rect_to_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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00035 
00036 #include "jsk_perception/rect_to_mask_image.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 
00042 namespace jsk_perception
00043 {
00044   void RectToMaskImage::onInit()
00045   {
00046     DiagnosticNodelet::onInit();
00047     pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
00048     onInitPostProcess();
00049   }
00050 
00051   void RectToMaskImage::subscribe()
00052   {
00053     sub_ = pnh_->subscribe("input", 1, &RectToMaskImage::convert, this);
00054     sub_info_ = pnh_->subscribe("input/camera_info", 1,
00055                                 &RectToMaskImage::infoCallback, this);
00056     ros::V_string names = boost::assign::list_of("~input")("~input/camera_info");
00057     jsk_topic_tools::warnNoRemap(names);
00058   }
00059 
00060   void RectToMaskImage::unsubscribe()
00061   {
00062     sub_.shutdown();
00063     sub_info_.shutdown();
00064   }
00065 
00066   void RectToMaskImage::convert(
00067     const geometry_msgs::PolygonStamped::ConstPtr& rect_msg)
00068   {
00069     boost::mutex::scoped_lock lock(mutex_);
00070     if (camera_info_) {
00071       cv::Mat mask_image = cv::Mat::zeros(camera_info_->height,
00072                                           camera_info_->width,
00073                                           CV_8UC1);
00074       geometry_msgs::Point32 P0 = rect_msg->polygon.points[0];
00075       geometry_msgs::Point32 P1 = rect_msg->polygon.points[1];
00076       double min_x = std::max(std::min(P0.x, P1.x), 0.0f);
00077       double max_x = std::max(P0.x, P1.x);
00078       double min_y = std::max(std::min(P0.y, P1.y), 0.0f);
00079       double max_y = std::max(P0.y, P1.y);
00080       double width = std::min(max_x - min_x, camera_info_->width - min_x);
00081       double height = std::min(max_y - min_y, camera_info_->height - min_y);
00082       cv::Rect region(min_x, min_y, width, height);
00083       cv::rectangle(mask_image, region, cv::Scalar(255), CV_FILLED);
00084       pub_.publish(cv_bridge::CvImage(
00085                      rect_msg->header,
00086                      sensor_msgs::image_encodings::MONO8,
00087                      mask_image).toImageMsg());
00088     }
00089   }
00090 
00091   
00092   void RectToMaskImage::infoCallback(
00093     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00094   {
00095     boost::mutex::scoped_lock lock(mutex_);
00096     camera_info_ = info_msg;
00097   }
00098 }
00099 
00100 #include <pluginlib/class_list_macros.h>
00101 PLUGINLIB_EXPORT_CLASS (jsk_perception::RectToMaskImage, nodelet::Nodelet);


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