draw_text_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/imgproc/imgproc.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_math_util/math_util.h>
00042 
00043 namespace swri_image_util
00044 {
00045   class DrawTextNodelet : public nodelet::Nodelet
00046   {
00047   public:
00048       DrawTextNodelet() :
00049         text_("label"),
00050         offset_x_(0),
00051         offset_y_(0),
00052         font_scale_(1.0),
00053         font_thickness_(1)
00054     {
00055     }
00056 
00057     ~DrawTextNodelet()
00058     {
00059     }
00060 
00061     void onInit()
00062     {
00063       ros::NodeHandle &node = getNodeHandle();
00064       ros::NodeHandle &priv = getPrivateNodeHandle();
00065 
00066       priv.param("text", text_, text_);
00067       priv.param("offset_x", offset_x_, offset_x_);
00068       priv.param("offset_y", offset_y_, offset_y_);
00069       priv.param("font_scale", font_scale_, font_scale_);
00070       priv.param("font_thickness", font_thickness_, font_thickness_);
00071 
00072       image_transport::ImageTransport it(node);
00073       image_pub_ = it.advertise("stamped_image", 1);
00074       image_sub_ = it.subscribe("image", 1, &DrawTextNodelet::ImageCallback, this);
00075     }
00076 
00077     void ImageCallback(const sensor_msgs::ImageConstPtr& image)
00078     {
00079       cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image);
00080 
00081       cv::putText(
00082         cv_image->image, 
00083         text_,
00084         cv::Point(offset_x_, offset_y_),
00085         cv::FONT_HERSHEY_SIMPLEX, 
00086         font_scale_,
00087         cv::Scalar(255, 255, 255),
00088         font_thickness_);
00089 
00090       image_pub_.publish(cv_image->toImageMsg());
00091     }
00092 
00093   private:
00094     std::string text_;
00095     double offset_x_;
00096     double offset_y_;
00097     double font_scale_;
00098     int font_thickness_;
00099     
00100     image_transport::Subscriber image_sub_;
00101     image_transport::Publisher image_pub_;
00102   };
00103 }
00104 
00105 // Register nodelet plugin
00106 #include <pluginlib/class_list_macros.h>
00107 PLUGINLIB_DECLARE_CLASS(
00108     swri_image_util,
00109     draw_text,
00110     swri_image_util::DrawTextNodelet,
00111     nodelet::Nodelet)


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Oct 3 2017 03:19:34