle(mask_image,
00088                   cv::Point(min_x, min_y),
00089                   cv::Point(max_x, max_y),
00090                   cv::Scalar(255), CV_FILLED);
00091     pub_.publish(cv_bridge::CvImage(msg->header,
00092                                     sensor_msgs::image_encodings::MONO8,
00093                                     mask_image).toImageMsg());
00094   }
00095 }
00096 
00097 #include <pluginlib/class_list_macros.h>
00098 PLUGINLIB_EXPORT_CLASS (jsk_perception::MaskImageGenerator, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Tue Jul 2 2019 19:41:07