rotate_image_nodelet.cpp
Go to the documentation of this file.
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 
00034 #include <ros/ros.h>
00035 #include <nodelet/nodelet.h>
00036 #include <image_transport/image_transport.h>
00037 #include <sensor_msgs/image_encodings.h>
00038 #include <sensor_msgs/Image.h>
00039 #include <cv_bridge/cv_bridge.h>
00040 
00041 #include <swri_math_util/math_util.h>
00042 
00043 namespace swri_image_util
00044 {
00045   class RotateImageNodelet : public nodelet::Nodelet
00046   {
00047   public:
00048     RotateImageNodelet() :
00049       angle_(0),
00050       operations_(0),
00051       flip_axis_(false)
00052     {
00053     }
00054 
00055     ~RotateImageNodelet()
00056     {
00057     }
00058 
00059     void onInit()
00060     {
00061       ros::NodeHandle &node = getNodeHandle();
00062       ros::NodeHandle &priv = getPrivateNodeHandle();
00063 
00064       priv.param("angle", angle_, angle_);
00065 
00066       int32_t angle_90 = static_cast<int32_t>(swri_math_util::ToNearest(angle_, 90));
00067       flip_axis_ = angle_90 > 0 ? 1 : 0;
00068       operations_ = std::abs(angle_90 / 90);
00069 
00070       image_transport::ImageTransport it(node);
00071       image_pub_ = it.advertise("rotated_image", 1);
00072       image_sub_ = it.subscribe("image", 1, &RotateImageNodelet::ImageCallback, this);
00073     }
00074 
00075     void ImageCallback(const sensor_msgs::ImageConstPtr& image)
00076     {
00077       if (operations_ == 0)
00078       {
00079         image_pub_.publish(image);
00080         return;
00081       }
00082 
00083       cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image);
00084 
00085       for (int32_t i = 0; i < operations_; i++)
00086       {
00087         cv::transpose(cv_image->image, cv_image->image);
00088         cv::flip(cv_image->image, cv_image->image, flip_axis_);
00089       }
00090 
00091       image_pub_.publish(cv_image->toImageMsg());
00092     }
00093 
00094   private:
00095     double angle_;
00096     int32_t operations_;
00097     bool flip_axis_;
00098 
00099     image_transport::Subscriber image_sub_;
00100     image_transport::Publisher image_pub_;
00101 
00102   };
00103 }
00104 
00105 // Register nodelet plugin
00106 #include <swri_nodelet/class_list_macros.h>
00107 SWRI_NODELET_EXPORT_CLASS(swri_image_util, RotateImageNodelet)


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