normalize_response_nodelet.cpp
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
00008 //     * Redistributions of source code must retain the above copyright
00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
00016 //
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //
00028 // *****************************************************************************
00029 
00030 #include <string>
00031 
00032 #include <opencv2/core/core.hpp>
00033 #include <opencv2/highgui/highgui.hpp>
00034 
00035 #include <ros/ros.h>
00036 #include <nodelet/nodelet.h>
00037 #include <image_transport/image_transport.h>
00038 #include <sensor_msgs/image_encodings.h>
00039 #include <sensor_msgs/Image.h>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <swri_image_util/image_normalization.h>
00042 
00043 #include <swri_math_util/math_util.h>
00044 
00045 namespace swri_image_util
00046 {
00047   class NormalizeResponseNodelet : public nodelet::Nodelet
00048   {
00049   public:
00050     NormalizeResponseNodelet() :
00051       filter_size_(9),
00052       filter_cap_(31)
00053     {
00054     }
00055 
00056     ~NormalizeResponseNodelet()
00057     {
00058     }
00059 
00060     void onInit()
00061     {
00062       ros::NodeHandle &node = getNodeHandle();
00063       ros::NodeHandle &priv = getPrivateNodeHandle();
00064 
00065       priv.param("filter_size", filter_size_, filter_size_);
00066       priv.param("filter_cap", filter_cap_, filter_cap_);
00067 
00068       buffer_.create(1, 10000000, CV_8U);
00069 
00070       image_transport::ImageTransport it(node);
00071       image_pub_ = it.advertise("normalized_image", 1);
00072       image_sub_ = it.subscribe("image", 1, &NormalizeResponseNodelet::ImageCallback, this);
00073     }
00074 
00075     void ImageCallback(const sensor_msgs::ImageConstPtr& image)
00076     {
00077       cv_bridge::CvImageConstPtr cv_image = cv_bridge::toCvShare(image);
00078 
00079       if (image->encoding == sensor_msgs::image_encodings::MONO8)
00080       {
00081         swri_image_util::NormalizeResponse(cv_image->image, normalized_, filter_size_, filter_cap_, buffer_.ptr());
00082         cv_bridge::CvImage normalized_image;
00083         normalized_image.header = image->header;
00084         normalized_image.encoding = image->encoding;
00085         normalized_image.image = normalized_;
00086         image_pub_.publish(normalized_image.toImageMsg());
00087       }
00088       else
00089       {
00090         ROS_WARN("Unsupported image encoding: %s", image->encoding.c_str());
00091       }
00092     }
00093 
00094   private:
00095     int32_t filter_size_;
00096     int32_t filter_cap_;
00097     
00098     cv::Mat normalized_;
00099     cv::Mat buffer_;
00100 
00101     image_transport::Subscriber image_sub_;
00102     image_transport::Publisher image_pub_;
00103   };
00104 }
00105 
00106 // Register nodelet plugin
00107 #include <swri_nodelet/class_list_macros.h>
00108 SWRI_NODELET_EXPORT_CLASS(swri_image_util, NormalizeResponseNodelet)


swri_image_util
Author(s): Kris Kozak
autogenerated on Thu Jun 6 2019 20:34:52