multiply_mask_image.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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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include <jsk_perception/multiply_mask_image.h>
00037 #include <boost/assign.hpp>
00038 #include <jsk_topic_tools/log_utils.h>
00039 #include <opencv2/opencv.hpp>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <sensor_msgs/image_encodings.h>
00042 
00043 namespace jsk_perception
00044 {
00045   void MultiplyMaskImage::onInit()
00046   {
00047     DiagnosticNodelet::onInit();
00048     pnh_->param("approximate_sync", approximate_sync_, false);
00049     pnh_->param("queue_size", queue_size_, 100);
00050     pub_ = advertise<sensor_msgs::Image>(
00051       *pnh_, "output", 1);
00052     onInitPostProcess();
00053   }
00054 
00055   void MultiplyMaskImage::subscribe()
00056   {
00057     sub_src1_.subscribe(*pnh_, "input/src1", 1);
00058     sub_src2_.subscribe(*pnh_, "input/src2", 1);
00059     if (approximate_sync_) {
00060       async_ = boost::make_shared<message_filters::Synchronizer<ApproxSyncPolicy> >(queue_size_);
00061       async_->connectInput(sub_src1_, sub_src2_);
00062       async_->registerCallback(boost::bind(&MultiplyMaskImage::multiply, this, _1, _2));
00063     }
00064     else {
00065       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
00066       sync_->connectInput(sub_src1_, sub_src2_);
00067       sync_->registerCallback(boost::bind(&MultiplyMaskImage::multiply, this, _1, _2));
00068     }
00069     ros::V_string names = boost::assign::list_of("~input/src1")("~input/src2");
00070     jsk_topic_tools::warnNoRemap(names);
00071   }
00072 
00073   void MultiplyMaskImage::unsubscribe()
00074   {
00075     sub_src1_.unsubscribe();
00076     sub_src2_.unsubscribe();
00077   }
00078 
00079   void MultiplyMaskImage::multiply(
00080     const sensor_msgs::Image::ConstPtr& src1_msg,
00081     const sensor_msgs::Image::ConstPtr& src2_msg)
00082   {
00083     cv::Mat src1 = cv_bridge::toCvShare(
00084       src1_msg, src1_msg->encoding)->image;
00085     cv::Mat src2 = cv_bridge::toCvShare(
00086       src2_msg, src2_msg->encoding)->image;
00087     cv::Mat result;
00088     cv::bitwise_and(src1, src2, result);
00089     pub_.publish(
00090       cv_bridge::CvImage(src1_msg->header,
00091                          sensor_msgs::image_encodings::MONO8,
00092                          result).toImageMsg());
00093   }
00094   
00095 }
00096 
00097 
00098 #include <pluginlib/class_list_macros.h>
00099 PLUGINLIB_EXPORT_CLASS (jsk_perception::MultiplyMaskImage, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23